PROCESSING SYSTEM AND TRANSFER MECHANISM

To prevent an installation area from expanding more than necessary.SOLUTION: A holding system 1 includes: a multijoint robot 30; a transfer mechanism 21 which transfers an object; and a control device 40 which controls operation of the multijoint robot 30 and the transfer mechanism 21. The control device 40 causes the multijoint robot 30 and the transfer mechanism 21 to perform a first transfer operation in which the object transported on a transport surface of a belt conveyor 2 is transferred to a processing position which is closer to the multijoint robot 30 than a position where the object is located during transportation by the transfer mechanism 21; processing operation in which processing is performed to the object at the processing position by the multijoint robot 30, and a second transfer operation in which the processed object is transferred to the transport surface again by the transfer mechanism 21 to cause the belt conveyor 2 to transport the object again.SELECTED DRAWING: Figure 6 【課題】設置面積を必要以上に拡大させない。【解決手段】把持システム１は、多関節ロボット３０と、対象物を移送させる移送機構２１と、多関節ロボット３０及び移送機構２１の動作を制御する制御装置４０と、を備える。制御装置４０は、移送機構２１により、ベルトコンベア２の搬送面で搬送中の対象物を、搬送中の位置よりも多関節ロボット３０に近い位置である処理位置に対して移送する第１移送動作と、多関節ロボット３０により、処理位置で対象物に対して処理をする処理動作と、移送機構２１により、処理された対象物を搬送面に再度移送することで、該対象物をベルトコンベア２に再度搬送させる第２移送動作と、を多関節ロボット３０及び移送機構２１に実行させる。【選択図】図６