The present invention relates to a transfer device (1) for a workpiece (11), said transfer device including a frame (2) as well as a first pivot arm (3). The first pivot arm (3) is connected to the frame (2) so as to be pivotable by means of a first rotational axis (6). Furthermore, a first slide (9) is mounted so as to be linearly displaceable on the first pivot arm (3). The transfer device (1) further includes a holding device (10) for a workpiece (11) which is connected to the first slide (9) so as to be rotatable relative to the pivot arm (3) by means of a third rotational axis (12). The first pivot arm (3) is connected to the frame (2) so as to be rotatable in a second region by means of a second rotational axis (13) which is mounted on the frame (2) so as to be displaceable substantially in the horizontal direction.