Transfer apparatus

A transfer apparatus comprising:

• a container to contain workpieces to be transferred;
• a sensor configured to detect a position and a posture of a workpiece existing in a predetermined detection area set on the container;
• and
• a robot configured to take out the workpieces from the container and to transfer the workpieces to a transfer destination on the basis of a detection result of the sensor,
• wherein the sensor includes
• an area storage configured to store a plurality of detection areas,
• a condition storage configured to store a switching condition to switch the plurality of the detection areas, and
• a controller configured to switch the plurality of the detection areas in a predetermined order when the switching condition is satisfied,
• wherein the container is inclined such as to be lower on a side near the transfer destination, and
• wherein the sensor scans a detection area on a lower side of the container, of the plurality of the detection areas, more times than the other detection area.

A transfer apparatus comprising:

• workpiece containing means for containing workpieces to be transferred;
• detection means for detecting a position and a posture of a workpiece existing in a predetermined detection area set on the container;
• and
• transfer means for taking out the workpieces from the workpiece containing means and for transferring the workpieces to a transfer destination on the basis of a detection result of the detection means,
• wherein the detection means includes
• area storage means for storing a plurality of detection areas,
• condition storage means for storing a switching condition for switching the plurality of the detection areas, and
• controller means for switching the plurality of the detection areas in a predetermined order when the switching condition is satisfied,
• wherein the workpiece containing means is inclined such as to be lower on a side near the transfer destination, and
• wherein the detection means is for scanning a detection area on a lower side of the container, of the plurality of the detection areas, more times than the other detection area.