JP2020082233A - Mount for robot, transport system, and transport method - Google Patents

Abstract

To retain a position of a robot during work accurately.SOLUTION: A mount for a robot can be transported by an unmanned carrier and includes: a mount body part on which a robot is placed; a connection part which may physically connect/separate the unmanned carrier with/from the mount body part; and a positioning mechanism which positions the mount body part to a predetermined position when the unmanned carrier and the mount body part are separated from each other.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot mount, a transfer system, and a transfer method.

Patent Document 1 below discloses an integrated transport robot in which a robot is mounted on an automated guided vehicle. This transfer robot rotationally drives the wheels of an unmanned transfer vehicle to move to a desired position and performs a predetermined work by the robot.

JP, 2016-12056, A

Here, when the work performed by the work robot is precise, it is required to maintain the position of the robot during the work with high precision. However, in the above-mentioned transfer robot, there is a possibility that the position of the transfer robot may be displaced due to slippage of each wheel of the automatic guided vehicle during robot operation. Therefore, the position of the robot cannot be accurately maintained.

The present invention has been made in view of such circumstances, and an object thereof is to accurately maintain the position of the robot during work.

One aspect of the present invention is a robot pedestal that is portable by an automated guided vehicle and includes a gantry main body on which a robot is placed, wherein the unmanned guided vehicle and the gantry main body are physically coupled. A robot comprising: a connectable and separable connecting part; and a positioning mechanism for positioning the gantry body at a predetermined position when the automated guided vehicle and the gantry body are separated. It is a mount.

One aspect of the present invention is the above-described robot mount, wherein the positioning mechanism positions the mount body at a predetermined position on the floor surface.

One aspect of the present invention is the above-described robot mount, wherein the positioning mechanism includes a positioning pin movable up and down with respect to the mount main body, and the mount main body at a predetermined position by lowering the positioning pin. And a drive unit for positioning.

One aspect of the present invention includes the above-described robot mount and a hole provided in a floor surface, and the drive unit is configured to: when the automatic guided vehicle and the mount body unit are separated from each other, The transport system is characterized in that the gantry body is positioned by lowering the positioning pin and inserting the positioning pin into the hole.

One mode of the present invention is the above-mentioned transportation system, wherein a groove for guiding the positioning pin to the hole is formed on the floor surface.

One aspect of the present invention is a transport method for transporting a robot mount including a mount main body on which a robot is placed to a target position by an automated guided vehicle, wherein the automated guided vehicle and the mount main body are: A coupling step of coupling from a connecting portion provided on the robot mount, a transport step of transporting the robot platform to the target position by the automated guided vehicle after the coupling step, and a floor surface or after the transport step. A positioning step for positioning and fixing the gantry body on the floor surface by a positioning mechanism provided on the gantry body; and, after the carrying step, separating the unmanned guided vehicle and the gantry body from the connecting portion. And a separating step.

As described above, according to the present invention, it is possible to accurately maintain the position of the robot during work.

It is a figure which shows an example of schematic structure of the conveyance system A which concerns on one Embodiment of this invention, and is a side view of the conveyance system A. FIG. It is a figure which shows an example of schematic structure of the conveyance system A which concerns on one Embodiment of this invention, and is a top view of the conveyance system A. FIG. It is a figure explaining the control method of the positioning pin 151 in the drive part 152 which concerns on this embodiment. It is a figure explaining the conveyance method which concerns on one Embodiment of this invention. It is a figure explaining the conveyance method which concerns on one Embodiment of this invention. It is a figure explaining the conveyance method which concerns on one Embodiment of this invention. It is a figure explaining the conveyance method which concerns on one Embodiment of this invention. It is a figure explaining the conveyance method which concerns on one Embodiment of this invention.

Hereinafter, a transfer system according to an embodiment of the present invention will be described with reference to the drawings.

A transport system according to an embodiment of the present invention is used to perform precise work such as processing work and assembly work with a plurality of robots in a production line such as a factory when the robots perform the work. It is a system that transports and installs at appropriate positions (hereinafter referred to as "working positions").

FIG. 1 is a diagram showing an example of a schematic configuration of a transport system A according to an embodiment of the present invention, and is a side view of the transport system A. FIG. 2 is a diagram showing an example of a schematic configuration of the transport system A according to the embodiment of the present invention, and is a top view of the transport system A.

As shown in FIGS. 1 and 2, the transfer system A includes an automatic guided vehicle 1, a guide groove 2, an insertion hole 3, and a robot cell 4.

The automated guided vehicle 1 transports the robot cell 4 to the work position. The automatic guided vehicle 1 is not an integral type with the robot cell 4 but a separate type. The automated guided vehicle 1 can be mechanically coupled to and separated from the robot cell 4, and when the robot cell 4 is transported to a work position, it is coupled to the robot cell 4 and transported. When the robot cell 4 is transported to the work position, the automated guided vehicle 1 separates it from the robot cell 4. Then, the automated guided vehicle 1 starts traveling toward the other robot cell 4 in order to transport the other robot cell 4 that needs to be transported to the work position, and is connected to the robot cell 4 to perform work. Transport to position. That is, the transfer system A of the present embodiment can transfer a plurality of robot cells 4 by one unmanned transfer vehicle 1. In the present embodiment, the case where the automatic guided vehicle 1 is a low floor type will be described, but the present invention is not limited to this.

The guide groove 2 is a groove that guides the robot cell 4 to a work position, and is formed on the floor surface F. In this embodiment, the guide grooves 2 are formed on the floor surface F in a grid shape. However, the present invention is not limited to this, and the guide groove 2 need only be formed along the working position, and need not be formed in a crid shape.

The insertion hole 3 is a hole formed on the floor surface F and is used to position the robot cell 4 at a work position. Therefore, when there are a plurality of work positions, the insertion holes 3 are formed at the positions of the floor surface F corresponding to the respective work positions. In the present embodiment, the insertion hole 3 is formed at the position of the floor surface F corresponding to each work position and is formed in the guide groove 2.

The robot cell 4 is a portable robot cell that is transported by the automated guided vehicle 1. For example, a production line such as a factory according to this embodiment is configured by using a plurality of robot cells 4. The configuration of the robot cell 4 according to this embodiment will be described below.

The robot cell 4 includes a robot 5 and a robot mount 6.

The robot 5 performs a predetermined work on a production line such as a factory. Examples of the predetermined work include working (cutting and grinding) of work, welding, painting, finishing (deburring, chamfering, rounding, polishing, etc.), assembling, picking, and other work. Further, for example, the robot 5 is a so-called human collaborative robot that can perform work in cooperation with humans. However, the present invention is not limited to this, and the robot 5 does not need to be a human collaborative robot as long as the area is isolated from the human.

The robot mount 6 can be carried by the automated guided vehicle 1 and has the robot 5 mounted thereon. The robot 5 is fixed to the robot mount 6.

The schematic configuration of the robot 5 according to this embodiment will be described below.
The robot 5 includes a robot arm 7, a hand unit 8, a processing tool 9, a force sensor 10, and a robot controller 11.

The robot arm 7 has a plurality of articulated mechanisms. Each joint of the robot arm 7 is provided with a motor that drives each joint. The robot arm 7 can move in, for example, a three-dimensional space when a motor is driven by the robot controller 11.

The hand unit 8 detachably connects the processing tool 9 to the robot arm 7. It is not necessary to attach a force sensor, a grinder for processing, etc. to the robot 5 mounted on the trolley in advance, and a rack or the like is provided in the installation area of the work place so that the robot can be taken out of the rack according to a given job. It can also be installed by using a standard auto hand changer.

The processing tool 9 is an end effector attached to the tip of the robot arm 7 by the hand unit 8.
The processing tool 9 can move its position and posture in the three-dimensional space by driving the robot arm 7. The processing tool 9 is formed of a material having rigidity that does not deform even when pressed by a predetermined force. The predetermined force is a pressing force with which the processing tool 9 presses the work. The processing tool 9 may be a dedicated teaching tool for performing teaching work, or may be a tool for performing the above-mentioned predetermined work.

The force sensor 10 detects an external force acting on the processing tool 9. Then, the force sensor 10 outputs the detected external force to the robot controller 11. For example, the force sensor 10 is attached between the robot arm 7 that can move three-dimensionally and the processing tool 9. The force sensor 10 detects, for example, forces in the directions of three orthogonal axes (directions of X, Y, and Z axes) and torque around each axis.

The robot controller 11 drives the robot arm 7 by controlling the motors provided at the joints of the robot arm 7 based on the external force detected by the force sensor 10. As a result, the robot 5 can perform work (precision work such as working work and assembling work) using the processing tool 9.

The electric power for driving the robot 5 may be supplied from the ceiling by wire or wirelessly, or may be supplied from under the floor by wire or without electricity. Further, a battery may be mounted on the robot mount 6 and electric power may be supplied to the robot 5 from the battery.

The schematic configuration of the robot mount 6 according to this embodiment will be described below.

The robot mount 6 includes a mounting portion 12, four legs 13, a connecting portion 14, and a positioning mechanism 15. The four leg portions 13 and the mounting portion 12 form the "mounting base body portion" of the present invention.

The robot 5 is mounted on the mounting unit 12. For example, the mounting unit 12 fixes the robot 5 to the robot mount 6 by fastening the base of the robot 5 to the mounting unit 12 using a fastening bolt (not shown) or the like.

The four legs 13 are provided on the lower portion of the mounting portion 12 and support the mounting portion 12.

The connecting unit 14 includes a connecting mechanism that allows the robot pedestal 6 (the gantry main body) and the automated guided vehicle 1 to be physically coupled and separable. In the present embodiment, the connecting portion 14 enables the mounting portion 12 and the automated guided vehicle 1 to be joined and separated. In the present invention, the structure of the connecting portion 14 is not particularly limited as long as the robot base 6 and the automated guided vehicle 1 can be mechanically coupled and separated, but the connecting portion 14 is, for example, a hook or the like. Alternatively, the automated guided vehicle 1 may be hooked on the locking tool to be coupled thereto. Further, the connecting portion 14 may be a gantry body portion, for example, a jack or the like capable of lifting and supporting the mounting portion 12 or the leg portion 13. Further, the connecting portion 14 may include an electromagnet, and the magnetic force of the electromagnet may couple the robot pedestal 6 and the automated guided vehicle 1 together. In this case, the connection part 14 and the control device 16 stop applying the current to the coil of the electromagnet, so that the robot frame 6 and the automated guided vehicle 1 can be separated.

The positioning mechanism 15 is fixed to the gantry body, and positions the robot pedestal 6 at a predetermined position. In the present embodiment, the positioning mechanism 15 is fixed to the mounting unit 12 and positions the robot pedestal 6 (the gantry body) at a predetermined position on the floor surface. However, the positioning mechanism 15 of the present invention may be positioned on the wall surface or the ceiling instead of the floor surface.

The configuration of the positioning mechanism 15 according to this embodiment will be described below. The positioning mechanism 15 according to this embodiment includes a positioning pin 151 and a drive unit 152.

The positioning pin 151 can move up and down with respect to the mounting portion 12. The positioning pin 151 can be inserted into the guide groove 2 and the insertion hole 3. The positioning pin 151 according to this embodiment has a curved tip. The positioning pin 151 may be attached to the leg portion 13 so as to be vertically movable.

The drive unit 152 moves the positioning pin 151 up and down. That is, the drive unit 152 controls the position of the positioning pin 151 by moving up and down in the direction perpendicular to the floor surface. Then, when positioning the gantry body at a predetermined position, the drive unit 152 lowers the positioning pin 151 and inserts the positioning pin 151 into the insertion hole 3.

Below, the control method of the positioning pin 151 in the drive part 152 which concerns on this embodiment is demonstrated using FIG. FIG. 3 is a diagram illustrating a method of controlling the positioning pin 151 in the drive unit 152 according to this embodiment.

For example, when the robot cell 4 is transported by the automated guided vehicle 1, the driving unit 152 inserts the positioning pin 151 into only the guide groove 2 and inserts the insertion hole 3 as shown in FIG. Do not insert into. The position of the positioning pin 151, which is inserted only in the guide groove 2 and is not inserted in the insertion hole 3, is referred to as a “first position”. Thus, when the robot cell 4 is transported by the unmanned guided vehicle 1, the positioning pin 151 smoothly moves in the guide groove 2 and the robot cell 4 is transported to the working position. That is, when the positioning pin 151 is controlled to the first position, the positioning pin 151 is guided (guided) by the guiding groove 2 to the insertion hole 3 corresponding to a predetermined working position.

Next, when the positioning pin 151 is guided by the guiding groove 2 to the insertion hole 3 corresponding to the predetermined working position, the drive unit 152 moves the positioning 151 to the first position as shown in FIG. 3B. Then, the positioning pin 151 is fitted into the insertion hole 3 by lowering it and inserting the positioning pin 151 into the insertion hole 3. The position of the positioning pin 151 in which the positioning pin 151 is inserted into the insertion hole 3 is referred to as a "second position". In this way, the positioning pin 151 is controlled to the second position, so that the robot mount 6 is positioned and fixed to the floor surface F.

Next, a method of carrying the robot 5 (robot cell 4) by the carrying system A according to the present embodiment will be described with reference to FIGS. 4 to 6. Note that, as shown in FIG. 4, a transfer method will be described by taking a transfer system A including two robot cells 4 and one unmanned transfer vehicle 1 as an example. However, in the transfer system A of the present invention, the number of robot cells 4 and the automated guided vehicle 1 is not particularly limited.

Note that the two robot cells 4 have the same configurations, but for the purpose of distinguishing them from each other, one robot cell 4 and the reference numbers of the respective configurations are appended with "-1" and the other A description will be given by adding "-2" to the end of the reference numerals of the robot cell 4 and its respective components.

For example, by changing the production line, the robot cell 4-1 is moved to the first work position by positioning it in the insertion hole 3b, and the robot cell 4-2 is moved to the first work position by positioning it in the insertion hole 3d. It is assumed that it is relocated to a second work position different from.

Here, the position information of all the insertion holes 3 is stored in advance in the automatic guided vehicle 1, and the automatic guided vehicle 1 wirelessly or wiredly connects the robot cell 4-1 to the insertion holes 3 (3b) from an external device. ) And a second command signal instructing to position the robot cell 4-1 in the insertion hole 3 (3d). The first command signal includes identification information for identifying the robot cell 4-1, information of the insertion hole 3 (3a) in which the current robot cell 4-1 is positioned, and the insertion hole 3 (3b) of the transfer destination. ) Information is included and each information is associated with each other. The second command signal includes identification information for identifying the robot cell 4-2, information on the insertion hole 3 (3c) in which the current robot cell 4-2 is positioned, and the insertion hole 3 (3d) of the transfer destination. Information is included and each information is associated with each other.

When the unmanned guided vehicle 1 receives the first command signal and the second command signal, for example, the first command signal received earlier is given priority and the relocation of the robot cell 4-1 is started. .. Specifically, the automated guided vehicle 1 extracts information of the insertion hole 3a in which the current robot cell 4-1 is positioned from the first command signal and moves in the direction of the insertion hole 3a. Then, the automatic guided vehicle 1 moves to the lower portion of the robot cell 4-1 positioned in the insertion hole 3a, and sends a first movement completion signal indicating that the movement is completed, to the connecting portion 14-1 and It transmits to the drive part 152-1 (FIG. 4).

When the connection unit 14-1 acquires the first movement completion signal, the connection unit 14-1 connects the robot pedestal 6-1 and the automated guided vehicle 1. The connecting method is not particularly limited, but for example, the connecting portion 14-1 connects the robot stand 6-1 and the automated guided vehicle 1 by operating a locking tool, a jack, or the like.

The drive unit 152-1 raises the positioning pin 151-1 from the second position to the first position and cancels the positioning by the positioning pin 151-1. Then, the drive unit 152-1 transmits a cancellation signal indicating that the positioning by the positioning pin 151-1 has been canceled to the automatic guided vehicle 1.

When the automatic guided vehicle 1 receives the release signal from the drive unit 152-1, it extracts the information of the insertion hole 3b of the relocation destination from the first command signal, and the positioning pin 151-1 comes to the position of the insertion hole 3b. As described above, the positioning pin 151-1 is moved while sliding in the guide groove 2. Then, when the movement is completed, the automatic guided vehicle 1 transmits a second movement completion signal indicating that the movement is completed to the connecting unit 14-1 and the driving unit 152-1 (FIG. 5). ..

When the connection unit 14-1 acquires the second movement completion signal, the connection unit 14-1 disconnects and separates the connection between the robot base 6-1 and the automated guided vehicle 1. Upon receiving the second movement completion signal, the drive unit 152-1 lowers the positioning pin 151-1 from the first position to the second position and inserts the positioning pin 151-1 into the insertion hole 3b. Then, the positioning pin 151 is inserted into the insertion hole 3b by fitting it. As a result, the robot base 6-1 can be positioned and fixed on the floor surface F, and the transfer of the robot cell 4-1 is completed.

Next, the automated guided vehicle 1 extracts the information of the insertion hole 3c in which the current robot cell 4-2 is positioned from the second command signal in order to start the transfer of the robot cell 4-2, It moves in the direction of the insertion hole 3c (Fig. 6). Then, the automatic guided vehicle 1 moves to the lower part of the robot cell 4-2 positioned in the insertion hole 3c, and outputs the first movement completion signal indicating that the movement is completed, to the connecting portion 14-2 and It transmits to the drive part 152-2 (FIG. 7).

When the connection unit 14-2 acquires the first movement completion signal, the connection unit 14-2 connects the robot base 6-2 and the automated guided vehicle 1. In addition, the drive unit 152-2 raises the positioning pin 151-2 from the second position to the first position to release the positioning by the positioning pin 151-2. Then, the drive unit 152-2 transmits a cancellation signal indicating that the positioning by the positioning pin 151-2 has been canceled to the automatic guided vehicle 1.

When the unmanned guided vehicle 1 receives the release signal from the drive unit 152-2, it extracts the information of the insertion hole 3d of the relocation destination from the first command signal, and the positioning pin 151-2 comes to the position of the insertion hole 3d. As described above, the positioning pin 151-2 is moved while sliding in the guide groove 2. Then, when the movement is completed, the automated guided vehicle 1 transmits a second movement completion signal indicating that the movement is completed to the coupling unit 14-2 and the driving unit 152-2 (FIG. 8). ..

When the connection unit 14-2 acquires the second movement completion signal, the connection unit 14-2 releases the connection between the robot pedestal 6-2 and the automated guided vehicle 1 and separates them. When the drive unit 152-2 receives the second movement completion signal, it lowers the positioning pin 151-2 from the first position to the second position and inserts the positioning pin 151-2 into the insertion hole 3. Then, the positioning pin 151 is inserted into the insertion hole 3 by fitting it. As a result, the robot base 6-2 can be positioned and fixed to the floor surface F, and the transfer of the robot cell 4-2 is completed.

As described above, since the robot cell 4 (robot mount 6) has a configuration separated from the automated guided vehicle 1, the phenomenon that the wheels of the automated guided vehicle slip during the operation of the robot 5 cannot occur. Further, since the robot mount 6 is provided with the positioning mechanism 15, the position of the robot 5 can be accurately maintained during work. Furthermore, since it becomes possible to transport a plurality of robot cells 4 by one unmanned transport vehicle 1, the cost of the transport system can be reduced.

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and includes a design and the like within a range not departing from the gist of the present invention.

(Modification 1) In the above embodiment, the case where the robot mount 6 is provided with one positioning mechanism 15 has been described, but the present invention is not limited to this, and the robot mount 6 is provided with a plurality of positioning mechanisms 15. May be provided. As a result, the position of the robot 5 during work can be maintained more accurately.

(Modification 2) In the above embodiment, the guide groove 2 is formed on the floor surface, but the present invention is not limited to this. For example, a magnetic tape for guiding the positioning pin 151 to each of the insertion holes 3 may be attached to the floor surface, and the automated guided vehicle 1 may travel while the sensor recognizes the magnetic tape.

(Modification 3) In the above embodiment, the positioning mechanism 15 is provided on the robot frame 6, but the present invention is not limited to this, and the positioning mechanism 15 may be provided on the floor surface F. In this case, for example, the positioning mechanism 15 may be configured to hold at least one of the legs 13 of the robot mount 6 to position and fix the robot mount 6.

(Modification 4) In the above embodiment, there are some possible variations in the method of giving a job instruction to the automatic guided vehicle 1 or the robot cell 4.
(1) For example, the transport system A may include a management device that manages the entire process. Then, the management device may manage the work state of each robot cell 4, give a work instruction to the automated guided vehicle 1, and the like. Then, the management device may transmit the first command signal and the second command signal to the automatic guided vehicle 1 wirelessly or by wire in accordance with the working state of the robot cell 4, as the external device.
(2) For example, the carrier system A includes an RFID tag or a readable code (for example, a two-dimensional bar code or QR code (registered trademark)). Further, the automated guided vehicle 1 or the robot pedestal 6 is equipped with a reading device for reading information such as work content and equipment necessary for the work from an RFID tag or a code. Then, the automated guided vehicle 1 or the robot gantry 6 reads the information such as the work content and the equipment necessary for the work from the RFID tag or the code by the reading device, and performs the work based on the read information (the automated guided vehicle 1 (For example, the transfer work of the robot mount 6 by the above) may be performed.

As described above, the robot pedestal 6 according to the present embodiment is capable of being carried by the automated guided vehicle 1 and includes the gantry body portion on which the robot 5 is placed. Further, the robot pedestal 6 has a predetermined size when the unmanned guided vehicle 1 and the gantry main body are physically coupled to and separable from each other, and the unmanned guided vehicle 1 and the gantry main body are separated. A positioning mechanism 15 for positioning the gantry body at the position.

According to such a configuration, since the robot pedestal 6 is configured to be separated from the automated guided vehicle 1, the phenomenon that the wheels of the automated guided vehicle slip during the operation of the robot cannot occur. Further, since the robot base 6 is provided with the positioning mechanism 15, the position of the robot during work can be accurately maintained.

Further, while the robot 5 is working, the automated guided vehicle 1 transports the robot mount 6 on which another robot 5 is mounted, charges a battery mounted on the automated guided vehicle 1, and the like. It is possible to effectively utilize the idle time that would occur if a conventional integrated transfer robot equipped with a.

Further, the positioning mechanism 15 in the robot mount 6 described above may position the robot mount at a predetermined position on the floor surface F. For example, the positioning mechanism 15 positions (fixes) the gantry body on the floor surface F by lowering the positioning pin and inserting the positioning pin into the hole (insertion hole 3) formed in the floor surface F to insert the positioning pin. May be.

With such a configuration, the robot pedestal 6 to which a simple positioning mechanism is added is carried by the automatic guided vehicle 1 so that the robot can perform positioning without providing an additional sensor or mechanism. Accuracy can be secured.

In addition, the transfer method according to the present embodiment is a transfer method in which the robot pedestal 6 including the gantry main body on which the robot 5 is placed is transferred to the target position (for example, the work position) by the automated guided vehicle 1. The carrying method includes a combining step, a carrying step, a positioning step, and a separating step.
In the joining step, the automated guided vehicle 1 and the gantry body are joined by the connecting portion 14.
In the carrying step, after the combining step, the automated guided vehicle 1 carries the robot mount 6 to the target position.
In the positioning step, after the carrying step, the gantry body is positioned and fixed to the floor surface by the positioning mechanism provided on the floor surface F or the gantry body.
In the separating step, the automated guided vehicle 1 and the gantry body are separated from the connecting portion 14 after the carrying step.

According to such a configuration, the position of the robot 5 at the time of work can be accurately maintained, and a plurality of robots 5 can be carried by one unmanned guided vehicle 1, so that the cost can be reduced.

A transport system 1 unmanned transport vehicle 2 guide groove 3 insertion hole 4 robot cell 5 robot 6 robot mount 14 connecting portion 15 positioning mechanism

Claims (6)

A robot mount that is portable by an automated guided vehicle and includes a mount main body on which a robot is mounted.
A connecting portion capable of physically connecting and separating the automatic guided vehicle and the gantry body portion,
A positioning mechanism that positions the gantry body at a predetermined position when the automated guided vehicle and the gantry body are separated from each other,
A pedestal for a robot, which is equipped with. The robot mount according to claim 1, wherein the positioning mechanism positions the mount body at a predetermined position on the floor surface. The positioning mechanism is
A positioning pin movable up and down with respect to the gantry body,
A drive unit for lowering the positioning pin to position the gantry body at a predetermined position,
The robot stand according to claim 1 or 2, further comprising: A robot mount according to claim 3;
Holes on the floor,
Equipped with
The drive unit positions the gantry body by lowering the positioning pin and inserting the locating pin into the hole when the automated guided vehicle and the gantry body are separated from each other. A transport system characterized by: The transport system according to claim 4, wherein a groove that guides the positioning pin to the hole is formed on the floor surface. A transportation method for transporting a robot gantry having a gantry main body on which a robot is placed to a target position by an automated guided vehicle,
A coupling step of coupling the automatic guided vehicle and the gantry body section from a coupling section provided on the robot gantry;
After the combining step, a transfer step in which the automated guided vehicle transfers the robot mount to the target position,
A positioning step of positioning and fixing the gantry body part on the floor surface by a positioning mechanism provided on the floor surface or the gantry body part after the carrying step;
After the carrying step, a separating step of separating the unmanned guided vehicle and the gantry body from a connecting portion,
A transportation method including.

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