Linear conveyor system

Abstract

A linear conveying system (1) of the present invention comprises a mover (4) having a magnet (41) arranged on its side faces, and a conveying path (7) in which a first module (2), comprising a plurality of coils (21) configured to move the mover by means of an electromagnetic force exerted by the plurality of coils, and a second module (3), formed of a magnetic material without coils, are arranged along the direction of movement of the mover. The conveying path has a non-branching region (6) in which the first module is arranged on one side of the side faces of the mover, and a branching region (5) in which the first module is arranged on one side of the side faces of the mover and the second module is arranged on the other side.

Description

Technical field

[0001] The present invention relates to a linear conveying system that utilizes the feed of a linear motor. State of the art

[0002] A technology is known in which a mover equipped with a plurality of magnets moves along a linear guide formed from several stator modules, enabling branching and merging in a conveying path by means of an electromagnetic force. For example, patent document 1 discloses a configuration in which, in a section where a conveying path branches, stator modules with coils are arranged on both sides of the mover, and a transverse force or lateral force for moving the mover in the branching direction is exerted by applying energy to the coil of the stator module on one side. State-of-the-art document / Patent document

[0003] Patent document 1: National publication of the international patent application JP 2016 - 531 534 A Summary of the invention Problem to be solved with the invention

[0004] However, with the conventional linear conveyor system, the following applies: Since the stator modules, which contain the coils, are located on both sides of the mover in the section where the conveying path branches, there is a problem of an increase in the weight of the linear conveyor system.

[0005] The present invention was designed to solve the problem described above, and it is an object of the present invention to provide a linear conveying system that prevents weight gain even when a conveying path branches. Ways to solve the problem

[0006] A linear conveying system according to the present invention comprises a mover with a magnet arranged on its side faces, and a conveying path in which a first module, comprising a plurality of coils and configured to move the mover by means of an electromagnetic force exerted by the plurality of coils, and a second module, formed of a magnetic material without coils, are arranged along a direction of movement of the mover. The conveying path has a non-branching region in which the first module is arranged on one side of the mover's side faces, and a branching region in which the first module is arranged on one side of the mover's side faces and the second module is arranged on the other side of the mover's side faces. Effects of the invention

[0007] According to the linear conveying system of the present invention, the second module, which has no coils, is used on one side of the side surfaces of the mover in the branching area of ​​the conveying path, and consequently the effect is achieved that an increase in weight is prevented. Brief description of the drawings Fig. Figure 1 is a schematic configuration diagram showing a linear conveyor system according to embodiment 1 of the present invention. Fig. Figure 2 is a cross-sectional view showing a first module and a second module of the linear conveying system according to embodiment 1 of the present invention. Fig. Figure 3 is a cross-sectional view showing a case in which a mover moves in the positive X direction and is attracted in the negative Y direction at a branching area of ​​the linear conveying system according to embodiment 1 of the present invention. Fig. Figure 4 is a cross-sectional view showing a case in which the mover moves in the negative X direction and is attracted in the positive Y direction at the branching area of ​​the linear conveying system according to embodiment 1 of the present invention. Fig. Figure 5 is a cross-sectional view showing a case in which the mover moves in the positive X direction and is attracted in the positive Y direction, at the branching area of ​​the linear conveying system according to embodiment 1 of the present invention. Fig. Figure 6 is a cross-sectional view showing a case in which the mover moves in the negative X direction and is attracted in the negative Y direction, at the branching area of ​​the linear conveying system according to embodiment 1 of the present invention. Fig. Figure 7 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 2 of the present invention. Fig. Figure 8 is a cross-sectional view showing a case in which the mover moves in the positive X direction and is attracted in the negative Y direction, at the branching area of ​​the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 9 is a cross-sectional view showing a case in which the mover moves in the negative X direction and is attracted in the positive Y direction, at the branching area of ​​the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 10 is a cross-sectional view showing a case in which the mover moves in the positive X direction at the branching area and is attracted in the positive Y direction before passing a stage, in the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 11 is a cross-sectional view showing a case in which the mover moves in the positive X direction at a branching area and is attracted in the positive Y direction after passing the stage, in the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 12 is a cross-sectional view showing a case in which the mover moves in the negative X direction at the branching area and is attracted in the negative Y direction before passing a stage, in the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 13 is a cross-sectional view showing a case in which the mover moves in the negative X direction at the branching area, passes a step and is attracted in the negative Y direction, in the linear conveying system according to embodiment 2 of the present invention. Fig. Figure 14 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 3 of the present invention. Fig. Figure 15 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 4 of the present invention. Fig. Figure 16 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 5 of the present invention. Fig. Figure 17 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 6 of the present invention. Detailed description of the invention

[0008] The following section describes in detail a linear conveyor system according to its embodiments, with reference to the drawings. Design 1

[0009] Fig. Figure 1 is a schematic configuration diagram showing a linear conveyor system according to embodiment 1 of the present invention. As shown in Fig. As shown in Figure 1, in the present embodiment, the direction of movement of a mover 4 and the direction orthogonal to the direction of movement of the mover 4 are defined as the X-direction and the Y-direction, respectively. The right side in the X-direction is defined as the positive direction, and the upper side in the Y-direction is defined as the positive direction. Although the coordinate system is predefined as described above for the sake of simplicity, the X-direction and the Y-direction can be suitably defined depending on the configuration of the linear conveying system.

[0010] A linear conveying system 1 according to the present invention comprises a mover 4, on the side faces of which magnets 41 are arranged, and a conveying path 7 in which a first module 2, comprising a plurality of coils 22 and configured to move the mover 4 by means of an electromagnetic force of the plurality of coils 22, and a second module 3, formed of a magnetic material without coils, are arranged along a direction of movement of the mover 4. The conveying path 7 has a non-branching region 6 in which the first module 2 is arranged on one side of the side faces of the mover 4, and a branching region 5 in which the first module 2 is arranged on one side of the side faces of the mover 4 and the second module 3 is arranged on the other side of the side faces of the mover.

[0011] Fig. Figure 2 is a cross-sectional view showing the first module and the second module of the linear conveyor system according to embodiment 1 of the present invention. As shown in Figure 2, the first module and the second module of the linear conveyor system are shown in Figure 2. Fig. As shown in Figure 2, the first module 2 has an iron core 21 and a plurality of coils 22. The iron core 21 has a plurality of teeth 23, and each of the plurality of coils 22 is wound around one of the plurality of teeth 23. The second module 3 is made of a magnetic material but has no coils.

[0012] The second module 3 has a flat shape, so that the distance from the magnets 41 of the mover 4 is constant, and is formed, for example, from a laminated steel plate, so that losses during the drive of the mover 4 are minimized. Although the first module 2 in this example contains the coils, the first module 2 and the second module 3 can also be interchanged, so that the first module 2 consists only of a magnetic material and the second module 3 consists of an iron core and coils.

[0013] The mover 4 is located on one side of the lateral faces of the first module 2 in the non-branching region 6, and it moves by receiving an electromagnetic force from the first module 2. In the branching region 5 of the conveyor path 7, the mover 4 is positioned between the first module 2 and the second module 3, and it is driven by the electromagnetic force from the plurality of coils 22 contained in the first module 2. As shown in Fig. As shown in Figure 2, the direction of movement of the mover 4 is the X-direction, and the direction perpendicular to the direction of movement is the Y-direction.

[0014] Each of the plurality of movers 4 is independently controlled in the conveyor path 7. Although not explicitly shown in the drawing, a motor drive control device supplies a current to each of the coils 22 of the first module 2, which is located near the mover 4. For example, the current does not have three-phase UVW currents, but each coil 22 is controlled with an independently controlled single-phase AC current with an arbitrary waveform.

[0015] The mover 4 has a plurality of magnets 41 arranged on both side faces. As in Fig. As shown in Figure 2, the magnets 41 are arranged on both side faces of the mover 4 such that the magnetic pole directions of the magnets 41 are reversed in the Y-direction of the mover 4. In embodiment 1, the arrangement of the magnets 41 in the Y-direction can be the same, or the arrangement of the magnets 41 in the Y-direction can be shifted in the X-direction.

[0016] Fig. Figure 3 is a cross-sectional view showing a case in which the mover moves in the positive X-direction and is attracted in the negative Y-direction, specifically at the branching region of the linear conveyor system according to embodiment 1 of the present invention. In the branching region 5 of the conveyor path 7, the mover 4 is located between the first module 2 and the second module 3. Each of the plurality of magnets 41 contained in the mover 4 faces either the first module 2 or the second module 3.

[0017] When the coils 22 of the first module 2 are energized, an electromagnetic force (driving force) acts on the mover 4 in a direction parallel to the direction of movement. In the branching region 5, the following applies: To move the mover 4 along a chosen path, the coils 22 near the mover 4 are energized, and the first module 2 exerts an electromagnetic force (branching side force) in a direction perpendicular to the direction of movement of the mover 4. Consequently, the first module 2 moves the mover 4. By energizing at least two or more coils 22, any desired driving force and branching side force can be generated simultaneously.

[0018] As in Fig. As shown in Figure 3, it is assumed that when the mover 4 moves from the negative X-direction to the positive X-direction in the branching region 5, and a magnetic attraction force Fa1 between the first module 2 and the mover 4 is greater than a magnetic attraction force Fb1 between the second module 3 and the mover 4, a path in a direction where the magnetic attraction force Fb1 increases will be selected by a user of the linear conveyor system 1. The linear conveyor system 1 causes an electromagnetic force Fd to act on the mover 4 from the positive Y-direction to the negative Y-direction. The gap between the mover 4 and the first module 2 and the gap between the mover 4 and the second module 3 are merely examples and are not limited to these values.

[0019] Consequently, the distance Lb2 between the second module 3 and the mover 4 in the negative Y-direction becomes smaller than the distance Lb1 between the second module 3 and the mover 4 in the Y-direction before the electromagnetic force acts. Using this approach, the linear conveyor system 1 can cause the mover 4 to move along the path in a direction where the magnetic attraction force Fb1 between the second module 3 and the mover 4 increases. After the path has been selected by the branching region 5, the mover 4 moves by accepting the electromagnetic force Fd from the first module 2 of the non-branching region 6.

[0020] That is, the relations of the following expressions (1) to (5) are satisfied as follows: at a distance Ls of the mover 4, which is moved by the action of the electromagnetic force, at distances La1 and La2 between the first module 2 and the mover 4, before and after the electromagnetic force acts, at distances Lb1 and Lb2 between the second module 3 and the mover 4, before and after the electromagnetic force acts, the electromagnetic force Fd, the magnetic attraction forces Fa1 and Fa2, before and after the electromagnetic force acts between the first module 2 and the mover 4, and the magnetic attraction forces Fb1 and Fb2, before and after the electromagnetic force acts between the first module 2 and the mover 4. formula 1 Lb1−La1=La2−Lb2=Ls Lb2−La1=Lb1−Lb2=Ls Fa1+Fb1>0 Fa1+Fb1+Fd<0 Fa2+Fb2<0

[0021] In expressions (1) to (5), the magnetic attraction force Fb2 between the second module 3 and the mover 4 in the negative Y-direction is greater than the magnetic attraction force Fa2 between the first module 2 and the mover 4 in the positive Y-direction after the electromagnetic force acts, but the relation of the distance Lb2 and the distance La2 between the first module 2 and the mover 4 in the positive Y-direction can be La2 < Lb2, depending on the shape of the second module 3.

[0022] As described above, the following applies in the linear conveyor system 1 according to embodiment 1 of the present invention: When the mover 4 moves from the negative X-direction to the positive X-direction at the branching area 5, with respect to the force acting on the mover in the direction perpendicular to the direction of movement 4, the electromagnetic force based on the second module 3 becomes greater than the electromagnetic force based on the first module 2, and consequently the distance perpendicular to the direction of movement between the mover 4 and the second module 3 is reduced.

[0023] Fig. Figure 4 is a cross-sectional view showing a case in which the mover moves in the negative X-direction and is attracted in the positive Y-direction, specifically at the branching region of the linear conveyor system according to embodiment 1 of the present invention. As shown in Fig. As shown in Figure 4, it is assumed that if the mover 4 moves in the negative X direction at the branching area 5 and the magnetic attraction force Fb3 between the second module 3 and the mover 4 is greater than the magnetic attraction force Fa3 between the first module 2 and the mover 4, the path in the direction in which the magnetic attraction force Fa3 increases will be selected by a user of the linear conveyor system 1.

[0024] The linear conveyor system 1 causes an electromagnetic force to act on the mover 4 from the negative Y-direction to the positive Y-direction. Consequently, the distance Lb4 between the second module 3 and the mover 4 in the negative Y-direction after the electromagnetic force is applied is greater than the distance Lb3 between the second module 3 and the mover 4 in the negative Y-direction before the electromagnetic force is applied. In this way, the linear conveyor system 1 can cause the mover 4 to move along the path in a direction in which the magnetic attraction between the first module 2 and the mover 4 increases.

[0025] After the path from branching region 5 has been selected, the mover 4 moves by receiving the electromagnetic force from the first module 2 of the non-branching region 6. That is, at this time the relations of the following expressions (6) to (10) are satisfied as follows: at distance Ls of the mover 4, which is moved by the action of the electromagnetic force; at distances La3 and La4 between the first module 2 and the mover 4, before and after the electromagnetic force acts; at distances Lb3 and Lb4 between the second module 3 and the mover 4, before and after the electromagnetic force acts; the electromagnetic force Fd; the magnetic attraction forces Fa3 and Fa4, before and after the electromagnetic force acts between the first module 2 and the mover 4; and the magnetic attraction forces Fb3 and Fb4, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 2 La3−Lb3=Lb4−La4=Ls La3−La4=Lb4−Lb3=Ls Fa3+Fb3<0 Fa3+Fb3+Fb>0 Fa4+Fb4>0

[0026] In expression (6) to expression (10), the magnetic attraction force Fb3 between the second module 3 and the mover 4 in the negative Y-direction is greater than the magnetic attraction force Fa3 between the first module 2 and the mover 4 in the positive Y-direction before the electromagnetic force acts, but the relation of the distance Lb3 and the distance La3 between the first module 2 and the mover 4 in the positive Y-direction can be La3 < Lb3, depending on the shape of the second module 3.

[0027] As described above, the following applies to the linear conveyor system 1 according to embodiment 1 of the present invention: When the mover 4 moves from the positive X-direction to the negative X-direction at the branching area 5, with respect to the force acting on the mover in the direction perpendicular to the direction of movement 4, the electromagnetic force based on the second module 3 is smaller than the electromagnetic force based on the first module 2, and consequently the distance perpendicular to the direction of movement between the mover 4 and the second module 3 is increased.

[0028] Fig. Figure 5 is a cross-sectional view showing a case in which the mover moves in the positive X direction and is attracted in the positive Y direction, specifically at the branching region of the linear conveyor system according to embodiment 1 of the present invention. As shown in Fig. As shown in Figure 5, it is assumed that if the mover 4 moves in the positive X direction in the branching area 5 and the magnetic attraction force Fb5 between the second module 3 and the mover 4 is greater than the magnetic attraction force Fa5 between the first module 2 and the mover 4, a path in the direction in which the magnetic attraction force Fa5 increases will be selected by a user of the linear conveyor system 1.

[0029] The linear conveyor system 1 causes an electromagnetic force to act on the mover 4 from the negative Y-direction to the positive Y-direction. Consequently, the distance Lb6 between the second module 3 and the mover 4 after the electromagnetic force acts is greater than the distance Lb5 between the second module 3 and the mover 4 in the negative Y-direction before the electromagnetic force acts. Using this approach, the linear conveyor system 1 can cause the mover 4 to move along the path in a direction where the magnetic attraction between the first module 2 and the mover 4 increases.

[0030] After the path has been selected, after the branching region 5 has been passed, the mover 4 moves by receiving the electromagnetic force from the first module 2 of the non-branching region 6. This time, the relations of the following expressions (11) to (15) are satisfied as follows: at the distance Ls of the mover 4, which is moved by the action of the electromagnetic force; at the distances La5 and La6 between the first module 2 and the mover 4, before and after the electromagnetic force acts; at the distances Lb5 and Lb6 between the second module 3 and the mover 4, before and after the electromagnetic force acts; the electromagnetic force Fd; the magnetic attraction forces Fa5 and Fa6, before and after the electromagnetic force acts between the first module 2 and the mover 4; and the magnetic attraction forces Fb5 and Fb6, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 3 La5−Lb5=Lb6−La6=Ls La5−La6=Lb6−Lb5=Ls Fa5+Fb5<0 Fa5+Fb5+Fd>0 Fa6+Fb6>0

[0031] In expressions (11) to (15), the magnetic attraction force Fb5 of the magnets 41 in the negative Y-direction between the second module 3 and the mover 4 is greater than the magnetic attraction force Fa5 of the magnets 41 in the positive Y-direction between the first module 2 and the mover 4 before the electromagnetic force acts, but the relation between the distance Lb5 in the positive Y-direction from the first module 2 to the magnets 41 of the mover 4 and the distance Lb5 in the negative Y-direction from the second module 3 to the magnets 41 of the mover 4 can be La5 < Lb5, depending on the shape of the second module.

[0032] As described above, the following applies in the linear conveyor system 1 according to embodiment 1 of the present invention: When the mover 4 moves from the negative X-direction to the positive X-direction at the branching area 5, with respect to the force acting on the mover in the direction perpendicular to the direction of movement 4, the electromagnetic force based on the second module 3 becomes smaller than the electromagnetic force based on the first module 2, and consequently the distance perpendicular to the direction of movement between the mover 4 and the second module 3 is increased.

[0033] Fig. Figure 6 is a cross-sectional view showing a case in which the mover moves in the negative X direction and is attracted in the negative Y direction, specifically at the branching region of the linear conveyor system according to embodiment 1 of the present invention. As shown in Fig. As shown in Figure 6, it is assumed that in the branching area 5, when the mover 4 moves in the negative X direction and the magnetic attraction Fa7 between the first module 2 and the mover 4 in the positive Y direction is greater than the magnetic attraction Fb7 between the second module 3 and the mover in the negative Y direction, the path in the direction in which the magnetic attraction Fb7 between the second module 3 and the mover 4 increases is selected by a user of the linear conveyor system 1.

[0034] Linear conveyor system 1 causes an electromagnetic force to act on mover 4 from the positive Y-direction to the negative Y-direction. Consequently, the distance Lb8 between the second module 3 and mover 4 in the negative Y-direction after the electromagnetic force is applied is smaller than the distance Lb7 between the second module 3 and mover 4 in the negative Y-direction before the electromagnetic force is applied. Using this approach, linear conveyor system 1 can cause mover 4 to move along the path in a direction where the magnetic attraction in the negative Y-direction between the second module 3 and mover 4 increases.

[0035] After the path in branching region 5 has been selected, the mover 4 moves by receiving the electromagnetic force from the first module 2 of the non-branching region 6. This time, the relations of the following expressions (16) to (20) are satisfied as follows: at distance Ls of the mover 4, which is moved by the action of the electromagnetic force; at distances La7 and La8 between the first module 2 and the mover 4, before and after the electromagnetic force acts; at distances Lb7 and Lb8 between the second module 3 and the mover 4, before and after the electromagnetic force acts; the electromagnetic force Fd; the magnetic attraction forces Fa7 and Fa8, before and after the electromagnetic force acts between the first module 2 and the mover 4; and the magnetic attraction forces Fb7 and Fb8, before and after the electromagnetic force acts between the first module 2 and the mover 4. Lb7−La7=Lb8−La8=Ls La8−La7=Lb7−Lb8=Ls Fa7+Fb7>0 Fa7+Fb7+Fd<0 Fa8+Fb8<0 Formula 4

[0036] In expressions (16) to (20), the magnetic attraction force Fb8 between the second module 3 and the mover 4 in the negative Y-direction is greater than the magnetic attraction force Fa8 between the first module 2 and the mover 4 in the positive Y-direction after the electromagnetic force acts, but the relation between the distance La8 from the first module 2 to the mover 4 in the positive Y-direction and the distance Lb8 from the second module 3 to the mover 4 in the negative Y-direction can be La8 < Lb8, depending on the shape of the second module 3.

[0037] As described above, the following applies to the linear conveyor system 1 according to embodiment 1 of the present invention: When the mover 4 moves from the positive X-direction to the negative X-direction at the branching area 5, with respect to the force acting on the mover in the direction perpendicular to the direction of movement 4, the electromagnetic force based on the second module 3 becomes greater than the electromagnetic force based on the first module 2, and consequently the distance perpendicular to the direction of movement between the mover 4 and the second module 3 is reduced.

[0038] As described above, the linear conveying system 1 according to embodiment 1 of the present invention comprises the mover 4, on whose side faces the magnets 41 are arranged, and the conveying path 7, in which the first module 2 and the second module 3 are arranged at several locations along the direction of movement of the mover 4, wherein the first module 2 has the plurality of coils 22 and allows the mover 4 to move through the plurality of coils 22 by means of the electromagnetic force, wherein the second module 3 is formed from a magnetic material and does not have a coil.

[0039] The conveying path 7 has the non-branching section 6, in which the first module 2 is arranged on one side of the side surfaces of the mover 4, and the branching section 5, in which the first module 2 is arranged on one side of the side surfaces of the mover 4 and the second module 3 is arranged on the other side. In a conventional linear conveying system, even if a path branches, coils similar to those in a section where the path does not branch are arranged, but in the linear conveying system 1 according to the present invention, the second module 3 is formed only from a magnetic material, and coils are not wound.Therefore, according to the linear conveying system of embodiment 1 of the present invention, the following applies: Even if the conveying path 7 branches, the second module 3 is used on one side of the side surfaces of the mover 4 at the branching area 5, and consequently effects are achieved to prevent an increase in weight in the linear conveying system 1, as well as to prevent the size of the linear conveying system 1 from increasing.

[0040] Furthermore, by using the second module 3, which does not have a coil at the branching area, the number of inverters required to supply energy to the coils can be reduced compared to the case where the first module 2 is arranged on both sides, and an increase in the weight of the linear conveyor system 1 can be prevented, thus preventing the linear conveyor system 1 from becoming larger.

[0041] Furthermore, according to the linear conveyor system 1 of the present invention, the wiring work is reduced due to the reduction of the coils, and the assembly of the motor is simplified.

[0042] Since the shape of the second module 3, which does not contain a coil, can be made smaller than the shape of the first module 2, the weight of the second module 3 can also be reduced. It should be noted that the shape of the second module 3 can be the same as the shape of the iron core of the first module 2, the second module 3 can have a greater number of teeth to reduce the cogging torque, or the teeth of the first module and the teeth of the second module can be phase-shifted. Design 2

[0043] In embodiment 2, the same reference numerals are used for the same components as in embodiment 1 of the present invention, and the description of the same or corresponding parts is omitted. A linear conveyor system 1b according to embodiment 2 is described below with reference to the drawings.

[0044] Fig. Figure 7 is a cross-sectional view showing a first module and a second module of a linear conveying system according to embodiment 2 of the present invention.

[0045] As in Fig. As shown in Figure 7, in the linear conveyor system 1b according to embodiment 2, in addition to the configuration in embodiment 1, a stage 8 is arranged in a direction perpendicular to the direction of movement in the second module 31. The stage 8 is arranged such that in a region where the second module 31 and the mover 4 face each other, the average distance from the surface of the second module 31 to the surface of the magnet 41 changes depending on the position of the second module 31 in the X-direction. Although the distance between the second module 31 and the magnet 41 varies depending on the position in Fig. If 7 fluctuates, the shape of the iron core 21 of the first module 2 can be changed, or both the shape of the iron core 21 of the first module 2 and that of the second module 31 can be changed.

[0046] Fig. Figure 8 is a cross-sectional view showing a case in which the mover moves in the positive X-direction and is attracted in the negative Y-direction, specifically at the branching region of the linear conveyor system according to embodiment 2 of the present invention. As shown in Fig. As shown in Figure 8, the second module 31 has step 8 in a direction perpendicular to the direction of movement, i.e., in the Y-direction. As a result of step 8, the distance of the mover 4 on the side facing the second module 31 is smaller than the distance on the side facing the first module 2.

[0047] In Fig. 8 The following is assumed: If the mover 4 moves in the positive X direction at the branching area 5 and the magnetic attraction Fa1 between the first module 2 and the mover 4 is greater than the magnetic attraction Fb1 between the second module 31 and the mover 4 in the Y direction, a user of the linear conveyor system 1b selects a path in a direction in which the magnetic attraction Fb1 increases.

[0048] This time the relations of the following expressions (21) to (26) are satisfied as follows: at the distance Ls of the mover 4, which is moved by the action of the electromagnetic force, at the distances La1 and La2 between the first module 2 and the mover 4, before and after the electromagnetic force acts, at the distances Lb1 and Lb2 between the second module 31 and the mover 4, before and after the electromagnetic force acts, the electromagnetic force Fd, the magnetic attraction forces Fa1 and Fa2, before and after the electromagnetic force acts between the first module 2 and the mover 4, and the magnetic attraction forces Fb1 and Fb2, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 5 Lb1−G=Lb1' Lb1−La1>Ls>Lb1'−La1>0 La2−La1=Lb1'−Lb2=Ls Fa1+Fb1>Fa1+Fb1'>0 Fa1+Fb1'+Fd<0 Fa2+Fb2<0

[0049] The linear conveyor system 1b causes an electromagnetic force to act from the positive Y-direction into the negative Y-direction, so that it acts in a region after the mover 4 has passed stage 8. The distance Lb1' between the second module 31 and the mover 4 after passing stage 8 is smaller than the distance Lb1 between the second module 31 and the mover 4 before passing stage 8. A magnetic attraction force Fb1' after passing stage 8 is large, since |Fb1'| > |Fb1|, but according to expression (24): Before the electromagnetic force acts, the relation Fa1 + Fb1' > 0 is satisfied, and the magnetic attraction force in the positive Y-direction is large.

[0050] When the electromagnetic force acts, the distance Lb2 between the second module 31 and the mover 4 after the electromagnetic force acts becomes smaller than the distance Lb1' between the second module 31 and the mover 4 before the electromagnetic force acts. This allows the linear conveyor system 1 to cause the mover 4 to move along the path in a direction where the magnetic attraction between the second module 31 and the mover 4 increases. After the path in the branching region 5 has been selected, the mover 4 moves by accepting the electromagnetic force from the first module 2 of the non-branching region 6.

[0051] Here, G in expression (21) denotes the size of stage 8, which is arranged in the second module 31. From expression (24) it is evident that since |Fa1 + Fb1| > |Fa1 + Fb1'| is satisfied by arranging stage 8, the electromagnetic force that moves the mover 4 in the negative Y direction is smaller in the region where stage 8 is present than the electromagnetic force that moves the mover in the negative Y direction in the region where stage 8 is not present.

[0052] Fig. Figure 9 is a cross-sectional view showing a case in which the mover moves in the negative X-direction and is attracted in the positive Y-direction, specifically at the branching region of the linear conveyor system according to embodiment 2 of the present invention. Fig. 9 It is assumed that if the mover 4 moves in the negative X direction at the branching area 5 and the magnetic attraction force Fb3 between the second module 31 and the mover 4 is greater than the magnetic attraction force Fa3 between the first module 2 and the mover 4, the path in the direction in which the magnetic attraction force Fa3 increases will be selected by a user of the linear conveyor system 1b.

[0053] At this time, the relations of the following expressions (27) to (32) are satisfied as follows: at the distances Ls of the mover 4, which is moved by the action of the electromagnetic force, at the distances La3 and La4 between the first module 2 and the mover 4, before and after the electromagnetic force acts, at the distances Lb3 and Lb4 between the second module 3 and the mover 4, before and after the electromagnetic force acts, the electromagnetic force Fd, the magnetic attraction forces Fa3 and Fa4, before and after the electromagnetic force acts between the first module 2 and the mover 4, and the magnetic attraction forces Fb3 and Fb4, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 6 Lb3+G=Lb3' La3−Lb3>Ls>La3−Lb3'>0 La3−La4=Lb4−Lb3'=Ls Fa3+Fb3 <Fa3+Fb3'<0 Fa3+Fb3'+Fb>0 Fa4+Fb4>0

[0054] The linear conveyor system 1b causes an electromagnetic force to act from the negative Y-direction into the positive Y-direction in a region after the mover 4 passes stage 8. The distance Lb3' between the second module 31 and the mover 4 after passing stage 8 is greater than the distance Lb3 between the second module 31 and the mover 4 before passing stage 8. After passing stage 8, the magnetic attraction force Fb3' becomes small, since |Fb3'| < |Fb3|, but from expression (30) the following can be seen: Before the electromagnetic force acts, the relation Fa3 + Fb3' < 0 is satisfied, and the magnetic attraction force in the negative Y-direction becomes large.

[0055] When the electromagnetic force F acts, the distance Lb4 between the second module 31 and the mover 4 becomes greater than the distance Lb3' between the second module 31 and the mover 4 before the electromagnetic force acts. Using this procedure, the linear conveyor system 1b can cause the mover 4 to move along the path in a direction where the magnetic attraction between the first module 2 and the mover 4 increases. After the path in the branching region 5 has been selected, the mover 4 moves by accepting the electromagnetic force from the first module 2 of the non-branching region 6.

[0056] Here is the state of mover 4, on which the electromagnetic force acts, after stage 8 in Fig. 8 happened, the same as the state of mover 4 before stage 8 in Fig. 9 has happened and before the electromagnetic force acts, and the relations of the following expressions (33) and (34) are satisfied. Formula 7 La3=La2 Lb3=Lb2

[0057] Furthermore, the mover's state is 4 before level 8 in Fig. 8 happened and before the electromagnetic force acts, the same as the state of mover 4, on which the electromagnetic force acts after stage 8 in Fig. 9 has happened, and the relations of the following expressions (35) and (36) are satisfied. Formula 8 La4=La1 Lb4=Lb1

[0058] As described above, the following applies to the linear conveying system according to embodiment 2 of the present invention: Since |Fa3 + Fb3| > |Fa3 + Fb3'| is satisfied by arranging the stage 8 as shown in expressions (27) to (32), the electromagnetic force that moves the mover 4 in the positive Y direction is smaller in the region where the stage 8 is present than the electromagnetic force that moves the mover 4 in the positive Y direction when the stage 8 is not present.

[0059] Fig. Figure 10 is a cross-sectional view showing a case in which the mover moves in the positive X-direction at the branching region of the linear conveying system according to embodiment 2 of the present invention and is attracted in the positive Y-direction before passing the stage. Fig. 10 It is assumed that if the mover 4 moves in the positive X direction in the branching area 5 and the magnetic attraction force Fb5 between the second module 31 and the mover 4 is greater than the magnetic attraction force Fa5 between the first module 2 and the mover 4, the path in the direction in which the magnetic attraction force Fa5 increases will be selected by a user of the linear conveyor system 1b. Fig. Figure 11 is a cross-sectional view showing a case in which the mover moves in the positive X-direction at the branching region of the linear conveying system according to embodiment 2 of the present invention, passes the stage, and is then pulled in the positive Y-direction. Fig. 11 are the direction of movement and the direction of attraction of the mover; 4 they are the same as those in Fig. 10, but the position where mover 4 is attracted by the second module 31 when mover 4 determines the path in branching area 5 is different.

[0060] At this time, the relations of the following expressions (37) to (42) are satisfied as follows: at the distances Ls of the mover 4, which is moved by the action of the electromagnetic force, at the distances La5 and La6 between the first module 2 and the mover 4, before and after the electromagnetic force acts, at the distances Lb5 and Lb6 between the second module 3 and the mover 4, before and after the electromagnetic force acts, the electromagnetic force Fd, the magnetic attraction forces Fa5 and Fa6, before and after the electromagnetic force acts between the first module 2 and the mover 4, and the magnetic attraction forces Fb5 and Fb6, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 9 Lb6−G=Lb6' La5−Lb5'>Ls>La5−Lb5>0 La5−La6=Lb5−Lb6=Ls Fa5+Fb5' <Fa5+Fb5<0 Fa5+Fb5+Fd>0 Fa6+Fb6>Fa6+Fb6'>0

[0061] The linear conveyor system 1 causes an electromagnetic force to act in the positive Y direction in a region before the mover 4 passes stage 8. The distance Lb5 between the second module 31 and the mover 4 before stage 8 in Fig. 10, is greater than the distance Lb5' between the second module 31 and the mover 4 in the case when stage 8 has occurred, without the application of the electromagnetic force in Fig. 11. Since the magnetic attraction force Fb, before stage 8 in Fig. 10 happened, and Fb5 in the case where stage 8 happened without the electromagnetic force in Fig. If 11 is present, |Fb5| < |Fb5'|, the electromagnetic force to move the mover 4 in the positive Y direction is smaller in the state before stage 8 has passed.

[0062] Before the electromagnetic force acts on mover 4, the relation Fa5 + Fb5 < 0 from expression (40) is satisfied, and the magnetic attraction in the negative Y direction is large. When the electromagnetic force acts, the distance Lb6 between the second module 31 and mover 4 becomes greater than the distance Lb5 between the second module 31 and mover 4 before the electromagnetic force acts, and the linear conveyor system 1b can move mover 4 along a path in a direction in which the magnetic attraction between the first module 2 and mover 4 increases.After stage 8 has passed, Lb6 > Lb6' is satisfied for the distance Lb6' between the second module 31 and the mover 4, but the magnetic attraction Fa6 between the first module 2 and the mover 4 is greater than the magnetic attraction Fb6' between the second module and the mover 4, and consequently the mover does not move erroneously to the path in the direction in which the magnetic attraction increases in the negative Y direction.

[0063] Here is the state of mover 4 after stage 8 has passed and before the electromagnetic force in Fig. 9 acts, the same as the state of mover 4 before stage 8 has occurred and before the electromagnetic force in Fig. 10 is effective, and the relations of the following expressions (43) and (44) are satisfied. Formula 10 La5=La3 Lb5=Lb3'

[0064] Furthermore, the mover's condition after stage 8 in Fig. 8 happened and before the electromagnetic force acts, the same as the state of mover 4, on which the electromagnetic force acts after stage 8 in Fig. 10 has happened, and the relations of the following expressions (45) and (46) are satisfied. Formula 11 La6=La1 Lb6=Lb1'

[0065] As described above, the following applies to the linear conveyor system 1b according to embodiment 2 of the present invention: Since stage 8 is arranged, |Fa5 + Fb5'| > |Fa5 + Fb5| is satisfied after the mover 4 has passed stage 8, and consequently the electromagnetic force that moves the mover 4 in the positive Y direction is smaller in the area before the mover 4 passes stage 8 than the electromagnetic force that moves the mover 4 in the positive Y direction after the mover 4 has passed stage 8.

[0066] Fig. Figure 12 is a cross-sectional view showing a case in which the mover moves in the negative X-direction at the branching region of the linear conveying system according to embodiment 2 of the present invention and is attracted in the negative Y-direction before passing the stage. Fig. 12 It is assumed that if the mover 4 moves in the negative X direction at the branching area 5 and the magnetic attraction Fa7 between the first module 2 and the mover 4 is greater than the magnetic attraction Fb7 between the second module 31 and the mover 4, the path in the direction in which the magnetic attraction Fb7 increases will be selected by a user of the linear conveyor system 1.

[0067] Fig. Figure 13 is a cross-sectional view showing a case in which the mover moves in the negative X-direction at the branching region of the linear conveying system according to embodiment 2 of the present invention, passes the stage, and is then pulled in the negative Y-direction. Fig. 13 are the direction of movement and the direction of attraction of the mover; 4 they are the same as those in Fig. 12, but the position where mover 4 is attracted by the second module 31 when mover 4 determines the path in branching area 5 is different.

[0068] At this time, the relations of the following expressions (47) to (52) are satisfied as follows: at the distances Ls of the mover 4, which is moved by the action of the electromagnetic force, at the distances La7 and La8 between the first module 2 and the mover 4, before and after the electromagnetic force acts, at the distances Lb7 and Lb8 between the second module 3 and the mover 4, before and after the electromagnetic force acts, the electromagnetic force Fd, the magnetic attraction forces Fa7 and Fa8, before and after the electromagnetic force acts between the first module 2 and the mover 4, and the magnetic attraction forces Fb7 and Fb8, before and after the electromagnetic force acts between the first module 2 and the mover 4. Formula 12 Lb8+G=Lb8' Lb7'−La7>Ls>Lb7−La5 La8−La7=Lb8−Lb7=Ls Fa7+Fb7'>Fa7+Fb7>0 Fa7+Fb7+Fd<0 Fa8+Fb8 <Fa8+Fb8'<0

[0069] The linear conveyor system 1b causes the electromagnetic force to act from the positive Y-direction into the negative Y-direction in a region before the mover 4 passes stage 8. The distance Lb7 between the second module 31 and the mover 4 before stage 8 is passed is smaller than the distance Lb7' between the second module 31 and the mover 4 after stage 8 has passed, without the electromagnetic force being applied. For the magnetic attraction force Fb7 before stage 8, compared to the magnetic attraction force Fb7' after stage 8 has passed without the electromagnetic force being applied, |Fb7| > |Fb7'| is satisfied, and consequently, the electromagnetic force for moving the mover 4 in the negative Y-direction is smaller in the state before stage 8 has passed.

[0070] Before the electromagnetic force acts on the mover 4, the relation Fa7 + Fb7 > 0 according to expression (50) is satisfied, and the magnetic attraction in the positive Y direction is large. When the electromagnetic force acts, the distance Lb8 between the second module 31 and the mover 4 becomes smaller than the distance Lb7 between the second module 31 and the mover 4 before the electromagnetic force acts, and the linear conveying system 1b can move the mover 4 along a path in a direction in which the magnetic attraction in the positive Y direction between the second module 31 and the mover 4 increases.

[0071] After stage 8 has passed, Lb8 > La8' is satisfied for the distance Lb8' between the second module 31 and the mover 4, but the magnetic attraction Fa8 between the first module 2 and the mover 4 is smaller than the magnetic attraction Fb8' between the second module 31 and the mover 4, and consequently the mover 4 does not move erroneously to the path in the direction in which the magnetic attraction increases in the positive Y direction.

[0072] Here is the state of mover 4 before the electromagnetic force acts and after stage 8 in Fig. 8 happened, the same as the state of mover 4 before the electromagnetic force acts and before stage 8 in Fig. 12 has happened, and the relations of the following expressions (53) and (54) are satisfied. Formula 13 La7=La1 Lb7=Lb1'

[0073] Furthermore, the state of the mover before the electromagnetic force acts and after stage 8 in Fig. 9 happened, the same as the state of the mover after the electromagnetic force acts and after stage 8 in Fig. 12 has happened, and the relations of the following expressions (55) and (56) are satisfied. Formula 14 La8=Lb3 Lb8=Lb3'

[0074] As described above, the following applies to the linear conveyor system 1b according to embodiment 2 of the present invention: By arranging stage 8, |Fa7 + Fb7'| > |Fa7 + Fb7| is satisfied after stage 8 has been passed, and the electromagnetic force that moves the mover 4 in the negative Y direction in the area before stage 8 is smaller than the electromagnetic force that moves the mover 4 in the negative Y direction after stage 8 has been passed.

[0075] As described above, in the linear conveying system 1b according to embodiment 2 of the present invention, the second module 31 is formed only from a magnetic material, and no coils are wound around it, as in embodiment 1. Therefore, according to the linear conveying system 1b of embodiment 2, the following applies: Even if the conveying path 7 branches, the second module 31 is used on one side of the side surfaces of the mover 4 at the branching area 5, and consequently, effects are achieved to prevent an increase in weight in the linear conveying system 1, as well as to prevent the size of the linear conveying system 1 from increasing, as in embodiment 1.

[0076] Furthermore, the following applies to the linear conveyor system 1b according to embodiment 2 of the present invention: Since the second module 31 is provided with the step 8 in the direction perpendicular to the direction of movement, when the mover 4 is moved in the negative Y direction, the electromagnetic force that moves the mover 4 in the negative Y direction is, in the region where the step 8 is present, smaller than the electromagnetic force that moves the mover 4 in the negative Y direction in the state where the step 8 is not present. When the mover 4 is moved in the positive Y direction, the electromagnetic force that moves the mover 4 in the positive Y direction is, in the region where the step 8 is present, smaller than the electromagnetic force that moves the mover 4 in the positive Y direction in the state where the step 8 is not present.

[0077] Furthermore, when mover 4 is moved in the positive Y direction, the electromagnetic force moving mover 4 in the positive Y direction is smaller in the region before stage 8 than the electromagnetic force moving mover 4 in the positive Y direction in the region after stage 8, due to the presence of stage 8. Even when mover 4 is moved in the negative Y direction, the electromagnetic force moving mover 4 in the negative Y direction is smaller in the region before stage 8 than the electromagnetic force moving mover 4 in the negative Y direction after stage 8.As described above, in the linear conveyor system according to embodiment 2 of the present invention, branching can be carried out with a smaller electromagnetic force (current), and consequently the motor winding or inverter capacity can be reduced in size.

[0078] Furthermore, the second module 31 can have such a shape that the distance between the first module 2 and the second module 31 changes in the direction perpendicular to the direction of movement of the mover 4 along the direction of movement of the mover 4. At this time, the distance between the first module 2 and the second module 31 can be made narrower or wider in the direction perpendicular to the direction of movement of the mover 4 along the direction of movement. embodiment 3

[0079] In embodiment 3, the same reference numerals are used for the same components as in embodiment 1 of the present invention, and the description of the same or corresponding parts is omitted. A linear conveyor system 1c according to embodiment 3 is described below with reference to the drawing.

[0080] Fig. Figure 14 is a cross-sectional view showing a first module and a second module of a linear conveyor system according to embodiment 3 of the present invention. As shown in Fig. As shown in Figure 14, in the linear conveyor system 1c according to embodiment 3 of the present invention, in addition to the configuration according to embodiment 1, a second module 32 is provided with an inclined region 9 which is inclined in the direction perpendicular to the direction of movement. The inclined region 9 is present, and consequently the distance between the second module 32 and the mover 4 is smoothly changed. It should be noted that the shape of the inclined region 9 can be inclined with respect to the direction perpendicular to the direction of movement of the mover 4, so that the distance between the inclined region 9 and the first module 2 decreases or increases.

[0081] As described above, in the linear conveying system 1c according to embodiment 3 of the present invention, the second module 32 is formed only from a magnetic material, and no coils are wound around it, as in embodiment 1. Therefore, according to the linear conveying system of embodiment 1c according to embodiment 3 of the present invention, the following applies: Even if the conveying path 7 branches, the second module 32 is used in the branching area 5, and consequently, effects are achieved to prevent an increase in weight in the linear conveying system 1c, as well as to prevent the size of the linear conveying system 1c from increasing, as in embodiment 1.

[0082] Furthermore, in the linear conveyor system 1c according to embodiment 3 of the present invention, the distance between the second module 32 and the mover 4 is smoothly changed. Therefore, the distribution of the magnetic flux between the magnets 41 of the mover 4 and the second module 32 also changes smoothly, and the cogging torque generated in the mover 4 can be reduced. Design 4

[0083] In embodiment 4, the same reference numerals are used for the same components as in embodiment 1 of the present invention, and the description of the same or corresponding parts is omitted. A linear conveyor system 1d according to embodiment 4 is described below with reference to the drawings.

[0084] Fig. Figure 15 is a cross-sectional view showing a first module and a second module of a linear conveyor system according to embodiment 4 of the present invention. As shown in Fig. 15, shown, in the linear conveying system 1d according to embodiment 4 of the present invention, in addition to the configuration according to embodiment 1, a second module 33 has a symmetrical shape with respect to the axis perpendicular to the direction of movement of the mover 4. Fig. Figure 15 shows - as an example - a case in which the inclined areas 9 are arranged symmetrically in the second module 33.

[0085] By forming the second module 33 in a symmetrical shape with respect to the axis perpendicular to the direction of motion of the mover 4, the distance between the first module 2 and the magnets 41 of the mover 4 and the distance between the second module 33 and the magnets 41 of the mover 4 are constant in the region where the mover 4 transitions from the non-branching region 6 to the branching region 5. The symmetrical shape of the second module 33 at this time can be a shape that is line-symmetrical with respect to the axis perpendicular to the direction of motion, or it can be a shape that is rotationally symmetrical. It should be noted that a plane perpendicular to the direction of motion is assumed, and the shape can be plane-symmetrical with respect to the perpendicular plane, and the symmetry is not limited to this plane.

[0086] As described above, in the linear conveying system 1d according to embodiment 4 of the present invention, the second module 33 is formed only from a magnetic material, and no coils are wound around it, as in embodiment 1. Therefore, the following applies to the linear conveying system 1d according to embodiment 4: Even if the conveying path 7 branches, the second module 33 is used on one side of the side surfaces of the mover 4 at the branching area 5, and consequently, effects are achieved to prevent an increase in the weight of the linear conveying system 1d and to prevent the linear conveying system 1d from increasing in size, as in embodiment 1.

[0087] Furthermore, the following applies to the linear conveyor system 1d according to embodiment 4 of the present invention: Since the second module 33 has a symmetrical shape with respect to the axis perpendicular to the direction of movement of the mover 4, the distances between the first module 2 and the magnets 41 of the mover 4 and between the second module 33 and the magnets 41 of the mover 4 are constant in the area where the mover 4 transitions from the non-branching area 6 to the branching area 5, and consequently it is possible to reduce the cogging torque that is generated when the mover 4 transitions from the non-branching area 6 to the branching area 5. Design 5

[0088] In embodiment 5, the same reference numerals are used for the same components as in embodiment 1 of the present invention, and the description of the same or corresponding parts is omitted. A linear conveyor system 1e according to embodiment 5 is described below with reference to the drawing.

[0089] Fig. Figure 16 is a cross-sectional view showing a first module and a second module of a linear conveyor system according to embodiment 5 of the present invention. As shown in Fig. As shown in Figure 16, a linear conveying system 1e according to embodiment 5 of the present invention has - in addition to the configuration according to embodiment 1 - a switching area 10 between the non-branching area 6 and the branching area 5 of the conveying path 7, in which the distance between the first module 2 and the second module 3 decreases in the direction perpendicular to the direction of movement of the mover 4 when the position changes from the non-branching area 6 to the branching area 5.

[0090] The switching area 10 is formed from a magnetic material and contains no coils. A laminated steel plate or the like is used as the magnetic material to minimize losses during the operation of the mover 4. The switching area 10 can be integrated with the second module 34, and the distance between the magnets 41 of the mover 4 and the switching area 10 can gradually decrease and eventually become equal to the distance between the second module 34 of the branching area 5 and the magnets 41 of the mover 4.

[0091] As described above, in the linear conveying system 1e according to embodiment 5 of the present invention, the second module 34 is formed only from a magnetic material without coils, and no coils are wound around it, as in embodiment 1. Therefore, the following applies to the linear conveying system 1e according to embodiment 5 of the present invention: Even if the conveying path 7 branches, the second module 34 is used on one side of the side surfaces of the mover 4 at the branching area 5, and consequently, effects are achieved to prevent an increase in the weight of the linear conveying system 1e and to prevent the linear conveying system 1e from increasing in size, as in embodiment 1.

[0092] The linear conveyor system 1e according to embodiment 5 of the present invention further comprises the switching area 10 in which the distance between the second module 34 and the mover 4 is reduced when the conveying path 7 switches from the non-branching area 6 to the branching area 5, and the distance between the second module 34 and the mover 4 is increased when the conveying path 7 switches from the branching area 5 to the non-branching area 6. Therefore, as the mover 4 moves in the direction of travel, the distance between the switching area 10 and the magnets 41 of the mover 4 gradually becomes equal to the distance between the second module 34 and the magnets 41 of the mover 4 in the branching area 5, and consequently, the magnetic conductance changes smoothly, and the cogging torque can be reduced. Design 6

[0093] In embodiment 6, the same reference numerals are used for the same components as in embodiment 1 of the present invention, and the description of the same or corresponding parts is omitted. A linear conveyor system 1f according to embodiment 6 is described below with reference to the drawing.

[0094] Fig. Figure 17 is a cross-sectional view showing a first module and a second module of a linear conveyor system according to embodiment 6 of the present invention. As shown in Fig. As shown in Figure 17, a linear conveyor system 1f according to embodiment 6 of the present invention has – in addition to the configuration according to embodiment 1 – a movable mechanism 11 which is arranged in a second module 35, moves the second module 35 in a direction perpendicular to the direction of movement and changes the direction of movement of the mover 4. By arranging the movable mechanism 11, the position of the second module 35 can be changed, and the distance between the second module 35 and the magnets 41 of the mover 4 can be adjusted as desired.

[0095] As in Fig.As shown in Figure 17, the following applies to the linear conveyor system 1f according to embodiment 6 of the present invention: When the mover 4 passes through the branching region 5, the second module 35 is moved in a direction perpendicular to the direction of movement, and consequently, the path of the mover 4 is selected by the attractive force between the second module 35 and the magnets 41. Although the attractive force in the positive Y-direction is large immediately after the mover 4 enters the branching region 5, the attractive force in the negative Y-direction is increased by the use of the movable mechanism 11, so that the distance to the second module 35 is reduced in accordance with the forward movement of the mover 4. When the force acting on the entire mover 4 is directed in the negative Y-direction, the mover 4 and the second module 35 move together.

[0096] In the linear conveying system 1f according to embodiment 6 of the present invention, a plurality of second modules 35 can be arranged, and movable mechanisms 11 can be arranged in the plurality of second modules 35. As described above, in the linear conveying system 1f according to embodiment 6 of the present invention, the second module 35 is formed only from a magnetic material, and no coils are wound around it, as in embodiment 1. Therefore, in the linear conveying system 1f according to embodiment 6, the following applies: Even if the conveying path 7 branches, the second module 35 is used on one side of the side surfaces of the mover 4 at the branching area 5, and consequently, effects are achieved to prevent an increase in the weight of the linear conveying system 1f and to prevent the linear conveying system 1f from increasing in size, as in embodiment 1.

[0097] Furthermore, the following applies to the linear conveyor system 1f according to embodiment 6 of the present invention: In addition to the configuration in embodiment 1, the movable mechanism 11 is arranged in the second module 35, which causes the second module 35 to move in the direction perpendicular to the direction of movement and changes the direction of movement of the mover 4, and since the mover 4 does not use the electromagnetic force from the coil when it moves in the direction perpendicular to the direction of movement, the path can consequently be changed without reducing the driving force exerted on the mover 4.

[0098] It should be noted that the configurations described in the above embodiments are merely examples of the content of the present invention and that they can be combined with other known techniques. Furthermore, a part of the configuration can be omitted or modified without departing from the scope of the present invention. Reference symbol list 1, 1b, 1c, 1d, 1e, 1f linear conveyor system 2 first module 3, 31, 32, 33, 34, 35 second module, 4 movers 5 Branching area 6 Non-branching area 7 Funding path Level 8 8, 9 inclined area 10 switching range 11 movable mechanism 21 Iron core 22 coils 23 teeth 41 Magnet QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2016 - 531 534 A

[0003]

Claims

[1] Linear conveyor system comprising the following: a mover having a magnet arranged on its side surfaces; and a conveying path in which a first module, comprising a plurality of coils and configured to move the mover by means of an electromagnetic force of the plurality of coils, and a second module, formed from a magnetic material without coils, are arranged along a direction of movement of the mover, wherein The conveying path has a non-branching area in which the first module is located on one side of the side surfaces of the mover, and a branching area in which the first module is located on one side of the side surfaces of the mover and the second module is located on the other side of the side surfaces of the mover. [2] Linear conveying system according to claim 1, wherein, when the mover moves in the branching area, a force acting on the mover in a direction perpendicular to the direction of movement is such that an electromagnetic force based on the second module is greater than an electromagnetic force based on the first module, so that the distance perpendicular to the direction of movement between the mover and the second module is reduced. [3] Linear conveying system according to claim 1, wherein, when the mover moves in the branching area, a force acting on the mover in a direction perpendicular to the direction of movement is such that an electromagnetic force based on the second module becomes smaller than an electromagnetic force based on the first module, so that the distance perpendicular to the direction of movement between the mover and the second module is increased. [4] Linear conveying system according to one of claims 1 to 3, wherein the second module has a shape such that the distance between the first module and the second module changes in a direction perpendicular to the direction of movement of the mover along the direction of movement. [5] Linear conveying system according to claim 4, wherein the second module is provided with a step in a direction perpendicular to the direction of movement of the mover. [6] Linear conveying system according to claim 4, wherein the second module is provided with an inclined area which is inclined with respect to the direction perpendicular to the direction of movement of the mover. [7] Linear conveying system according to any one of claims 1 to 6, wherein the second module has a shape symmetrical with respect to an axis perpendicular to the direction of movement of the mover. [8] Linear conveying system according to any one of claims 1 to 7, further comprising a switching area arranged between the non-branching area and the branching area of ​​the conveying path and in which the distance between the first module and the second module decreases in a direction perpendicular to the direction of movement of the mover when the position changes from the non-branching area to the branching area. [9] Linear conveying system according to any one of claims 1 to 8, further comprising a movable mechanism which moves the second module in a direction perpendicular to the direction of movement of the mover. [10] Linear conveying system according to claim 9, wherein a plurality of second modules are arranged along the direction of movement of the mover and the movable mechanisms are arranged in the respective second modules.

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