Linear Transport System

Abstract

The linear conveying system (1) disclosed herein comprises a mover (4) having a magnet (41) arranged on its side, and a conveying path (7) in which a first module (2) having a plurality of coils (21) for moving the mover by the electromagnetic force of the plurality of coils and a second module (3) formed of a magnetic material and having no coils are arranged along the moving direction of the mover, and the conveying path is characterized in that it comprises a non-branching portion (6) in which the first module is arranged on one side of the side of the mover, and a branching portion (5) in which the first module is arranged on one side of the side of the mover and the second module is arranged on the other side.

Description

[Technical field]

[0001] The present disclosure relates to a linear transport system that uses the thrust of a linear motor. [Background technology]

[0002] There is known a technology in which a mover to which multiple magnets are attached moves along a linear guide composed of multiple stator modules, and the transport paths can branch and merge by electromagnetic force. For example, Patent Document 1 discloses a configuration in which stator modules having coils are arranged on both sides of the mover in a section where the transport paths branch, and current is passed through the coil of the stator module on one side to apply a lateral force that moves the mover in the branching direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2016-531534 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional linear transport systems, stator modules having coils are arranged on both sides of the mover in the section where the transport paths branch off, which poses a problem of increased weight of the linear transport system.

[0005] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide a linear conveying system that prevents an increase in weight even when the conveying path branches. [Means for solving the problem]

[0006] The linear conveying system according to the present disclosure comprises a mover having a magnet arranged on its side, and a conveying path in which a first module having a plurality of coils and moving the mover by the electromagnetic force of the plurality of coils, and a second module formed of a magnetic material and having no coils, are arranged along the direction of movement of the mover, and the conveying path is characterized in having a non-branched portion in which the first module is arranged on one side of the side of the mover, and a branched portion in which the first module is arranged on one side of the side of the mover and the second module is arranged on the other side. Effect of the Invention

[0007] According to the linear transport system of the present disclosure, a second module that does not have a coil is used on one side of the mover at the branching portion of the transport path, which has the effect of preventing an increase in weight. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic configuration diagram showing a linear conveyance system according to a first embodiment of the present disclosure. [Diagram 2] 1 is a cross-sectional view showing a first module and a second module of a linear transport system according to a first embodiment of the present disclosure. [Diagram 3] 11 is a cross-sectional view showing a case where a mover advances in a positive X direction and is attracted in a negative Y direction at a branching portion of the linear transport system according to the first embodiment of the present disclosure. FIG. [Figure 4] 11 is a cross-sectional view showing a case where a mover advances in the negative X direction and is attracted in the positive Y direction at a branching portion of the linear transport system according to the first embodiment of the present disclosure. FIG. [Diagram 5] 11 is a cross-sectional view showing a case where a mover advances in the positive X direction and is attracted in the positive Y direction at a branching portion of the linear transport system according to the first embodiment of the present disclosure. FIG. [Figure 6] 11 is a cross-sectional view illustrating a case where a mover advances in the negative X direction and is attracted in the negative Y direction at a branching portion of the linear transport system according to the first embodiment of the present disclosure. FIG. [Figure 7] 11 is a cross-sectional view showing a first module and a second module of a linear transport system according to a second embodiment of the present disclosure. FIG. [Figure 8] 13 is a cross-sectional view showing a case where a mover advances in the positive X direction and is attracted in the negative Y direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure. FIG. [Figure 9] 13 is a cross-sectional view showing a case where a mover advances in the negative X-direction and is attracted in the positive Y-direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure. FIG. [Figure 10] 13 is a cross-sectional view illustrating a case where a mover advances in the positive direction of the X direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure, and is attracted in the positive direction of the Y direction before passing through a step. FIG. [Figure 11] 13 is a cross-sectional view illustrating a case where a mover advances in the positive direction of the X direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure, passes through a step, and is then attracted in the positive direction of the Y direction. FIG. [Figure 12] 13 is a cross-sectional view illustrating a case where a mover advances in the negative X direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure, and is attracted in the negative Y direction before passing through a step. FIG. [Figure 13] 11 is a cross-sectional view showing a case where a mover advances in the negative direction of the X direction at a branching portion of a linear transport system according to a second embodiment of the present disclosure, passes through a step, and is then attracted in the negative direction of the Y direction. [Figure 14] 11 is a cross-sectional view showing a first module and a second module of a linear transport system according to a third embodiment of the present disclosure. FIG. [Figure 15] 13 is a cross-sectional view showing a first module and a second module of a linear transport system according to a fourth embodiment of the present disclosure. FIG. [Figure 16] 13 is a cross-sectional view showing a first module and a second module of a linear transport system according to a fifth embodiment of the present disclosure. FIG. [Figure 17] 13 is a cross-sectional view showing a first module and a second module of a linear transport system according to a sixth embodiment of the present disclosure. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a linear transport system according to an embodiment will be described in detail with reference to the drawings.

[0010] Embodiment 1 Fig. 1 is a schematic diagram showing a linear conveyance system according to a first embodiment of the present disclosure. As shown in Fig. 1, in this embodiment, the direction of movement of the mover 4 and the direction perpendicular to the direction of movement of the mover 4 are defined as the X direction and the Y direction, respectively, with the right side in the X direction being positive and the upper side in the Y direction being positive. For convenience of explanation, the above-mentioned coordinate system is set and the explanation is given, but the X direction and the Y direction may be set appropriately depending on the configuration of the linear conveyance system.

[0011] The linear transport system 1 includes a mover 4 having a magnet 41 arranged on its side, and a transport path 7 in which a first module 2 having a plurality of coils 22 for moving the mover 4 by the electromagnetic force of the plurality of coils 22 and a second module 3 made of a magnetic material and having no coils are arranged along the traveling direction of the mover 4. The transport path 7 includes a non-branched portion 6 in which the first module 2 is arranged on one side of the side of the mover 4, and a branched portion 5 in which the first module 2 is arranged on one side of the side of the mover 4 and the second module 3 is arranged on the other side.

[0012] FIG. 2 is a cross-sectional view showing a first module and a second module of the linear conveyance system according to the first embodiment of the present disclosure. As shown in FIG. 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 the plurality of coils 22 are wound around any of the plurality of teeth 23. The second module 3 is made of a magnetic material, but does not have a coil. This second module 3 has a flat shape in which the distance from the magnet 41 of the mover 4 is constant, and is made of, for example, laminated steel plates in order to minimize loss during the propulsion of the mover 4. Here, the case where the first module 2 has a coil is shown, but the first module 2 and the second module 3 may be interchanged, and the first module 2 may be made of only a magnetic material, and the second module 3 may be made of an iron core and a coil.

[0013] The mover 4 is located on one side of the side surface of the first module 2 in the non-branched portion 6, and moves forward by receiving electromagnetic force from the first module 2. In the branched portion 5 of the conveying path 7, the mover 4 is located between the first module 2 and the second module 3, and is propelled by electromagnetic force from the multiple coils 22 of the first module 2. Here, as shown in FIG. 2, the moving direction of the mover 4 is the X direction, and the direction perpendicular to the moving direction is the Y direction. In addition, each of the multiple movers 4 is independently controlled on the conveying path 7. Although not shown here, a motor drive control device supplies current to each coil 22 of the first module 2 located near the mover 4. For example, the current is not a three-phase AC current of UVW, but a single-phase AC current in which each phase is independently controlled, and a current is supplied to each coil 22 with an arbitrary waveform.

[0014] The mover 4 has a plurality of magnets 41 arranged on both side surfaces. As shown in Fig. 2, the magnets 41 on both side surfaces of the mover 4 are arranged such that the magnetic pole directions of the magnets 41 are reversed in the Y direction of the mover 4. In the first embodiment, the arrangement of the magnets 41 in the Y direction may be the same, or the arrangement of the magnets 41 in the Y direction may be shifted in the X direction.

[0015] FIG. 3 is a cross-sectional view showing a case where the mover advances in the positive direction of the X direction and is attracted in the negative direction of the Y direction at the branching portion of the linear conveying system according to the first embodiment of the present disclosure. At the branching portion 5 of the conveying path 7, the mover 4 is located between the first module 2 and the second module 3. Each of the multiple magnets 41 of the mover 4 faces the first module 2 and the second module 3. When the coil 22 of the first module 2 is energized, an electromagnetic force (propulsion force) in a direction parallel to the moving direction is applied to the mover 4. At the branching portion 5, in order to guide the mover 4 to the selected path, the coil 22 near the mover 4 is energized, and the first module 2 applies an electromagnetic force (branched lateral force) in a direction perpendicular to the moving direction of the mover 4. As a result, the first module 2 moves the mover 4. By energizing at least two or more coils 22, any propulsion force and branched lateral force can be generated simultaneously.

[0016] As shown in FIG. 3, when the mover 4 moves from the negative direction to the positive direction in the X direction at the branching portion 5 and the magnetic attraction force Fa1 between the first module 2 and the mover 4 is greater than the magnetic attraction force Fb1 between the second module 3 and the mover 4, it is assumed that the user of the linear transport system 1 selects a path in which the magnetic attraction force Fb1 becomes larger. The linear transport system 1 applies an electromagnetic force Fd from the positive direction to the negative direction in the Y direction to the mover 4. Note that the gap between the mover 4 and the first module 2 and the second module 3 at this time is an example and is not limited to this value. As a result, the interval Lb2 between the second module 3 and the mover 4 in the negative direction in the Y direction becomes smaller than the interval Lb1 between the second module 3 and the mover 4 in the Y direction before the electromagnetic force acts. Due to this action, the linear transport system 1 can advance the mover 4 to a path in which the magnetic attraction force Fb1 between the second module 3 and the mover 4 becomes greater. After a path is selected at the branching section 5, the mover 4 moves in response to electromagnetic force Fd from the first module 2 of the non-branching section 6. That is, the relationships of the following formulas (1) to (5) are established among the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La1, La2 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb1, Lb2 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa1, Fa2 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces Fb1, Fb2 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0017]

number

[0018] In addition, in Expressions (1) to (5), the magnetic attractive force Fb2 in the negative Y direction between the second module 3 and the mover 4 is greater than the magnetic attractive force Fa2 in the positive Y direction between the first module 2 and the mover 4 after the electromagnetic force is applied. However, depending on the shape of the second module 3, the relationship between the distances La2 and Lb2 in the positive Y direction between the first module 2 and the mover 4 may be La2 < Lb2. Thus, in the linear conveyance system 1 of Embodiment 1 of the present disclosure, when the mover 4 travels from the negative X direction to the positive X direction at the branch portion 5, the force in the direction perpendicular to the traveling direction acting on the mover 4 is greater by the electromagnetic force of the second module 3 than by the electromagnetic force of the first module 2, and thus the distance perpendicular to the traveling direction between the mover 4 and the second module 3 is reduced.

[0019] FIG. 4 is a cross-sectional view showing a case where the mover advances in the negative direction of the X direction at the branching portion of the linear transport system according to the first embodiment of the present disclosure and is attracted in the positive direction of the Y direction. As shown in FIG. 4, when the mover 4 moves in the negative direction of the X direction at the branching portion 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, it is assumed that the user of the linear transport system 1 selects a path in a direction in which the magnetic attraction force Fa3 becomes larger. The linear transport system 1 applies an electromagnetic force from the negative direction to the positive direction of the Y direction to the mover 4. As a result, the gap Lb4 between the second module 3 and the mover 4 in the negative direction of the Y direction after the electromagnetic force is applied is larger than the gap Lb3 between the second module 3 and the mover 4 in the negative direction of the Y direction before the electromagnetic force is applied. Due to this action, the linear transport system 1 can advance the mover 4 in a path in a direction in which the magnetic attraction force between the first module 2 and the mover 4 becomes larger. After a path is selected at the branching section 5, the mover 4 moves by receiving an electromagnetic force from the first module 2 of the non-branching section 6. That is, the following equations (6) to (10) hold for the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La3, La4 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb3, Lb4 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa3, Fa4 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces Fb3, Fb4 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0020]

number

[0021] In addition, in Expressions (6) to (10), the magnetic attraction force Fb3 in the negative Y direction between the second module 3 and the mover 4 is larger than the magnetic attraction force Fa3 in the positive Y direction between the first module 2 and the mover 4 before the electromagnetic force acts. However, depending on the shape of the second module 3, the relationship between the distances La3 and Lb3 in the positive Y direction between the first module 2 and the mover 4 may be La3 < Lb3. Thus, in the linear conveyance system 1 of Embodiment 1 of the present disclosure, when the mover 4 travels from the positive X direction to the negative X direction at the branch portion 5, the force in the direction perpendicular to the traveling direction acting on the mover 4 is smaller for the electromagnetic force by the second module 3 than for the electromagnetic force by the first module 2, whereby the distance perpendicular to the traveling direction between the mover 4 and the second module 3 becomes larger.

[0022] FIG. 5 is a cross-sectional view showing a case where the mover advances in the positive direction of the X direction at the branching portion of the linear transport system according to the first embodiment of the present disclosure and is attracted in the positive direction of the Y direction. As shown in FIG. 5, when the mover 4 moves in the positive direction of the X direction at the branching portion 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, it is assumed that a path in a direction in which the magnetic attraction force Fa5 becomes larger is selected by the user of the linear transport system 1. The linear transport system 1 applies an electromagnetic force from the negative direction to the positive direction of the Y direction to the mover 4. As a result, the interval Lb6 between the second module 3 and the mover 4 after the electromagnetic force is applied becomes greater than Lb5 in the negative direction of the Y direction between the second module 3 and the mover 4 before the electromagnetic force is applied. Due to this action, the linear transport system 1 can advance the mover 4 to a path in a direction in which the magnetic attraction force between the first module 2 and the mover 4 becomes greater. After the path is selected via the branching section 5, the mover 4 moves by receiving the electromagnetic force from the first module 2 of the non-branching section 6. At this time, the relationships of the following equations (11) to (15) are established among the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La5, La6 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb5, Lb6 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa5, Fa6 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces Fb5, Fb6 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0023]

number

[0024] In addition, in Expressions (11) to (15), the magnetic attraction force Fb5 of the magnet 41 in the negative Y direction of the second module 3 and the mover 4 is larger than the magnetic attraction force Fa5 of the magnet 41 in the positive Y direction of the first module 2 and the mover 4 before the electromagnetic force acts. However, depending on the shape of the second module, the relationship between the distance La5 in the positive Y direction of the magnet 41 of the first module 2 and the mover 4 and the distance Lb5 in the negative Y direction of the magnet 41 of the first module 2 and the mover 4 may be La5 < Lb5. Thus, in the linear conveyance system 1 of Embodiment 1 of the present disclosure, when the mover 4 travels from the negative X direction to the positive X direction at the branch portion 5, the force in the direction perpendicular to the traveling direction acting on the mover 4 is smaller than the electromagnetic force by the second module 3 than the electromagnetic force by the first module 2, so that the distance perpendicular to the traveling direction of the mover 4 and the second module 3 increases.

[0025] 6 is a cross-sectional view showing a case where the mover advances in the negative direction of the X direction at the branching portion of the linear transport system according to the first embodiment of the present disclosure and is attracted in the negative direction of the Y direction. As shown in FIG. 6, when the mover 4 moves in the negative direction of the X direction at the branching portion 5, and the magnetic attraction force Fa7 between the first module 2 and the mover 4 in the positive direction of the Y direction is greater than the magnetic attraction force Fb7 between the second module 3 and the mover in the negative direction of the Y direction, it is assumed that the user of the linear transport system 1 selects a path in which the magnetic attraction force Fb7 between the second module 3 and the mover 4 becomes larger. The linear transport system 1 applies an electromagnetic force from the positive direction of the Y direction to the negative direction of the Y direction to the mover 4. As a result, the distance Lb8 between the second module 3 and the mover 4 in the negative direction of the Y direction after the electromagnetic force is applied becomes smaller than the distance Lb7 between the second module 3 and the mover 4 in the negative direction of the Y direction before the electromagnetic force is applied. Due to this action, the linear transport system 1 can move the mover 4 along a path in which the magnetic attraction force between the second module 3 and the mover 4 in the negative Y direction becomes larger. After the path is selected at the branching section 5, the mover 4 moves by receiving the electromagnetic force from the first module 2 at the non-branching section 6. At this time, the following formulas (16) to (20) hold true for the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La7 and La8 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb7 and Lb8 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa7 and Fa8 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces Fb7 and Fb8 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0026]

number

[0027] In addition, in Expressions (16) to (20), the magnetic attraction force Fb8 in the negative Y direction between the second module 3 and the mover 4 is greater than the magnetic attraction force Fa8 in the positive Y direction between the first module 2 and the mover 4 before the electromagnetic force acts. However, depending on the shape of the second module 3, the relationship between the distance La8 in the positive Y direction between the first module 2 and the mover 4 and the distance Lb8 in the negative Y direction between the first module 2 and the mover 4 may be La8 < Lb8. Thus, in the linear conveyance system 1 of Embodiment 1 of the present disclosure, when the mover 4 travels from the positive X direction to the negative X direction at the branch portion 5, the force in the direction perpendicular to the traveling direction acting on the mover 4 is greater by the electromagnetic force of the second module 3 than the electromagnetic force of the first module 2, so that the distance perpendicular to the traveling direction between the mover 4 and the second module 3 is reduced.

[0028] As described above, the linear conveyance system 1 according to Embodiment 1 of the present disclosure includes a mover 4 having magnets 41 disposed on its side surface, a first module 2 having a plurality of coils 22, and a conveyance path 7 in which a plurality of the second modules 3 formed of a magnetic material having no coils are arranged in the traveling direction of the mover 4. The conveyance path 7 includes an unbranched portion 6 in which the first module 2 is disposed on one side of the side surface of the mover 4, and a branched portion 5 in which the first module 2 is disposed on one side of the side surface of the mover 4 and the second module 3 is disposed on the other side. In a conventional linear conveyance system, the same coils as in the non-branched section are arranged even when the path branches, but in the linear conveyance system 1 according to the present disclosure, the second module 3 is composed only of a magnetic material and no coil is wound around it. Therefore, according to the linear conveyance system of Embodiment 1 of the present disclosure, even when the conveyance path 7 branches, since the second module 3 is used on one side of the side surface of the mover 4 at the branch portion 5, the effect of preventing an increase in the weight of the linear conveyance system 1 and preventing the linear conveyance system 1 from becoming large-sized is achieved.

[0029] In addition, by using the second module 3 without a coil at the branching portion, the number of inverters for energizing the coils can be reduced compared to when the first module 2 is placed on both sides, which prevents an increase in the weight of the linear conveying system 1 and prevents the linear conveying system 1 from becoming larger.

[0030] In addition, according to the linear conveying system 1 of the present disclosure, the reduction in coils reduces wiring work, making it easier to assemble the motor. Furthermore, since the shape of the second module 3 that does not have 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. Note that the shape of the second module 3 may be the same as the shape of the iron core of the first module 2, the second module 3 may have multiple teeth to reduce cogging thrust, or the phase of the teeth of the first module and the teeth of the second module may be shifted.

[0031] Embodiment 2 In the second embodiment, the same components as those in the first embodiment of the present disclosure are designated by the same reference numerals, and the description of the same or corresponding parts will be omitted. Hereinafter, a linear conveyance system 1b according to the second embodiment will be described with reference to the drawings.

[0032] 7 is a cross-sectional view showing a first module and a second module of a linear transport system according to a second embodiment of the present disclosure. As shown in FIG. 7, in the linear transport system 1b according to the second embodiment, in addition to the configuration of the first embodiment, a step 8 is provided in the second module 31 in a direction perpendicular to the traveling direction. This step 8 means that 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 in the range where the second module 31 and the mover 4 face each other. In FIG. 7, the second module 31 is shaped so that the distance between the magnet 41 changes depending on the position, but the shape of the iron core 21 of the first module 2 may be changed, or both the shapes of the iron core 21 of the first module 2 and the second module 31 may be changed.

[0033] 8 is a cross-sectional view showing a case where the mover advances in the positive direction of the X direction and is attracted in the negative direction of the Y direction at the branching portion of the linear transport system according to the second embodiment of the present disclosure. As shown in FIG. 8, the second module 31 has a step 8 in a direction perpendicular to the advancement direction, that is, in the Y direction. Due to this step 8, the distance between the side of the mover 4 facing the second module 31 is smaller than the distance between the side of the mover 4 facing the first module 2. In FIG. 8, it is assumed that the mover 4 moves in the positive direction of the X direction at the branching portion 5, and when the magnetic attraction force Fa1 between the first module 2 and the mover 4 is larger than the magnetic attraction force Fb1 between the second module 31 and the mover 4 Y, the user of the linear transport system 1b selects a route in a direction in which the magnetic attraction force Fb1 is larger. At this time, the relationships between the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La1, La2 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb1, Lb2 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa1, Fa2 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces F1, Fb2 before and after the electromagnetic force between the first module 2 and the mover 4 acts, satisfy the following equations (21) to (26).

[0034]

number

[0035] The linear transport system 1b applies an electromagnetic force from the positive direction to the negative direction in the Y direction in the region after the mover 4 has passed the step 8. The interval Lb1' between the second module 31 and the mover 4 after passing the step 8 is smaller than the interval Lb1 between the second module 31 and the mover 4 before passing the step 8. The magnetic attraction force Fb1' after passing the step 8 is larger than |Fb1'|>|Fb1|, but according to formula (24), the relationship Fa1+Fb1'>0 holds before the electromagnetic force is applied, and the magnetic attraction force in the positive direction in the Y direction is larger. When the electromagnetic force is applied, the interval Lb2 between the second module 31 and the mover 4 after the electromagnetic force is applied becomes smaller than the interval Lb1' between the second module 31 and the mover 4 before the electromagnetic force is applied. Due to this action, the linear transport system 1 can move the mover 4 along a path in which the magnetic attraction force between the second module 31 and the mover 4 is larger. After the path is selected in the branching section 5, the mover 4 receives an electromagnetic force from the first module 2 in the non-branching section 6 and moves forward.

[0036] Here, G in equation (21) represents the size of the step 8 provided in the second module 31. According to equation (24), by providing the step 8, |Fa1+Fb1|>|Fa1+Fb1'| holds, and therefore the electromagnetic force that moves the mover 4 in the negative Y direction in the area with the step 8 is smaller than the electromagnetic force that moves the mover in the negative Y direction in a state where there is no step 8.

[0037] 9 is a cross-sectional view showing a case where the mover 4 advances in the negative X direction and is attracted in the positive Y direction at a branching portion of the linear transport system according to the second embodiment of the present disclosure. In FIG. 9, it is assumed that, at the branching portion 5, the mover 4 advances in the negative X direction, and when the magnetic attractive force Fb3 between the second module 31 and the mover 4 is greater than the magnetic attractive force Fa3 between the first module 2 and the mover 4, a route in a direction in which the magnetic attractive force Fa3 becomes greater is selected by the user of the linear transport system 1b. At this time, the relationships between the distance Ls moved by the electromagnetic force of the mover 4, the distances La3, La4 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb3, Lb4 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attraction forces Fa3, Fa4 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attraction forces Fb3, Fb4 before and after the electromagnetic force between the first module 2 and the mover 4 acts, satisfy the following equations (27) to (32).

[0038]

number

[0039] The linear transport system 1b applies an electromagnetic force from the negative direction to the positive direction in the Y direction in the region after the mover 4 has passed the step 8. The interval Lb3' between the second module 31 and the mover 4 after passing the step 8 is larger than the interval Lb3 between the second module 31 and the mover 4 before passing the step 8. After passing the step 8, the magnetic attraction force Fb3' is reduced to |Fb3'| < |Fb3|, but according to the formula (30), the relationship Fa3 + Fb3' < 0 is established before the electromagnetic force is applied, and the magnetic attraction force in the negative direction in the Y direction is large. When the electromagnetic force F is applied, the interval Lb4 between the second module 31 and the mover 4 is larger than the interval Lb3' between the second module 31 and the mover 4 before the electromagnetic force is applied. Due to this action, the linear transport system 1b can move the mover 4 along a path in which the magnetic attraction force between the first module 2 and the mover 4 is increased. After the path is selected in the branching section 5, the mover 4 receives an electromagnetic force from the first module 2 in the non-branching section 6 and moves forward.

[0040] Here, the state of the mover 4 on which an electromagnetic force acts after passing through the step 8 in FIG. 8 is the same as the state of the mover 4 on which an electromagnetic force acts before passing through the step 8 in FIG. 9, and the relationship between the following equations (33) and (34) holds.

[0041]

number

[0042] Furthermore, the state of the mover 4 before passing through the step 8 in Figure 8 and before the electromagnetic force acts on it is the same as the state of the mover 4 after passing through the step 8 in Figure 9 and on which the electromagnetic force acts, and the relationship between the following equations (35) and (36) holds.

[0043]

number

[0044] Thus, in the linear conveying system according to the second embodiment of the present disclosure, by providing the step 8, as shown in equations (27) to (32), |Fa3 + Fb3| > |Fa3 + Fb3'| holds, and therefore the electromagnetic force moving the mover 4 in the positive Y direction in the area where the step 8 is present is smaller than the electromagnetic force moving the mover 4 in the positive Y direction in the absence of the step 8.

[0045] 10 is a cross-sectional view showing a case where the mover advances in the positive X direction at a branching portion of the linear transport system according to the second embodiment of the present disclosure, and is attracted in the positive Y direction before passing through a step. In Fig. 10, it is assumed that, at the branching portion 5, the mover 4 moves in the positive X direction, and when the magnetic attractive force Fb5 between the second module 31 and the mover 4 is greater than the magnetic attractive force Fa5 between the first module 2 and the mover 4, a route in a direction in which the magnetic attractive force Fa5 becomes greater is selected by the user of the linear transport system 1b.

[0046] 11 is a cross-sectional view showing a case where the mover advances in the positive direction of the X direction at the branching portion of the linear transport system according to the second embodiment of the present disclosure, passes through a step, and is attracted in the positive direction of the Y direction. In FIG. 11, the moving direction and the attracted direction of the mover 4 are the same as those in FIG. 10, but the location where the mover 4 is attracted to the second module 31 when the mover 4 determines its path at the branching portion 5 is different. At this time, the following relations of formulas (37) to (42) are established for the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La5 and La6 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb5 and Lb6 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attractive forces Fa5 and Fa6 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attractive forces Fb5 and Fb6 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0047]

number

[0048] The linear transport system 1b applies an electromagnetic force in the positive direction in the Y direction to the area before the mover 4 passes through the step 8. The distance Lb5 between the second module 31 and the mover 4 before passing through the step 8 in FIG. 10 is larger than the distance Lb5' between the second module 31 and the mover 4 when the mover 4 passes through the step 8 without applying the electromagnetic force in FIG. 11. Since |Fb5|<|Fb5'| holds between the magnetic attraction force Fb before passing through the step 8 in FIG. 10 and Fb5' when the mover 4 passes through the step 8 without applying the electromagnetic force in FIG. 11, the electromagnetic force that moves the mover 4 in the positive direction in the Y direction is smaller in the state before passing through the step 8. Before the electromagnetic force is applied to the mover 4, the relationship Fa5+Fb5<0 holds according to formula (40), and the magnetic attraction force in the negative direction in the Y direction is large. When the electromagnetic force is applied, the distance Lb6 between the second module 31 and the mover 4 becomes larger than the distance Lb5 between the second module 31 and the mover 4 before the electromagnetic force is applied, and the linear transport system 1b can move the mover 4 along a path in which the magnetic attraction force between the first module 2 and the mover 4 becomes larger. After passing through the step 8, the distance Lb6' between the second module 31 and the mover 4 satisfies Lb6>Lb6', but since the magnetic attraction force Fa6 between the first module 2 and the mover 4 is larger than the magnetic attraction force Fb6' between the second module 2 and the mover 4, the mover 4 does not erroneously move along a path in which the magnetic attraction force in the negative Y direction becomes larger.

[0049] Here, the state of the mover 4 after passing through the step 8 in FIG. 9 and before the electromagnetic force acts on it is the same as the state of the mover 4 before passing through the step 8 in FIG. 10 and before the electromagnetic force acts on it, and the relationship between the following equations (43) and (44) holds.

[0050]

number

[0051] Furthermore, the state of the mover 4 before the electromagnetic force acts after passing through step 8 in FIG. 8 is the same as the state of the mover 4 on which the electromagnetic force acts after passing through step 8 in FIG. 10, and the relationship between the following equations (45) and (46) holds.

[0052]

number

[0053] From the above, in the linear conveying system 1b according to the second embodiment of the present disclosure, by providing a step 8, after passing through the step 8, |Fa5+Fb5'|>|Fa5+Fb5| holds, and therefore the electromagnetic force moving the mover 4 in the positive Y direction in the area before passing through the step 8 is smaller than the electromagnetic force moving the mover 4 in the positive Y direction after passing through the step 8.

[0054] 12 is a cross-sectional view showing a case where the mover advances in the negative X direction at a branching portion of the linear transport system according to the second embodiment of the present disclosure, and is attracted in the negative Y direction before passing through a step. In Fig. 12, it is assumed that the mover 4 moves in the negative X direction at the branching portion 5, and when the magnetic attractive force Fa7 between the first module 2 and the mover 4 is greater than the magnetic attractive force Fb7 between the second module 31 and the mover 4, the user of the linear transport system 1b selects a path in the direction in which the magnetic attractive force Fb7 is greater.

[0055] 13 is a cross-sectional view showing a case where the mover advances in the negative direction of the X direction at the branching portion of the linear transport system according to the second embodiment of the present disclosure, passes through a step, and is attracted in the negative direction of the Y direction. In FIG. 13, the moving direction and the attracted direction of the mover 4 are the same as those in FIG. 12, but the location where the mover 4 is attracted to the second module 31 when the mover 4 determines its path at the branching portion 5 is different. At this time, the following relations of formulas (47) to (52) are established for the distance Ls of the mover 4 moved by the action of the electromagnetic force, the distances La7 and La8 before and after the electromagnetic force between the first module 2 and the mover 4 acts, the distances Lb7 and Lb8 before and after the electromagnetic force between the second module 3 and the mover 4 acts, and the electromagnetic force Fd, the magnetic attractive forces Fa7 and Fa8 before and after the electromagnetic force between the first module 2 and the mover 4 acts, and the magnetic attractive forces Fb7 and Fb8 before and after the electromagnetic force between the first module 2 and the mover 4 acts.

[0056]

number

[0057] The linear transport system 1b applies an electromagnetic force from the positive direction to the negative direction in the Y direction in a region before the mover 4 passes over the step 8. The distance Lb7 between the second module 31 and the mover 4 before passing over the step 8 is smaller than the distance Lb7' between the second module 31 and the mover 4 when the mover 4 passes over the step 8 without applying an electromagnetic force. With respect to the magnetic attraction force Fb7 before passing over the step 8, |Fb7|>|Fb7'| holds, compared to the magnetic attraction force Fb7' when the mover 4 passes over the step 8 without applying an electromagnetic force. Therefore, the electromagnetic force that moves the mover 4 in the negative direction in the Y direction is smaller before passing over the step 8. Before the electromagnetic force is applied to the mover 4, the relationship Fa7+Fb7>0 holds according to formula (50), and the magnetic attraction force in the positive direction in the Y direction is large. When the electromagnetic force is applied, 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 is applied, and the linear transport system 1b can move the mover 4 along a path in which the magnetic attraction force in the positive direction in the Y direction between the second module 31 and the mover 4 becomes larger. Note that after passing through the step 8, the relationship La8>Lb8' is established for the distance Lb8' between the second module 31 and the mover 4, but since the magnetic attraction force Fa8 between the first module 2 and the mover 4 is smaller than the magnetic attraction force Fb8' between the second module 31 and the mover 4, the mover 4 does not erroneously move along a path in which the magnetic attraction force in the positive direction in the Y direction becomes larger.

[0058] Here, the state of the mover 4 after passing through the step 8 in FIG. 8 and before the electromagnetic force acts on it is the same as the state of the mover 4 before passing through the step 8 in FIG. 12 and before the electromagnetic force acts on it, and the relationship between the following equations (53) and (54) holds.

[0059]

number

[0060] Furthermore, the state of the mover before the electromagnetic force acts after passing through step 8 in FIG. 9 is the same as the state of the mover after the electromagnetic force acts after passing through step 8 in FIG. 12, and the relationship between the following equations (55) and (56) holds.

[0061]

number

[0062] From the above, in the linear conveying system 1b according to the second embodiment of the present disclosure, by providing a step 8, after passing through the step 8, |Fa7+Fb7'|>|Fa7+Fb7| holds, and the electromagnetic force that moves the mover 4 in the negative Y direction in the area before the step 8 is smaller than the electromagnetic force that moves the mover 4 in the negative Y direction after passing through the step 8.

[0063] As described above, in the linear transport system 1b according to the second embodiment of the present disclosure, the second module 31 is made of only a magnetic material and has no coil wound thereon, similar to the first embodiment. Therefore, according to the linear transport system 1b according to the second embodiment of the present disclosure, similar to the first embodiment, even when the transport path 7 branches, the second module 3 is used on one side of the side surface of the mover 4 at the branching portion 5, so that an increase in the weight of the linear transport system 1 is prevented, and an effect of preventing the linear transport system 1 from becoming large in size is achieved.

[0064] Furthermore, in the linear conveying system 1b according to the second embodiment of the present disclosure, since the step 8 is provided in the second module 31 in a direction perpendicular to the traveling direction, when the mover 4 is moved in the negative direction of the Y direction, the electromagnetic force moving the mover 4 in the negative direction of the Y direction in the area with the step 8 is smaller than the electromagnetic force moving the mover 4 in the negative direction of the Y direction in the absence of the step 8. When the mover 4 is moved in the positive direction of the Y direction, the electromagnetic force moving the mover 4 in the positive direction of the Y direction in the area with the step 8 is smaller than the electromagnetic force moving the mover 4 in the positive direction of the Y direction in the absence of the step 8. Also, when the mover 4 is moved in the positive direction of the Y direction, since the step 8 is provided, the electromagnetic force moving the mover 4 in the positive direction of the Y direction in the area before passing the step 8 is smaller than the electromagnetic force moving the mover 4 in the positive direction of the Y direction after passing the step 8. Even when the mover 4 is moved in the negative Y direction, the electromagnetic force moving the mover 4 in the negative Y direction in the area before the step 8 is smaller than the electromagnetic force moving the mover 4 in the negative Y direction after passing through the step 8. In this way, in the linear conveyance system according to the second embodiment of the present disclosure, branching can be achieved with a smaller electromagnetic force (current), so that the motor windings or inverter capacity can be reduced in size.

[0065] Furthermore, the second module 3 may have a shape in which the distance between the first module 2 and the second module 3 in a direction perpendicular to the traveling direction of the mover 4 changes along the traveling direction of the mover 4. In this case, the distance between the first module 2 and the second module 3 in a direction perpendicular to the traveling direction of the mover 4 may become narrower or wider along the traveling direction.

[0066] Embodiment 3 In the third embodiment, the same components as those in the first embodiment of the present disclosure are designated by the same reference numerals, and the description of the same or corresponding parts will be omitted. Hereinafter, a linear conveyance system 1c according to the third embodiment will be described with reference to the drawings.

[0067] 14 is a cross-sectional view showing a first module and a second module of a linear transport system according to a third embodiment of the present disclosure. As shown in FIG. 14, in a linear transport system 1c according to the third embodiment of the present disclosure, in addition to the configuration of the first embodiment, the second module 32 is provided with an inclined portion 9 inclined in a direction perpendicular to the traveling direction. By providing this inclined portion 9, the distance between the second module 32 and the mover 4 changes gradually. Note that the shape of this inclined portion 9 may be inclined so that the distance between the second module 32 and the first module 2 becomes narrower or wider with respect to the direction perpendicular to the traveling direction of the mover 4.

[0068] As described above, in the linear conveyance system 1c according to the third embodiment of the present disclosure, the second module 32 is made of only a magnetic material and has no coil wound thereon, similar to the first embodiment. Therefore, according to the linear conveyance system 1c according to the third embodiment of the present disclosure, even when the conveyance path 7 branches, similar to the first embodiment, the second module 3 is used at the branching portion 5, so that an increase in the weight of the linear conveyance system 1 is prevented, and the linear conveyance system 1 does not become large.

[0069] Furthermore, in the linear transport system 1c according to the third embodiment of the present disclosure, the distance between the second module 32 and the mover 4 changes smoothly. Therefore, the magnetic flux distribution between the magnet 41 of the mover 4 and the second module 32 also changes smoothly, and the cogging thrust generated in the mover 4 can be reduced.

[0070] Embodiment 4 In the fourth embodiment, the same components as those in the first embodiment of the present disclosure are designated by the same reference numerals, and the description of the same or corresponding parts will be omitted. Hereinafter, a linear conveyance system 1d according to the fourth embodiment will be described with reference to the drawings.

[0071] FIG. 15 is a cross-sectional view showing a first module and a second module of a linear transport system according to a fourth embodiment of the present disclosure. As shown in FIG. 15, in addition to the configuration of the first embodiment, the linear transport system 1d according to the fourth embodiment of the present disclosure has a second module 33 that is symmetrical with respect to an axis perpendicular to the traveling direction of the mover 4. FIG. 15 shows, as an example, a case in which the inclined portion 9 is symmetrically provided in the second module 33. By making the second module 33 symmetrical with respect to an axis perpendicular to the traveling direction of the mover 4, the distance between the first module 2 and the magnet 41 of the mover 4 and the distance between the second module 33 and the magnet 41 of the mover 4 are constant. The symmetrical shape of the second module 33 in this case may be a shape that is linearly symmetrical with respect to an axis perpendicular to the traveling direction, or may be a shape that is rotationally symmetrical. Note that the symmetrical shape may be plane symmetrical with respect to a plane perpendicular to the traveling direction, and is not limited thereto.

[0072] As described above, in the linear transport system 1d according to the fourth embodiment of the present disclosure, the second module 32 is made of only a magnetic material and has no coil wound thereon, similar to the first embodiment. Therefore, according to the linear transport system 1d according to the fourth embodiment of the present disclosure, similar to the first embodiment, even when the transport path 7 branches, the second module 3 is used on one side of the side surface of the mover 4 at the branching portion 5, so that an increase in the weight of the linear transport system 1 is prevented, and the linear transport system 1 does not become large.

[0073] Furthermore, in the linear conveying system 1d relating to the embodiment 4 of the present disclosure, the second module 33 has a shape symmetrical with respect to an axis perpendicular to the traveling direction of the mover 4, so that the distance between the first module 2 and the magnet 41 of the mover 4 and the distance between the second module 33 and the magnet 41 of the mover 4 are constant, thereby reducing the cogging thrust generated when the mover 4 transfers from the non-branching section 6 to the branching section 5.

[0074] Embodiment 5. In the fifth embodiment, the same components as those in the first embodiment of the present disclosure are designated by the same reference numerals, and the description of the same or corresponding parts will be omitted. Hereinafter, a linear conveyance system 1e according to the fifth embodiment will be described with reference to the drawings.

[0075] FIG. 16 is a cross-sectional view showing a first module and a second module of a linear conveyance system according to a fifth embodiment of the present disclosure. As shown in FIG. 16, in addition to the configuration of the first embodiment, the linear conveyance system 1e according to the fifth embodiment of the present disclosure includes a switching section 10 between the non-branching section 6 and the branching section 5 of the conveyance path 7, in which the distance between the first module 2 and the second module 3 in the direction perpendicular to the moving direction of the mover 4 decreases as the mover 4 moves from the non-branching section 6 to the branching section 5. The switching section 10 is made of a magnetic material and does not have a coil. This magnetic material is made of laminated steel plates or the like in order to minimize loss during the advancement of the mover 4. The switching section 10 may be integrated with the second module 34, and the distance between the magnet 41 of the mover 4 and the switching section 10 may gradually decrease, and may finally become the same as the distance between the second module 34 of the branching section 5 and the magnet 41 of the mover 4.

[0076] As described above, in the linear transport system 1e according to the fifth embodiment of the present disclosure, the second module 34 is made of only a magnetic material without a coil, and no coil is wound around it, similar to the first embodiment. Therefore, according to the linear transport system 1e according to the fifth embodiment of the present disclosure, similar to the first embodiment, even when the transport path 7 branches, the second module 3 is used on one side of the side surface of the mover 4 at the branching portion 5, so that an increase in the weight of the linear transport system 1 is prevented, and the linear transport system 1 does not become large.

[0077] Furthermore, the linear conveyance system 1e according to the fifth embodiment of the present disclosure includes a switching unit 10 where the distance between the second module 34 and the mover 4 becomes smaller when the conveyance path 7 switches from the non-branching portion 6 to the branching portion 5, and the distance between the second module 34 and the mover 4 becomes larger when the conveyance path 7 switches from the branching portion 5 to the non-branching portion 6. As a result, as the mover 4 moves in the traveling direction, the distance between the switching unit 10 and the magnet 41 of the mover 4 gradually becomes equal to the distance between the second module 34 of the branching portion 5 and the magnet 41 of the mover 4, so that the change in permeance becomes gentler and the cogging thrust can be reduced.

[0078] Embodiment 6 In the sixth embodiment, the same components as those in the first embodiment of the present disclosure are designated by the same reference numerals, and the description of the same or corresponding parts will be omitted. Hereinafter, a linear conveyance system 1f according to the sixth embodiment will be described with reference to the drawings.

[0079] Fig. 17 is a cross-sectional view showing a first module and a second module of a linear transport system according to a sixth embodiment of the present disclosure. As shown in Fig. 17, in addition to the configuration of the first embodiment, a linear transport system 1f according to the sixth embodiment of the present disclosure includes a movable mechanism 11 that is provided in the second module 35 and moves the second module 35 in a direction perpendicular to the traveling direction to change the traveling direction of the mover 4. By including the movable mechanism 11, the position of the second module 35 can be changed, and the distance between the second module 35 and the magnet 41 of the mover 4 can be arbitrarily adjusted.

[0080] 17, in the linear transport system 1f according to the sixth embodiment of the present disclosure, when the mover 4 passes through the branching section 5, the second module 35 is moved in a direction perpendicular to the traveling direction, and the path of the mover 4 is selected by the attractive force of the second module 35 and the magnet 41. Immediately after the mover 4 enters the branching section 5, the attractive force in the positive direction in the Y direction is large, but by using the movable mechanism 11 so that the distance between the mover 4 and the second module 35 decreases as the mover 4 moves, the attractive force in the negative direction in the Y direction becomes large. As the force acting on the entire mover 4 becomes negative in the Y direction, the mover 4 and the second module 35 move together.

[0081] In addition, in the linear transport system 1f according to the sixth embodiment of the present disclosure, a plurality of second modules 35 may be provided, and the movable mechanisms 11 may be provided in the plurality of second modules 35.

[0082] As described above, in the linear transport system 1f according to the sixth embodiment of the present disclosure, the second module 35 is made of only a magnetic material and has no coil wound thereon, similar to the first embodiment. Therefore, according to the linear transport system 1f according to the sixth embodiment of the present disclosure, similar to the first embodiment, even when the transport path 7 branches, the second module 3 is used on one side of the side surface of the mover 4 at the branching portion 5, so that an increase in the weight of the linear transport system 1 is prevented, and the linear transport system 1 does not become large.

[0083] Furthermore, in the linear conveying system 1f according to the sixth embodiment of the present disclosure, in addition to the configuration of the first embodiment, a movable mechanism 11 is provided in the second module 35, which moves the second module 35 in a direction perpendicular to the traveling direction and changes the traveling direction of the mover 4. Therefore, since no electromagnetic force from the coil is used when the mover 4 moves in a direction perpendicular to the traveling direction, the path can be changed without reducing the propulsion force to the mover 4.

[0084] The configurations shown in the above embodiments are merely examples of the contents of the present disclosure, and may be combined with other known techniques. Furthermore, parts of the configurations may be omitted or modified without departing from the scope of the present disclosure. [Explanation of symbols]

[0085] 1 1b 1c 1d 1e 1f Linear transport system, 2 First module, 3 31 32 33 34 35 Second module, 4 Movable element, 5 Branching portion, 6 Non-branching portion, 7 Transport path, 8 Step 8, 9 Inclined portion, 10 Switching portion, 11 Movable mechanism, 21 Iron core, 22 Coil, 23 Teeth, 41 Magnet 41

Claims

1. A mover having a magnet arranged on its side; a transport path in which a first module having a plurality of coils and moving the mover by electromagnetic forces of the plurality of coils and a second module made of a magnetic material and not having a coil are arranged along a moving direction of the mover, The transport path is a non-branched portion in which the first module is disposed on one side of the side surface of the mover; a branch portion in which the first module is disposed on one side of the side surface of the mover and the second module is disposed on the other side of the side surface of the mover; A linear transport system comprising:

2. The magnetic material is a steel plate. The linear transport system according to claim 1 .

3. A mover having a magnet disposed on a side thereof; a transport path in which a first module having a plurality of coils and moving the mover by electromagnetic forces of the plurality of coils and a second module formed of a magnetic material having no coils (except when the magnetic material is a permanent magnet) are arranged along a moving direction of the mover, The transport path is a non-branched portion in which the first module is disposed on one side of the side surface of the mover; a branch portion in which the first module is disposed on one side of the side surface of the mover and the second module is disposed on the other side of the side surface of the mover; A linear transport system comprising:

4. A linear conveying system as described in any one of claims 1 to 3, characterized in that when the mover moves at the branching portion, the force acting on the mover in a direction perpendicular to the direction of movement is greater than the electromagnetic force from the first module due to the electromagnetic force from the second module, thereby reducing the distance between the mover and the second module perpendicular to the direction of movement.

5. The linear conveying system according to any one of claims 1 to 3, characterized in that when the mover moves in the branching portion, the force acting on the mover in a direction perpendicular to the direction of movement is smaller for the electromagnetic force from the second module than for the electromagnetic force from the first module, thereby increasing the distance between the mover and the second module in the direction of movement.

6. The linear transport system according to any one of claims 1 to 3, characterized in that the second module has a shape in which the distance between the first module and the second module in a direction perpendicular to the direction of travel of the mover changes along the direction of travel.

7. 7. The linear transport system according to claim 6, wherein the second module is provided with a step in a direction perpendicular to the moving direction of the mover.

8. 7. The linear transport system according to claim 6, wherein the second module is provided with an inclined portion inclined with respect to a direction perpendicular to the traveling direction of the mover.

9. 4. The linear transport system according to claim 1, wherein the second module is symmetrical with respect to an axis perpendicular to the moving direction of the mover.

10. 4. The linear conveying system according to claim 1, further comprising a switching section provided between the non-branching portion and the branching portion of the conveying path, in which the distance between the first module and the second module in a direction perpendicular to the direction of travel of the movable element becomes smaller as the conveying path moves from the non-branching portion to the branching portion.

11. The linear transport system according to claim 1 , further comprising a moving mechanism that moves the second module in a direction perpendicular to the traveling direction of the mover.

12. The linear transport system according to claim 11 , wherein a plurality of the second modules are provided along the traveling direction of the mover, and the movable mechanism is provided in the plurality of second modules.

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