Picking device

A picking device comprising:

• a rail that extends over a first area and a second area in a horizontal direction;
• a first transfer device to transport an object from the first area to the second area by picking up the object in the first area, traveling along the rail, and then releasing the object in the second area, the first transfer device including a first traveling body that travels while being guided by the rail, a first arm that includes a proximal end portion attached to the first traveling body, and a first holder that is attached to a distal end portion of the first arm to hold an object by suction;
• and
• a second transfer device to transport an object from the first area to the second area by picking up the object in the first area, traveling along the rail, and then releasing the object in the second area, the second transfer device including a second traveling body that travels while being guided by the rail, a second arm that includes a proximal end portion attached to the second traveling body, and a second holder that is attached to a distal end portion of the second arm to hold an object by suction, wherein
• the first arm further includes:
• a first upper arm that includes a proximal end portion attached to the first traveling body to enable rotation of the first upper arm with respect to the first traveling body in a prescribed plane intersecting an extending direction of the rail and prevent motion of the first upper arm relative to the extending direction;
• and
• a first forearm that includes a proximal end portion attached to a distal end portion of the first upper arm to enable rotation of the first forearm with respect to the first upper arm in a plane parallel to the prescribed plane and prevent motion of the first forearm relative to the extending direction;
• the first holder is attached to a distal end portion of the first forearm;
• the second arm further includes:
• a second upper arm that includes a proximal end portion attached to the second traveling body to enable rotation of the second upper arm with respect to the second traveling body in a plane parallel to the prescribed plane and prevent motion of the second upper arm relative to the extending direction;
• and
• a second forearm that includes a proximal end portion attached to a distal end portion of the second upper arm to enable rotation of the second forearm with respect to the second upper arm in a plane parallel to the prescribed plane and prevent motion of the second forearm relative to the extending direction;
• and
• the second holder is attached to a distal end portion of the second forearm.