Conveyance method of robot slider
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2026-08-13
Smart Images
Figure JP2025004364_13082026_PF_FP_ABST
Abstract
Description
Method for transporting a robot slider
[0001] The technology disclosed in this specification relates to a method for transporting a robot slider.
[0002] For example, in the conveyance of workpieces on an assembly line, a robot slider driven by a linear motor may be used. As a document that discloses a technology related to a robot slider driven by a linear motor, there is Patent Document 1.
[0003] U.S. Patent No. 7,859,139
[0004] The problem of the present invention is to perform the transfer of the robot slider between the linear conveyor and the guide frame by utilizing inertia.
[0005] (1) The method for transporting a robot slider includes steps from the first step to the fifth step. The first step is a step of sending out the robot slider from the first linear conveyor onto the guide frame by the magnetic force of the linear motor. The second step is a step in which the sent-out robot slider moves by inertia and transfers from the first linear conveyor to the guide frame.
[0006] The third step is a step of the conveying unit conveying forward the robot slider that has transferred to the guide frame by driving the drive shaft. The fourth step is a step of separating the robot slider that moves forward integrally with the conveying unit from the conveying unit immediately before transferring from the guide frame to the second linear conveyor. The fifth step is a step in which the separated robot slider moves by inertia and transfers from the guide frame to the second linear conveyor.
[0007] According to the method for transporting a robot slider described in (1), the transfer of the robot slider between the first linear conveyor and the guide frame and the transfer of the robot slider between the guide frame and the second linear conveyor can be performed by utilizing inertia.
[0008] (2) A method for transporting a robot slider as described in (1), wherein in the second step or the fifth step, the robot slider may stop after the transfer due to friction during movement.
[0009] (3) A method for transporting a robot slider as described in (1), wherein in the second step or the fifth step, the robot slider may be stopped by a stopper after the transfer.
[0010] (4) A method for transporting a robot slider as described in any one of (1) to (3), wherein the direction of movement of the robot slider is a first direction and the direction perpendicular to the first direction is a second direction, the lever provided on the transport unit may move in the second direction by the operation of an anti-back mechanism or a cam mechanism and be positioned behind the robot slider. The robot slider may be transported by the lever pushing the robot slider as the transport unit moves forward.
[0011] (5) A method for transporting a robot slider as described in any one of (1) to (4), wherein in the third step, the robot slider may be transported by relaying it through a plurality of transport units.
[0012] (6) A method for transporting a robot slider as described in any one of (1) to (5), wherein in the third step, a plurality of drive shafts connected via guide rails may be used to move the plurality of transport units.
[0013] According to the technology disclosed herein, the transfer of a robot slider between a first linear conveyor and a guide frame, and the transfer of a robot slider between a guide frame and a second linear conveyor, can be performed using inertia.
[0014] Plan view of robot slider and conveying device Plan view of conveying device alone Perspective view of linear conveyor (with cover) Perspective view of linear conveyor (without cover) Cross-sectional view of linear conveyor and robot slider Flowchart of conveying procedure Explanation diagram of conveying procedure Perspective view of conveying section (showing sensor and stopper) Plan view of robot slider and conveying device Plan view of conveying line Plan view of linear motion device Enlarged view of part of Figure 11 Perspective view of conveying section Explanation diagram of lever operation Plan view of linear motion device Enlarged view of part B of Figure 15 Side view of linear motion device Explanation diagram of conveying procedure Explanation diagram of conveying procedure Plan view of conveying section Perspective view of conveying section Explanation diagram of lever operation Diagram showing other forms
[0015] <Embodiment 1> 1. Conveying device 10 Figure 1 is a plan view of the robot slider S and conveying device 10, and Figure 2 is a plan view of the conveying device alone. In the following description, the direction of movement of the robot slider S is the X direction (first direction of the present invention), and the direction perpendicular to it is the Y direction (second direction of the present invention). Also, regarding front and back, the robot slider S is used as the reference, and the direction of travel of the robot slider S (left direction in Figures 1 and 2) is considered the front.
[0016] The transport device 10 is for transporting the robot slider S and consists of a first linear conveyor 20, a guide frame 30, a second linear conveyor 40, and a linear motion device 50.
[0017] The robot slider S comprises a base 1, a pair of linear guides 2, and a movable element 3. The pair of linear guides 2 are located on the back surface of the base 1.
[0018] The linear guide 2 is fitted onto the rail 22 of the first linear conveyor 20, the rail 32 of the guide frame 30, and the rail 42 of the second linear conveyor 40, respectively.
[0019] The movable element 3 is a magnet. Together with the stator 23 of the first linear conveyor 20 and the stator 43 of the second linear conveyor 40, the movable element 3 constitutes a linear motor that generates a thrust force in the X direction by magnetic force.
[0020] The first linear conveyor 20 and the second linear conveyor 40 are located at both ends of the guide frame 30 in the X direction.
[0021] The guide frame 30 comprises a metal frame 31 and a pair of rails 32 located on the upper surface of the frame 31. The pair of rails 32 extend parallel to the X direction.
[0022] The guide frame 30 differs from the first linear conveyor 20 and the second linear conveyor 40, which are described below, in that it does not have stators 23 and 43 and therefore cannot generate magnetic propulsion.
[0023] The first linear conveyor 20 comprises a metal frame 21, a pair of rails 22 located on the upper surface of the frame 21, and a stator 23. The stator 23 is a coil and is located approximately in the center of the upper surface of the frame. Together with the movable element 3 of the robot slider S, the stator 23 constitutes a linear motor that generates a magnetic thrust in the X direction.
[0024] The second linear conveyor 40 has a metal frame 41, a pair of rails 42 located on the upper surface of the frame 41, and a stator 43. The stator 43 is a coil and is located approximately in the center of the upper surface of the frame. Together with the movable element 3 of the robot slider S, the stator 43 constitutes a linear motor that generates a magnetic thrust in the X direction.
[0025] Furthermore, the rails 21 of the first linear conveyor 20, the rails 31 of the guide frame 30, and the rails 41 of the second linear conveyor 40 are aligned. The robot slider S can move in the X direction along the rails 21, 31, and 41, thereby transferring from the first linear conveyor 20 to the guide frame 30, or from the guide frame 30 to the second linear conveyor 40.
[0026] The linear motion device 50 is a device that transports the robot slider S in the X direction in sections where there is no thrust force in the X direction due to linear drive (section W where the guide frame 30 is installed).
[0027] The linear motion device 50 can consist of, for example, a conveying unit 51, a table 53, and a drive shaft 55 that extends parallel to the guide frame 30 and reciprocates the table 53 in the X direction. The conveying unit 51 is attached to the table 53 and reciprocates integrally with the table 53 in the X direction. The drive shaft 55 is driven by a motor and can reciprocate the table 53 in the X direction; it may be belt-driven, screw-driven, or linear motor-driven.
[0028] Figure 3 is a perspective view of the first linear conveyor (with rail cover), Figure 4 is a perspective view of the first linear conveyor (without rail cover), and Figure 5 is a cross-sectional view of the first linear conveyor (with robot slider). Reference numeral 25 in Figure 3 indicates the rail cover. Reference numeral 23 in Figures 4 and 5 indicates the stator, and reference numeral 3 in Figure 5 indicates the movable element. The movable element 3 consists of a permanent magnet 4 and a back choke 5 that holds the permanent magnet 4.
[0029] 2. Transport Method of Robot Slider S Figure 6 is a flowchart showing the transport procedure for the robot slider S, and Figure 7 is an explanatory diagram thereof. The transport procedure described below transports the robot slider S from the first linear conveyor 20 to the second linear conveyor 40 in five steps from S1 to S5. Initially, before the start of transport, the robot slider S is positioned on the first linear conveyor 20.
[0030] In step S1, the robot slider S on the first linear conveyor 20 is moved forward by the magnetic force of the linear motors 3 and 23 (specifically, the magnetic repulsive force between the movable element 3 and the stator 23). In the example shown in Figure 7, the robot slider S is moved onto the guide frame 30 at position P1 on the first linear conveyor 20.
[0031] In step S2, the robot slider S, which has been launched onto the guide frame 30, moves by inertia without receiving any external thrust, and transfers from the first linear conveyor 20 to the guide frame 30.
[0032] Inertia is the property of an object to maintain its current state. In this example, it is the property of the robot slider S, which is propelled by the magnetic force of the linear motors 3 and 23, to continue moving.
[0033] The speed of the robot slider S gradually decreases due to friction with the guide frame 30, and eventually stops. In the example in Figure 7, the robot slider S, which is pushed forward at position P1, moves a distance X1 by inertia and stops at position P2 on the guide frame 30.
[0034] In S3, as the linear motion device 50 is driven, the robot slider S, which stops at P2, is pushed by the transport unit 51 and moves along the guide frame 30 toward the second linear conveyor 40.
[0035] At S4, when the robot slider S moves to the position just before it transfers from the guide frame 30 onto the second linear conveyor 40, the transport unit 51 stops abruptly without slowing down. As a result, the robot slider S, which has been moving forward integrally with the transport unit 51, is separated from the transport unit 51. In the example in Figure 7, the transport unit 51 stops at position P3, and the robot slider S is separated.
[0036] In S5, the detached robot slider S moves using its inertia from the time of detachment, without receiving any external propulsion, and transfers from the guide frame 30 to the second linear conveyor 40.
[0037] Inertia is the property of an object to maintain its current state. In this example, the robot slider S continues to move at the same velocity it was at the time of detachment, even after being released.
[0038] Subsequently, due to friction with the second linear conveyor 40, the speed of the robot slider S gradually slows down and eventually stops. In the example shown in Figure 7, the robot slider S, which was detached at position P3, moves a distance X3 by inertia and stops at position P4 on the second linear conveyor.
[0039] 3. Adjustment of Moving Distance Due to Inertia When the first linear conveyor 20 sends out the robot slider S to the guide frame 30, on the guide frame, the robot slider S moves by inertia and stops due to the friction with the guide frame 30. The moving distance due to inertia varies due to the sliding resistance (friction) of the mechanism, and as a result, the stopping position may be different.
[0040] The moving distance and stopping position of the robot slider S may be controlled by the following methods. (A) Adjust the acceleration and speed when sending out the robot slider S by a control device such as a controller. Specifically, the acceleration and speed can be adjusted by the coil current of the stator 23. (B) Detect the robot slider S with the sensor 71, and then stop the robot slider S at a predetermined position with the stopper 73.
[0041] FIGS. 8 and 9 are diagrams showing installation examples of the sensor 71 and the stopper 73. The sensor 71 and the stopper 73 can be installed on the upper surface of the guide frame near the rail. For the sensor 71, for example, a proximity sensor or the like can be considered for use. Also, the stopper 73 can use an electromagnetic valve type cylinder that displaces in one direction or the like.
[0042] In the example of FIG. 8, the robot slider S is stopped by abutting the stopper 73 that displaces in the vertical direction against the front end face.
[0043] Note that the control of the moving distance and the stopping position is not limited to the case where the robot slider S transfers from the first linear conveyor 20 to the guide frame 30, but can also be applied when the robot slider S transfers from the guide frame 30 to the second linear conveyor 40.
[0044] According to the present conveying method disclosed with reference to FIGS. 6 and 7, the transfer of the robot slider S between the first linear conveyor 20 and the guide frame 30 and the transfer of the robot slider S between the guide frame 30 and the second linear conveyor 40 are performed by utilizing the inertia of the robot slider S.
[0045] According to this transfer method, even during relay, the moving distance of the transfer unit 51 can be shortened compared to the case where the robot slider S is pushed by the transfer unit 51 to move. Therefore, the linear motion device 50 can be miniaturized.
[0046] 3. Application Example of the Transfer Device 10 FIG. 10 is a plan view of the transfer line 80. The transfer line 80 is composed of a first transfer line 81, a first direction conversion unit 82, a second transfer line 83, a second direction conversion unit 84, and Y-direction moving units 85 and 86.
[0047] The Y-direction moving units 85 and 86 reciprocate the first direction conversion unit 82 and the second direction conversion unit 84 in the Y direction between the first transfer line 81 and the second transfer line 83.
[0048] The transfer line 80 circulates the robot slider S along the path of the first transfer line 81 ⇒ the first direction conversion unit 82 ⇒ the second transfer line 83 ⇒ the second direction conversion unit 84. The first transfer line 81 is a working path (outward path), and the second transfer line 83 is a path for the robot slider to circulate (return path).
[0049] Among the transfer devices 10 of the present invention, the first linear conveyor 20, the guide frame 30, and the second linear conveyor 40 respectively correspond to the first direction conversion unit 82, the second transfer line 83, and the second direction conversion unit 84 of the transfer line 80. As an example, the transfer device 10 can be applied to the return path U (dashed frame in FIG. 10) of the transfer line 80.
[0050] In this embodiment, the transfer line 80 is a horizontal circulation type, but the transfer line 80 may also be a vertical circulation type. The horizontal circulation type is a method in which the first transfer line 81 and the second transfer line 83 are arranged horizontally and the slider S is circulated horizontally as shown in FIG. 10. The vertical circulation type is a method in which the first transfer line 81 and the second transfer line 83 are arranged vertically and the slider S is circulated vertically.
[0051] <Embodiment 2> 1. Diagram 11 of the linear motion device 100 is a plan view of the linear motion device 100. Figure 12 is an enlarged view of part A (around the conveying section) in Figure 11. Figure 13 is a perspective view of the conveying section 110. The linear motion device 100 consists of a conveying section 110, a table 130, and a drive shaft 150. The drive shaft 150 reciprocates the table 130 and the conveying section 110 fixed to the table 130 in the X direction by belt drive.
[0052] As shown in Figure 13, the transport unit 110 comprises a base 111, a rail 113, a sliding member 115, a fixing member 117, a lever 121, and a spring 125. The rail 113 extends in the Y direction. The sliding member 115 is movable in the Y direction along the rail 113.
[0053] The lever 121 is fixed to the slide member 115 via a fixing member 117. The lever 121 is movable in the Y direction integrally with the slide member 115.
[0054] The lever 121 and the sliding member 115 constitute an anti-back mechanism, which allows the robot slider S to move forward (to the left in Figure 12) and restricts the robot slider S to move backward (to the right in Figure 12).
[0055] In this example, the lever 121 is a right triangle with the first side wall 121A as its hypotenuse, and the second side wall 121B is a vertical plane perpendicular to the X direction. A roller 123 is attached to the first side wall 121A.
[0056] The spring 125 is placed between the first fixing part 111A, which is fixed to the base 111, and the second fixing part 115A, which is fixed to the slide member 115. The spring 125 biases the slide member 115 and the lever 121 in the Y1 direction.
[0057] 2. Diagram 14 illustrating the operation of the linear motion device 100 is an explanatory diagram of the operation of the linear motion device 100. In its initial state, the transport unit 110 is in the standby position shown in Figure 14 and is located in front of the robot slider S which is located on the first linear conveyor 20.
[0058] Furthermore, the robot slider S is provided with push-in sections 170 on both sides of the front. The push-in sections 170 protrude in the Y direction. The push-in sections 170 correspond to the lever 121 of the transport section 110 and have an inclined surface (hereinafter referred to as the inclined section 171) at the front.
[0059] When the robot slider S is sent from the first linear conveyor 20 to the guide frame 30 (S1 in Figure 6), the inclined portion 171 of the pushing portion 170 comes into contact with the first side wall 121A of the lever 121. Subsequently, the robot slider S moves forward while pushing the lever 121 in the direction of arrow A in Figure 14.
[0060] Then, when the push-in portion 170 of the robot slider S passes the lever 121, the lever 121 returns to its original position due to the elastic force of the spring 125 and moves in the direction of arrow B in Figure 14.
[0061] At this time, the second side wall 121B of the lever 121 is positioned behind the push-in portion 170, restricting the retraction of the robot slider S (S2 in Figure 6).
[0062] Subsequently, when the drive shaft 150 is activated and the transport unit 110 moves from the standby position to the left in Figure 14, the robot slider S is pushed forward via the lever 121 and moves along the guide frame 30 (S3 in Figure 6).
[0063] In the configuration of Embodiment 2, the mechanical structure used in the anti-back mechanism enables the transport unit 110 to be linked to the robot slider S for transport. By realizing this operation with a mechanical structure, energy savings can be achieved compared to using power sources such as air cylinders or electric cylinders, making it effective in reducing CO2 emissions.
[0064] <Embodiment 3> 1. The linear motion device arrangement diagram 15 is a plan view of the linear motion devices 100A to 100C. Section V shown in Figure 15 is the installation section of the guide frame 30. In this example, three linear motion devices 100A to 100C are arranged corresponding to sections V1 to V3. Specifically, the three linear motion devices 100A to 100C are arranged alternately on both sides of the guide frame 30 in the Y direction.
[0065] Then, the robot slider S is transported by relaying it through three transport sections 110A to 110C. In other words, in the first section V1, the robot slider S is transported by the transport section 110A of the linear motion device 100A, in the second section V2, it is transported by the transport section 110B of the linear motion device 100B, and in the third section V3, it is transported by the transport section 110C of the linear motion device 100C.
[0066] Furthermore, the linear motion devices 100A to 100C have the same structure and consist of a conveying unit 110, a table 130, and a drive shaft 150. The drive shaft 150 reciprocates the table 130 and the conveying unit 110 fixed to the table 130 in the X direction by belt drive.
[0067] 2. Diagram 16, showing the relay process using multiple linear motion devices, is an enlarged view of section B in Figure 15. Figure 16 is an explanatory diagram of the relay process of the robot slider S from linear motion device 100A to linear motion device 100B.
[0068] During transport by the linear motion device 100A, the lever 121 pushes the push-in part 170L on the left side in the direction of travel of the robot slider S, causing the robot slider S to move forward.
[0069] Then, when the robot slider S moves to the relay position (the stopping position of the transport section of the linear motion device 100B), the transport section 110 of the linear motion device 100A stops.
[0070] After the transport unit 110 stops, the robot slider S moves by inertia, and the pushing unit 170R on the right side in the direction of travel pushes the lever 121 of the transport unit 110 of the linear motion device 100B as it moves forward.
[0071] Then, when the push-in part 170R moves over the lever 121, the lever 121 returns to its original position and is positioned behind the push-in part 170R on the right side in the direction of travel of the robot slider S.
[0072] From this point forward, the lever 121 pushes the push-in part 170R on the right side in the direction of travel of the robot slider S, making it possible to move the robot slider S forward by the linear motion device 100B.
[0073] In this way, the push-in sections 170R and 170L on both sides of the robot slider S can be used to relay from the linear motion device 100A to the linear motion device 100B. Similarly, the linear motion device 100B can be relayed to the linear motion device 100C.
[0074] In this embodiment, in S3, the robot slider S is transported by relaying it through multiple transport units (in this example, three transport units consisting of three linear motion devices 100A to 100C) 110. Therefore, this is considered effective when the overall length of the guide frame 30 is long and the transport distance is insufficient with a single linear motion device in S3. The guide frame 30 may be configured by connecting multiple guide frames in series, or it may consist of a single guide frame.
[0075] <Embodiment 4> In Embodiment 4, two drive shafts 200A and 200B, connected by a guide rail 200B, are used to move the multiple transport units 250A, 250B, and 250C.
[0076] To explain in more detail, as shown in Figure 17, the two drive shafts 200A and 200B are positioned on both sides of the guide rail 200B in the X direction. The guide rail 200B is located below the two drive shafts 200A and 200B in the vertical direction. Both ends of the guide rail 200B are connected to the two drive shafts 200A and 200B, respectively.
[0077] A table 210A is attached to the drive shaft 200A. The table 210A reciprocates in the X direction by the power of the drive shaft 200A. A sliding member 210B is slidably attached to the guide rail 200B. A table 210C is attached to the drive shaft 200C. The table 210C reciprocates in the X direction by the power of the drive shaft 200C.
[0078] The connecting plate 230 connects the table 210A and the sliding member 210B. The first transport section 250A and the second transport section 250B are attached to the connecting plate 230, and the third transport section 250C is attached to the table 210C.
[0079] As shown in Figures 18 and 19, in S3, the robot slider S is transported by pitch feeding while relaying it in the X direction through three transport units 250A to 250C. The purpose of pitch feeding is for the three transport units 250A to 250C to transport the robot slider S by the same distance each time.
[0080] The configuration of Embodiment 4 allows for a reduction in the number of drive shafts 200 compared to the configuration of Embodiment 3. Therefore, it is effective in reducing costs and CO2 emissions.
[0081] <Embodiment 5> In Embodiment 2, the lever 121 of the conveying unit 110 was moved in the Y direction using an anti-back mechanism. In Embodiment 5, the lever 321 of the conveying unit 310 is moved in the Y direction using a cam mechanism.
[0082] Figure 20 is a plan view of the transport unit 310, and Figure 21 is a perspective view of the transport unit 310. As shown in Figures 20 and 21, the transport unit 310 comprises a base 311, a rail 313, a slide member 315, a lever 321, a cam member 323, and a spring 327. The rail 113 extends in the Y direction. The slide member 315 is movable in the Y direction along the rail 313.
[0083] The lever 321 is fixed to the upper surface of the slide member 315. The cam member 323 is fixed to the lower surface of the slide member 315. A roller 325 is attached to the tip of the cam member 323. The lever 321 and the cam member 323 are movable integrally with the slide member 315 in the Y direction.
[0084] The spring 327 is placed between the first fixing portion 311A, which is fixed to the base 311, and the second fixing portion 315A, which is fixed to the slide member 115. The spring 327 biases the slide member 115, the lever 321, and the cam member 323 in the Y1 direction.
[0085] Furthermore, a rail 350 is fixed to the drive shaft 400 that moves the conveying unit 310 back and forth in the X direction. The rail 350 comprises a straight section 351 extending in the Y direction and an inclined section 353 located in front of the straight section 351. The rail 350 serves as the moving surface for the roller 325.
[0086] The cam member 323 and the rail 350 constitute a cam mechanism, and as shown in Figure 22, as the transport unit 310 moves forward, the lever 321 moves from its initial position to a protruding position in the Y direction.
[0087] In the protruding position, the lever 321 protrudes above the guide frame and is located behind the robot slider S. Therefore, when the transport unit 310 is moved forward from this position, the lever 321 pushes the robot slider S, causing the robot slider S to move forward.
[0088] The embodiments described above are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above.
[0089] (1) In the above embodiment, an example was shown in which the conveying device 10 is applied to a circulating conveying line 80, but the present invention may also be applied to a non-circulating conveying line.
[0090] (2) In the above embodiment, levers 121 and 321 were moved in the Y direction using an anti-back mechanism or a cam mechanism. As shown in Figure 23, levers 121 and 321 may also be moved in the Y direction by an air cylinder or an electric cylinder. Reference numeral 410 in Figure 23 is a lever that pushes the robot slider S, and reference numeral 420 is an air cylinder that moves lever 410 in the Y direction.
[0091] (3) In the above embodiment, the robot slider S was temporarily stopped when transferring from the first linear conveyor 20 to the guide frame 30, but it may be possible to proceed to the next operation without stopping. The same applies when transferring from the guide frame 30 to the second linear conveyor 40.
[0092] (4) In the above embodiment, the robot slider S is detached from the transport unit 51 by stopping the transport unit 51 just before it transfers from the guide frame 30 to the second linear conveyor 40. The robot slider S may be detached by another method. For example, the robot slider S may be detached by the transport unit 51 pushing the robot slider S forward with a cylinder or the like. In this specification, detachment means that the robot slider S, which moves forward integrally with the transport unit 51, separates from the transport unit 51 and moves forward on its own.
[0093] (5) A sensor for detecting the position of the robot slider S may be installed on the guide frame. The detection result of the sensor may be used as a trigger to determine the timing for starting transport of the robot slider S by the transport unit 51 and the timing for detachment. These timings may also be controlled by a time (timer).
[0094] (6) In the above embodiment, the stator 23 is a coil and the movable element 3 is a magnet, but the configuration may be reversed so that the stator 23 is a magnet and the movable element 3 is a coil.
[0095] 10 Conveying device 20 First linear conveyor 30 Guide frame 40 Second linear conveyor 50 Linear motion device 51 Conveying section 55 Drive shaft S Robot slider
Claims
1. A method for transporting a robot slider, comprising: a first step of sending the robot slider from a first linear conveyor onto a guide frame by the magnetic force of a linear motor; a second step of the sent-out robot slider moving by inertia to transfer from the first linear conveyor onto the guide frame; a third step of a transport unit transporting the robot slider that has transferred onto the guide frame forward by the drive of a drive shaft; a fourth step of separating the robot slider, which is moving forward integrally with the transport unit, from the transport unit just before it transfers from the guide frame onto a second linear conveyor; and a fifth step of the separated robot slider moving by inertia to transfer from the guide frame onto the second linear conveyor.
2. A method for transporting a robot slider according to claim 1, wherein in the second or fifth step, the robot slider stops after the transfer due to friction during movement.
3. A method for transporting a robot slider according to claim 1, wherein in the second or fifth step, the robot slider is stopped by a stopper after the transfer.
4. A method for transporting a robot slider according to claim 1, wherein, when the direction of movement of the robot slider is a first direction and the direction perpendicular to the first direction is a second direction, a lever provided on the transport unit moves in the second direction by the operation of an anti-back mechanism or a cam mechanism to be positioned behind the robot slider, and as the transport unit moves forward, the lever pushes the robot slider, thereby transporting the robot slider.
5. A method for transporting a robot slider according to claim 1, wherein in the third step, the robot slider is transported by relaying it through a plurality of transport units.
6. A method for transporting a robot slider according to claim 5, wherein in the third step, a plurality of drive shafts connected via guide rails are used to move a plurality of transport units.