Patent Publication Number: US-2021184555-A1

Title: Transport system and processing system

Description:
BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to a transport system and a processing system. 
     Description of the Related Art 
     In general, in a production line for assembling industry products, a plurality of so-called stations that carry out particular working processes are installed at predetermined intervals. A transport apparatus that transports a workpiece is arranged between these stations. Conventionally, once a workpiece is passed onto a holding unit of each station from the transport apparatus, then subjected to predetermined processing, and after the processing, the workpiece is again passed onto the transport apparatus and transported to the next process station. 
     In recent years, such a transport system that can perform processing on a workpiece left held on the carriage at the station and, after processing, transport the workpiece left held on the carriage to the next process station has been used. As such a transport system, a movable magnet type linear motor system (moving magnet type linear motor) is proposed. A movable magnet type linear motor system is formed of combination of a needle having a plurality of N-pole permanent magnets and S-pole permanent magnets aligned in an alternating manner on a carriage, a stator having a plurality of coils aligned in the traveling direction of the carriage, and a current controller that supplies currents to the coils. Such a movable magnet type linear motor system can not only advantageously perform processing on a workpiece held on the carriage but also ease constraints to the transport path because no wiring is required on the needle side. 
     Further, Japanese Patent Application Laid-Open No. H05-024652 proposes a transport apparatus that branches a pallet carrying a component or a workpiece to respective stations or into a plurality of transport lines in an assembly line for transportation. The transport apparatus disclosed in Japanese Patent Application Laid-Open No. H05-024652 has a branching apparatus that branches and passes pallets to an assembly line and a retune line or other processes. 
     Further, Japanese Patent Application Laid-Open No. H07-144755 proposes a transport apparatus that has a traveling carriage supply station provided outside a turn table on the extension line of the transport path. In the transport apparatus disclosed in Japanese Patent Application Laid-Open No. H07-144755, a traveling carriage can be supplied or collected while the traveling carriage supply station causes another traveling carriage to travel on a looped transport path on the primary line. 
     Japanese Patent Application Laid-Open No. H05-064311 discloses that a stopper for mechanically fixing a carriage is provided and the carriage is fixed in a positioning position. 
     In the conventional transport systems, however, there are first to third problems described below. 
     The first problem is a problem described below. In the transport apparatus as disclosed in Japanese Patent Application Laid-Open No. H05-024652, there is a problem of a position shift occurring in a moving direction of a transfer apparatus between the transfer apparatus and a transport path when a carriage is moved on the transfer apparatus such as a branching apparatus that transfers a pallet or a carriage. In a transport system in which a carriage travels, such a position shift causes an impact when the carriage passes on a connection part of the transport path and the carriage transfer apparatus, which makes high speed traveling difficult. Furthermore, there is a concern of damage on the carriage or the transport path due to the impact when the carriage passes on the connection part. Further, during a transfer operation, unless a carriage travels in a state where the transport path on which a carriage is traveling and the transfer apparatus are connected to each other and the carriage is able to transfer thereto, the carriage is likely to go out of the transport path. 
     Further, the second problem is a problem described below. In the transport apparatus disclosed in Japanese Patent Application Laid-Open No. H07-144755, since a traveling carriage supply station is arranged only outside the turn table on the extension line of the transport path, a place where the carriage is extracted or supplied is limited. Furthermore, for a closed transport path including a curved transport section, it is difficult to install the traveling carriage supply station disclosed in Japanese Patent Application Laid-Open No. H07-144755. It is demanded to extract a carriage from a transport path or supply a carriage to a transport path efficiently in a short time even with a closed transport path. 
     Further, the third problem is a problem described below. Positioning of a carriage to a station when processing operation is carried out is servo-controlled by using a motor controller based on position information obtained by sensing a scale attached to the carriage by using an encoder installed on a transport path side. In operation processes in a station, there may be a process of applying a large stress such as a process of attaching a component on a held workpiece by pressure joining, for example. Therefore, in order to realize accurate positioning for a carriage even in an operation process in which a large disturbance is added to the carriage due to a stress or the like, it is necessary to maintain a high rigidity with high speed and high performance servo control and a high power motor. However, a use of high performance servo control and a high power motor will lead to an increase in cost. In the transport apparatus disclosed in Japanese Patent Application Laid-Open No. H05-064311, a lock mechanism for positioning a carriage is provided to each station where the carriage is stopped. Thus, in the art disclosed in Japanese Patent Application Laid-Open No. H05-064311, an unnecessary lock mechanism is arranged also for a stop position which can be fully achieved as a result of the accuracy in the positioning with servo control, which leads to an increase in cost. 
     SUMMARY OF THE INVENTION 
     In order to solve the first problem described above, according to one aspect of the present invention, provided is a transport system including: a first transport module on which a carriage moves; a second transport module that is configured to be able to move to a position for connecting to the first transport module and on which the carriage is able to move to and from the first transport module; a position detection unit that detects a position in a moving direction of the second transport module and outputs position information; a first control unit that controls motion of the carriage on the first transport module; a second control unit that controls motion of the carriage on the second transport module; a third control unit that controls motion of the second transport module; and a fourth control unit that controls the first control unit, the second control unit, and the third control unit, and based on the position information output from the position detection unit, the fourth control unit corrects a position where the second transport module connects to the first transport module. 
     In order to solve the second problem described above, according to another aspect of the present invention, provided is a transport system including: a transport path including first and second transport modules on which a carriage moves; a third transport module that is configured to be able to move to a position for connecting to the first and second transport modules between the first and second transport modules and on which the carriage is able to move between the first and second transport modules; and a fourth transport module that is installed outside an area including the transport path and on which the carriage moves, and the third transport module is configured to be able to move to a position for connecting to the fourth transport module. 
     In order to solve the third problem described above, according to yet another aspect of the present invention, provided is a transport system including: a transport path that has a drive unit that drives a carriage and on which the carriage moves; a control unit that positions the carriage on the transport path to stop the carriage by using servo control; and a fixing unit that fixes the carriage to the transport path, and when the carriage is stopped by the control unit, the fixing unit fixes the carriage to the transport path at a first stop position where external force above a predetermined strength is applied to the carriage and does not fix the carriage to the transport path at a second stop position where no external force above the predetermined strength is applied to the carriage. 
     According to still another aspect of the present invention, provided is a processing system including: the transport system described above, and a processing unit that processes a workpiece transported by the carriage. 
     Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram illustrating the entire configuration of a processing system according to a first embodiment of the present invention. 
         FIG. 2A  is a schematic diagram illustrating a configuration of a carriage and a transport module in a transport system according to the first embodiment of the present invention. 
         FIG. 2B  is a schematic diagram illustrating a configuration of the carriage and the transport module in the transport system according to the first embodiment of the present invention. 
         FIG. 3  is a schematic diagram illustrating a configuration of a carriage fixing mechanism in the transport system according to the first embodiment of the present invention. 
         FIG. 4  is a control block diagram illustrating a control configuration of the processing system according to the first embodiment of the present invention. 
         FIG. 5A  is a schematic diagram illustrating a procedure of a carriage transfer process in the processing system according to the first embodiment of the present invention. 
         FIG. 5B  is a schematic diagram illustrating the procedure of the carriage transfer process in the processing system according to the first embodiment of the present invention. 
         FIG. 5C  is a schematic diagram illustrating the procedure of the carriage transfer process in the processing system according to the first embodiment of the present invention. 
         FIG. 5D  is a schematic diagram illustrating the procedure of the carriage transfer process in the processing system according to the first embodiment of the present invention. 
         FIG. 5E  is a schematic diagram illustrating the procedure of the carriage transfer process in the processing system according to the first embodiment of the present invention. 
         FIG. 6A  is a schematic diagram illustrating a configuration of a carriage fixing mechanism according to a second embodiment of the present invention. 
         FIG. 6B  is a schematic diagram illustrating a configuration of the carriage fixing mechanism according to the second embodiment of the present invention. 
         FIG. 7  is a control block diagram illustrating a control configuration of a processing system according to the second embodiment of the present invention. 
         FIG. 8  is a schematic diagram illustrating the entire configuration of a processing system according to a third embodiment of the present invention. 
         FIG. 9  is a control block diagram illustrating a control configuration of the processing system according to the third embodiment of the present invention. 
         FIG. 10  is a schematic diagram illustrating the entire configuration of a processing system according to a fourth embodiment of the present invention. 
         FIG. 11  is a schematic diagram illustrating the entire configuration of a processing system according to a fifth embodiment of the present invention. 
         FIG. 12  is a schematic diagram illustrating the entire configuration of a processing system according to a sixth embodiment of the present invention. 
         FIG. 13  is a control block diagram illustrating a control configuration of the processing system according to the sixth embodiment of the present invention. 
         FIG. 14  is a schematic diagram illustrating the entire configuration of a processing system according to a seventh embodiment of the present invention. 
         FIG. 15  is a control block diagram illustrating a control configuration of the processing system according to the seventh embodiment of the present invention. 
         FIG. 16  is a schematic diagram illustrating the entire configuration of a processing system according to an eighth embodiment of the present invention. 
         FIG. 17A  is a schematic diagram illustrating a configuration of a transport system according to the eighth embodiment of the present invention. 
         FIG. 17B  is a schematic diagram illustrating a configuration of the transport system according to the eighth embodiment of the present invention. 
         FIG. 18  is a front view illustrating a fundamental configuration of the transport system before implementing the eighth embodiment of the present invention. 
         FIG. 19  is a sectional view illustrating a fundamental configuration of the transport system before implementing the eighth embodiment of the present invention. 
         FIG. 20  is a top view illustrating a configuration including a blocking apparatus of the transport system according to the eighth embodiment of the present invention. 
         FIG. 21  is a front view illustrating a configuration including the blocking apparatus of the transport system according to the eighth embodiment of the present invention. 
         FIG. 22  is a side view illustrating a configuration including the blocking apparatus of the transport system according to the eighth embodiment of the present invention. 
         FIG. 23A  is a top view illustrating a stop position of a transport carriage in the transport system according to the eighth embodiment of the present invention. 
         FIG. 23B  is a diagram illustrating a part of a timing chart illustrating an operation of the transport system according to the eighth embodiment of the present invention. 
         FIG. 24A  is schematic diagram illustrating an operation of the blocking apparatus in the transport system according to the eighth embodiment of the present invention. 
         FIG. 24B  is a schematic diagram illustrating an operation of the blocking apparatus in the transport system according to the eighth embodiment of the present invention. 
         FIG. 25  is a front view illustrating a fundamental configuration of a transport system before implementing a ninth embodiment of the present invention. 
         FIG. 26  is a sectional view illustrating a configuration the transport system before implementing the ninth embodiment of the present invention. 
         FIG. 27  is a front view illustrating a configuration of the transport system according to the ninth embodiment of the present invention. 
         FIG. 28  is a side view illustrating a configuration of the transport system according to the ninth embodiment of the present invention. 
         FIG. 29  is a top view illustrating a configuration of a transport system according to a tenth embodiment of the present invention. 
         FIG. 30  is a side view illustrating a configuration of the transport system according to the tenth embodiment of the present invention. 
         FIG. 31  is a schematic diagram illustrating a configuration of a processing system according to an eleventh embodiment of the present invention. 
         FIG. 32  is a side view illustrating a configuration including a blocking apparatus of a transport system according to the eleventh embodiment of the present invention. 
         FIG. 33  is a schematic diagram illustrating the entire configuration of a transport system according to a twelfth embodiment of the present invention. 
         FIG. 34  is a diagram illustrating a part of a timing chart illustrating an operation of the transport system according to the twelfth embodiment of the present invention. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     Preferred embodiments of the present invention will now be described in detail in accordance with the accompanying drawings. Note that, in the following description and drawings, for a plurality of identical components, alphabets in small character are appended to the tail of the same reference numerals as identifiers when they are distinguished, and the identifiers are omitted and thus only the reference numerals are used when no distinction is needed in particular. 
     First Embodiment 
     A first embodiment of the present invention will be described by using  FIG. 1  to  FIG. 5E . 
     First, a configuration of a processing system according to the present embodiment will be described by using  FIG. 1  to  FIG. 2B .  FIG. 1  is a schematic diagram illustrating the entire configuration of a processing system  1  according to the present embodiment, which is a top view of the processing system  1  including a transport system  4  when viewed from the top.  FIG. 2A  is a plan view illustrating a configuration of a carriage  20  on a needle side forming a linear motor in the transport system  4  according to the present embodiment and a linear transport module  10  on a stator side.  FIG. 2B  is a side view illustrating a configuration of the carriage  20  and the linear transport module  10 . 
     As illustrated in  FIG. 1 , the processing system  1  according to the present embodiment has transport paths  101 , carriage transfer apparatuses  11 , processing stations  30 , and carriages  20 . The processing system  1  according to the present embodiment includes a transport system  4  that transports workpieces W that are processing object to be processed. The processing system  1  forms a production line such as an assembly line of the workpieces W. Note that, for the workpieces W in the drawings, individual workpieces W are distinguished with reference numerals expressed by “W-n” (n is a positive integer) appended thereto. The transport system  4  has the transport paths  101 , the carriage transfer apparatuses  11 , and the carriages  20 . 
     Here, respective coordinate axes, namely, an X-axis, a Y-axis, and a Z-axis in an XYZ coordinate system that is a rectangular coordinate system used in the following description are defined. First, the X-axis is defined in the transport direction of the carriage  20  that is horizontally transported. The perpendicular direction with respect to a horizontally placed frame (not illustrated) is defined as the Z-axis, and an axis orthogonal to the X-axis and the Z-axis is defined as the Y-axis. Note that the processing system  1  is installed on the frame. In the XYZ coordinate system defined as above, the direction in the X-axis is denoted as an X-axis direction, the direction in the Y-axis is denoted as a Y-axis direction, and the direction in the Z-axis is denoted as a Z-axis direction. 
     The transport system  4  in the processing system  1  is a circulating transport system in which a plurality of carriages  20  are circulated and transported. In the transport system  4 , the transport paths  101  on which the carriage  20  is transported include two transport paths of a transport path  101   a  which is a forward path and a transport path  101   b  which is a reverse path. The transport path  101   a  that is a forward path and the transport path  101   b  that is a reverse path are installed to be parallel to each other. 
     Each transport path  101  is a transport path for the carriage  20  and is formed of a plurality of linear transport modules  10  connected to each other. Each linear transport module  10  is a straight transport module on which the carriage  20  moves straight. 
     As illustrated in  FIG. 2A  and  FIG. 2B , the linear transport module  10  has a straight guiderail  9  and a plurality of coils  19  that are the stator of a linear motor. The plurality of coils  19  form a group of coils and function as a drive unit that drives the carriage  20  as described below. The guiderail  9  is installed in parallel to the X-axis direction on the linear transport module  10 . Further, the plurality of coils  19  are aligned in the X-axis direction in which the carriage  20  travels. The linear transport module  10  configured as above is a module shorter than the transport path  101 , and a plurality of linear transport modules  10  are connected to each other to form the transport path  101 .  FIG. 1  illustrates a case where five linear transport modules  10  are connected to each other to form the transport path  101  as an example. Further, while  FIG. 2A  illustrates a case where the guiderail  9  has the same length as the linear transport module  10  as an example, the guiderail  9  may be configured to have a length that spans over a plurality of linear transport modules  10 . 
     The carriage  20  mounts and holds thereon a workpiece W that is a processing object and transports the workpiece W. The carriage  20  has a plurality of permanent magnets  21 , the N-pole of which and the S-pole of which are arranged in alternating manner in the X-axis direction that is the traveling direction of the carriage  20 . Between the plurality of permanent magnets  21  and the coils  19  of the linear transport module  10 , electromagnetic force that drives the carriage  20  occurs by currents being applied to the coils  19  as a drive unit. In this way, the carriage  20  is driven as a needle of the linear motor by the electromagnetic force generated between the plurality of permanent magnets  21  and the coils  19  and travels on and along the guiderail  9  installed on the top face of the linear transport module  10 . As discussed above, in the present embodiment, the transport system  4  with a movable magnet type linear motor is configured. Note that, instead of the permanent magnet  21 , a ferromagnetic material such as an iron core may be used to configure a reluctance type linear motor. 
     The processing station  30  functions as a processing unit that processes the workpiece W. The processing stations  30  are installed along the transport path  101  inside a processing operation area  100  described later. Note that, while  FIG. 1  illustrates a case where the processing stations  30  are installed only on the forward transport path  101   a  side and no processing station  30  is installed on the reverse transport path  101   b  side as an example, the embodiment is not limited thereto. The processing station  30  may be installed also on the reverse transport path  101   b  side. Further, the number of the processing stations  30  is not limited in particular and may be one or more. 
     A processing robot  31  that performs processing on the workpiece W transported by the carriage  20  is installed to each of the processing stations  30 . The processing robot  31  may be a two-axis orthogonal robot, an articulated robot, or the like, for example. The carriage  20  is stopped at a predetermined stop position on the transport path  101  with respect to the processing station  30 . A processing process by the processing robot  31  is performed on the workpiece W on the carriage  20  that has stopped on the transport path  101  under the control of a robot controller (see  FIG. 3 ). The processing robot  31  applies a predetermined processing operation such as assembly of components or application to the workpiece W mounted on the carriage  20 . Note that robots performing various processing operations on the workpiece W can be used as the processing robot  31  without being limited in particular. 
     Here, since the transport path length can be changed in accordance with a change of the number of the linear transport modules  10  to be connected, the transport path  101  has a high flexibility in the design of the transport path length thereof. Thus, the transport path length of the transport path  101  can be easily changed in accordance with the number of the processing stations  30  within the processing system  1 . 
     In this way, an article such as an electronic device is manufactured by the processing robot  31  of the processing station  30  that functions as a processing unit that processes the workpiece W. The article to be manufactured is not limited in particular, and it may be any article. Various articles can be manufactured by a manufacturing method of an article using the processing system  1  according to the present embodiment. 
     The carriage transfer apparatus  11  is an apparatus for transferring the carriage  20  between transport paths different from each other, that is between transport modules not connected to each other. Two carriage transfer apparatuses  11   a  and  11   b  that transfer the carriage  20  between the forward transport path  101   a  and the reverse transport path  101   b  are installed in the transport system  4 . 
     The carriage transfer apparatus  11  has a movable linear transport module  12  that is movable in the Y-axis direction. The carriage transfer apparatus  11  is able to move the linear transport module  12  in the Y-axis direction and stop the linear transport module  12  to be adjacent to the end of the transport path  101 . A mechanism that moves the linear transport module  12  in the Y-axis direction is not limited in particular, and a single-axis actuator including a ball screw or the like may be used, for example. 
     The movable linear transport module  12  installed in the carriage transfer apparatus  11  has the same configuration as the linear transport module  10  forming the transport path  101  and has a guiderail  9  and the coils  19  that are the stator of the linear motor. Also in the movable linear transport module  12 , in order to move the carriage  20  in the same manner as by the linear transport module  10  of the transport path  101 , the guiderail  9  is installed in parallel to the X-axis direction thereon, and a plurality of coils  19  are aligned in the X-axis direction in which the carriage  20  travels. 
     As discussed above, the linear transport module  12  of the carriage transfer apparatus  11  is configured to be able to move to a position for connecting to the linear transport module  10  of the transport path  101 , and thereby the carriage  20  is able to move to and from the transport path  101  and the linear transport module  10 . Thereby, the linear transport module  12  can take in the carriage  20  on one transport path  101 , move in the Y-axis direction with the carriage  20  being stopped thereon, and transfer the carriage  20  to another transport path  101 . 
     Specifically, as illustrated in  FIG. 1 , the carriage transfer apparatus  11   a  is coupled to the end on the downstream side of the forward transport path  101   a  (the right end in  FIG. 1 ) and the end on the upstream side of the reverse transport path  101   b  (the right end in  FIG. 1 ). The linear transport module  12   a  of the carriage transfer apparatus  11   a  is configured to be able to connect to the linear transport module  10   e  at the downstream end of the forward transport path  101   a . This enables the carriage  20  to transfer from the linear transport module  1   e  to the linear transport module  12   a . Further, the linear transport module  12   a  is configured to be able to connect to the linear transport module  10   f  at the upstream end of the reverse transport path  101   b . This enables the carriage  20  to transfer from the linear transport module  12   a  to the linear transport module  10   f . Via such the linear transport module  12   a , the carriage transfer apparatus  11   a  can transfer the carriage  20  on the forward transport path  101   a  from the linear transport module  10   e  at the downstream side thereof to the linear transport module  10   f  at the upstream end of the reverse transport path  101   b.    
     Similarly, as illustrated in  FIG. 1 , the carriage transfer apparatus  11   b  is coupled to the end on the upstream side of the forward transport path  101   a  (the left end in  FIG. 1 ) and the end on the downstream side of the reverse transport path  101   b  (the left end in  FIG. 1 ). The linear transport module  12   b  of the carriage transfer apparatus  11   b  is configured to be able to connect to the linear transport module  10   j  at the downstream end of the reverse transport path  101   b . This enables the carriage  20  to transfer from the linear transport module  10   j  to the linear transport module  12   b . Further, the linear transport module  12   b  is configured to be able connect to the linear transport module  10   a  at the upstream end of the forward transport path  101   a . This enables the carriage  20  to transfer from the linear transport module  12   b  to the linear transport module  10   a . Via such the linear transport module  12   b , the carriage transfer apparatus  11   b  can transfer the carriage  20  on the reverse transport path  101   b  from the linear transport module  10   j  at the downstream side thereof to the linear transport module  10   a  at the upstream end of the forward transport path  101   a.    
     As discussed above, in the transport system  4 , a circulating transport path is formed by the transport path  101   a , the carriage transfer apparatus  11   a , the transport path  101   b , and the carriage transfer apparatus  11   b , which as a whole is able to circulate and transport the carriage  20 . Note that the transport system  4  has a maintenance linear transport module  13  described later that forms a transport path separated from the circulating transport path. 
     Here, when transfer motion of the carriage  20  between the linear transport modules  10  and  12 , a position shift may occur between the linear transport modules  10  and  12  if the positions in the Y-axis direction of the linear transport module  12  and the linear transport module  10  are not matched with high accuracy. Specifically, a position shift may occur between the guiderails  9  of both the linear transport modules  10  and  12 . When the carriage  20  transfers with a position shift occurring in the guiderails  9 , a large load may be applied to the carriage  20  or the linear transport module  10  or  12  due to impact or the like, and the carriage  20  or the linear transport module  10  or  12  may be damaged. This may cause breakage of the carriage  20 , the linear transport module  10  or  12 , or other components in the processing system  1  or may cause a defect to occur in the workpiece W held by the carriage  20 . Furthermore, if transfer motion of the carriage  20  is attempted with the linear transport module  12  of the carriage transfer apparatus  11  being not located at a position that enables the transfer motion of the carriage  20 , the carriage may drop from the transport path  101 . 
     To prevent this, the transport system  4  according to the present embodiment has position detection sensors  14  provided to the carriage transfer apparatus  11 . The position detection sensor  14  functions as a position detection unit that detects the position in the moving direction (Y-axis direction) of the linear transport module  12  of the carriage transfer apparatus  11  and outputs an output signal including the position information. 
     As illustrated in  FIG. 1 , as the position detection sensor  14 , position detection sensors  14   a  and  14   b  that detect the positions in the Y-axis direction of the linear transport module  12   a  connected to the linear transport modules  10   e  and  10   f , respectively, are provided to the carriage transfer apparatus  11   a . The position detection sensor  14   a  of the position detection sensor  14  also detects the position in the Y-axis direction of the linear transport module  12   a  connected to the maintenance linear transport module  13   b  described later. 
     Further, as the position detection sensor  14 , position detection sensors  14   c  and  14   e  that detect the positions in the Y-axis direction of the linear transport module  12   b  connected to the linear transport modules  10   j  and  10   a , respectively, are provided to the carriage transfer apparatus  11   b . Furthermore, as the position detection sensor  14 , a position detection sensor  14   d  that detects the position in the Y-axis direction of the linear transport module  12   b  connected to the maintenance linear transport module  13   a  described later is provided to the carriage transfer apparatus  11   b.    
     The position detection sensor  14  may be a linear encoder, for example, without being limited thereto in particular. In the present embodiment, as described later, the transport controller  40  can identify the position in the Y-axis direction of the linear transport module  12  and correct the position before starting the motion of the carriage  20  based on an output signal including position information output from the position detection sensor  14 . In the present embodiment, this allows the linear transport module  12  of the carriage transfer apparatus  11  to be positioned with high accuracy in the Y-axis direction with respect to the linear transport module  10 . 
     As illustrated in  FIG. 1 , the processing operation area  100  illustrated by the dot-dash line in  FIG. 1  is defined in the processing system  1 . The processing operation area  100  is a region including the transport path  101   a , a carriage transfer apparatus  11   a , the transport path  101   b , the carriage transfer apparatus  11   b , and the processing stations  30 . The processing operation area  100  is a region which the operator should not be allowed to enter when the processing system  1  is running in an automatic operation mode, for example, because of danger of contacting with the running processing robot  31  or the carriage transfer apparatus  11 . In the actual operation, for example, a safety fence, a door, and a door closure detection sensor at the boundary of the processing operation area  100  may be provided to monitor open and close of the door, or an entry detection sensor that detects entry into the processing operation area  100  may be provided to monitor entry. 
     The transport system  4  has the maintenance linear transport module  13  installed outside the processing operation area  100 . The maintenance linear transport module  13  is installed adjacently to the carriage transfer apparatus  11  inside the processing operation area  100 . In  FIG. 1 , the maintenance linear transport module  13   b  is installed adjacently to the carriage transfer apparatus  11   a . The maintenance linear transport module  13   b  is installed on the extension line of the transport path  101   a . Further, the maintenance linear transport module  13   a  is installed adjacently to the carriage transfer apparatus  11   b . The maintenance linear transport module  13   a  is installed between the transport path  101   a  and the transport path  101   b.    
     The maintenance linear transport module  13  is a linear transport module used for performing maintenance of the carriage  20  or the like and functions as a unit used for manually accessing a particular carriage  20  on the transport path  101 . Note that the maintenance linear transport module  13  can be used for other purposes than maintenance of the carriage  20 , for example, collection of the workpiece W on the carriage  20 , overtaking of the carriage  20 , or the like, as described later. 
     The maintenance linear transport module  13  has the same configuration as the linear transport module  10  forming the transport path  101  and has the guiderail  9  and the coils  19  that are the stator of the linear motor. Also in the maintenance linear transport module  13 , in order to move the carriage  20  in the same manner as by the linear transport modules  10  and  12 , the guiderail  9  is installed in parallel to the X-axis direction on the maintenance linear transport module  13 , and a plurality of coils  19  are aligned in the X-axis direction in which the carriage  20  travels. 
     The linear transport module  12  of the carriage transfer apparatus  11  adjacent to the maintenance linear transport module  13  is configured to be able to move to the position for connecting to the maintenance linear transport module  13 . This enables the carriage  20  to move and transfer between the linear transport module  12  and the maintenance linear transport module  13 . 
     For example, the linear transport module  12   b  of the carriage transfer apparatus  11   b  can take in the carriage  20  therein from the transport path  101   b , move in the Y-axis direction with the carriage  20  being placed and stopped on the linear transport module  12   b , and move and transfer the carriage  20  to the maintenance linear transport module  13   a . Further, the linear transport module  12   b  can take in the carriage  20  from the maintenance linear transport module  13   a , move in the Y-axis direction with the carriage  20  being placed and stopped thereon, and move and transfer the carriage  20  to the transport path  101   a , for example. Note that the linear transport module  12   a  of the other carriage transfer apparatus  11   a  can operate in the same manner as for the maintenance linear transport module  13   b.    
     The maintenance linear transport module  13  is installed outside the processing operation area  100  including the transport path  101 . Thus, unlike the linear transport modules  10  and  12  inside the processing operation area  100 , the maintenance linear transport module  13  allows the operator to safely access the carriage  20  even when the processing system  1  is running in an automatic operation mode, for example. Therefore, the operator can safely access the carriage  20  transferred on the maintenance linear transport module  13  and perform maintenance of the carriage  20  even when the processing system  1  is running. 
     Other purposes of access to the carriage  20  transferred on the maintenance linear transport module  13  may be collection of the processed workpiece W and supply of an unprocessed new workpiece W, for example. In this case, for example, the carriage  20   a  on which a processed workpiece W- 1  is mounted is transferred from the reverse transport path  101   b  via the linear transport module  12   b  of the carriage transfer apparatus  11   b  to the maintenance linear transport module  13   a , and thereby the workpiece W- 1  is collected. Subsequently, an unprocessed new workpiece W- 6  is mounted on the carriage  20   a  transferred to the maintenance linear transport module  13   a  and supplied to the forward transport path  101   a  via the linear transport module  12   b  of the carriage transfer apparatus  11   b.    
     At this time, the linear transport module  12   b  of the carriage transfer apparatus  11   b  is required to be positioned with high accuracy in the Y-axis direction with respect to the maintenance linear transport module  13   a  in the same manner as for the linear transport modules  10   a  and  10   j  of the transfer paths  101   a  and  101   b . As described above, the position detection sensor  14   d  that detects the position in the Y-axis direction of the linear transport module  12   b  connected to the maintenance linear transport module  3   a  is provided as the position detection sensor  14  to the carriage transfer apparatus  11   b . Thus, the linear transport module  12   b  can be positioned with high accuracy in the Y-axis direction also with respect to the maintenance linear transport module  13   a . Note that the linear transport module  12   a  of the other carriage transfer apparatus  11   a  can also be positioned with high accuracy in the Y-axis direction with respect to the maintenance linear transport module  13   b  by using the position detection sensor  14   a.    
     Further, for example, a failure may occur in the middle of processing performed by the processing stations  30   a  to  30   e  on the forward transport path  101   a  resulting in a defective workpiece W. In this case, the carriage  20  on which the defective workpiece W is mounted is transferred to the maintenance linear transport module  13   b  installed on the extension line of the forward transport path  101   a . Subsequently, the defective workpiece W is collected from the carriage  20  mounted on the maintenance linear transport module  13   b . Here, since the maintenance linear transport module  13   b  is arranged outside the processing operation area  100 , the carriage  20  on which the defective workpiece W is mounted can be collected without causing other carriages  20  to stop. Note that a process in the processing station  30  after a failure occurs can be skipped as an unnecessary process by a system controller  50  described later instructing a NOP (No Operation) command. 
     Furthermore, maintenance of the carriage  20  can be performed on the maintenance linear transport module  13   b . Also at this time, only the particular carriage  20  can be accessed on the maintenance linear transport module  13  without affecting other carriages  20  in operation. 
     In addition, it is possible to temporarily evacuate the preceding carriage  20  in the maintenance linear transport module  13   b  and then allow the subsequent carriage to proceed to the next process, that is, perform overtaking of the operating carriage  20 . 
     As discussed above, according to the present embodiment, it is possible to access a particular carriage  20  efficiently in a short time and therefore perform collection, supply, maintenance, or the like of the carriage  20  without causing another carriage  20  to stop. 
     Further, the processing system  1  according to the present embodiment has the transport controller  40  and the system controller  50 . The transport controller  40  is connected to respective controllers of the linear transport modules  10 ,  12 , and  13  and the carriage transfer apparatuses  11  and the position detection sensors  14  in the processing system  1  via a transport-system serial communication network  41  that is the same communication network. The transport controller  40  is responsible for controlling current conduction of the coils  19  in respective linear transport modules  10 ,  12 , and  13 . The system controller  50  is connected to the robot controller (not illustrated) and the transport controller  40  in the processing system  1  via a whole-system serial communication network  51 . The system controller  50  implements synchronous control of the processing robot  31  and the transport controller  40 . 
     Further, the transport system  4  according to the present embodiment has a carriage fixing mechanism  15  installed on the transport path  101 . The carriage fixing mechanism  15  functions as a fixing unit that fixes the carriage  20  to the transport path  101  at a predetermined stop position on the transport path  101 . A predetermined stop position on the transport path  101  as used herein refers to a stop position of the carriage  20  where a particular processing station  30  of the plurality of processing stations  30  processes the workpiece W on the carriage  20 . The carriage fixing mechanism  15  fixes the carriage  20  to the transport path  101  and thereby prevents a position shift of the carriage  20  during processing of the workpiece W by the processing station  30 . 
       FIG. 1  illustrates the carriage fixing mechanism  15  that fixes the carriage  20  to the transport path  101   a  at a stop position where one processing station  30   d  of the five processing stations  30   a  to  30   e  processes the workpiece W. The carriage fixing mechanism  15  that functions as a fixing unit that prevents a position shift of the carriage  20  during processing will be described below by further using  FIG. 3 .  FIG. 3  is a schematic diagram illustrating a configuration of the carriage fixing mechanism  15  according to the present embodiment, which is a top view when the carriage fixing mechanism  15  and the carriage  20  fixed thereby are viewed from the top. 
     Some processing station  30  performs a process in which, when processing the workpiece W by the processing robot  31  thereof, large external force is applied to the carriage  20  via the workpiece W on the carriage  20 . A process in which large external force is applied to the carriage  20  may be, for example, press-fit assembly or the like without being limited thereto in particular. During processing, the carriage  20  is positioned at a predetermined stop position by using servo control under the control of the transport controller  40 . However, when the carriage  20  is subjected to external force greater than a predetermined strength via the workpiece W being processed, this may cause a position shift of the carriage  20 . When a position shift occurs in the carriage  20  on which the workpiece W being processed is mounted, this causes the workpiece W being processed to be a defect. The carriage fixing mechanism  15  fixes the carriage  20  to the transport path  101  at a predetermined stop position as described above and thereby prevents a position shift of the carriage  20  during processing of the workpiece W. 
       FIG. 3  illustrates a view of the carriage fixing mechanism  15  fixing the carriage  20 . Fences  1011  such as guardrails are installed along the transport path  101  on both side ends of the transport path  101  where the carriage fixing mechanism  15  is installed, respectively. The carriage fixing mechanism  15  has a pair of fixing units  150  installed to the fences  1011  on both side ends of the transport path  101 , respectively. Each of the fixing units  150  has a fixing pad  151  and a fixing actuator  152 . The fixing pad  151  is configured to be able to press the carriage  20  on the transport path  101  from the side of the carriage  20  toward the center line of the transport path  101  in the Y-axis direction. The fixing actuator  152  drives the fixing pad  151  in the Y-axis direction. The fixing actuator  152  is a solenoid, for example, and is driven under an instruction from the system controller  50 . 
     The carriage fixing mechanism  15  installed on the transport path  101  drives the pair of fixing pads  151  by using the fixing actuator  152  of the pair of fixing units  150  and presses the carriage  20  by the pair of fixing pads  151  that press the carriage  20  in the opposite direction against each other to fix the carriage  20 . 
     Here, a module controller  110  (see  FIG. 4 ) controls current conduction to the coils  19  of the linear transport module  10  under the instruction from the transport controller  40  and controls transport of the carriage  20  on the transport path  101 . When fixing the carriage  20  by the carriage fixing mechanism  15 , the module controller  110  positions and stops the carriage  20  at a target stop position on the transport path  101  according to servo control. 
     Before and after fixing the carriage  20  by using the carriage fixing mechanism  15 , the module controller  110  switches turning on and turning off of the servo control of the carriage  20  described above in the following manner. First, the carriage  20  is positioned and stopped at a stop position according to the servo control by the module controller  110  as described above. In response, the carriage fixing mechanism  15  turns on and drives the fixing actuators  152  under the instruction from the system controller  50 . Thereby, the carriage fixing mechanism  15  uses the fixing pads  151  of the pair of fixing units  150  to press the carriage  20  from each other to hold the carriage  20  therebetween and fixes the carriage  20  on the transport path  101 . Once the carriage  20  is fixed by the carriage fixing mechanism  15 , the module controller  110  turns off the servo control of the carriage  20  to stop the carriage  20 . 
     Processing is performed on the workpiece W on the fixed carriage  20  by the processing robot  31  of the processing station  30 . After the completion of processing, the module controller  110  sets the current position of the carriage  20  to a target position and again turns on and starts servo control of the carriage  20  before turning off the fixed actuators  152  to release the fixing of the carriage  20 . This is to avoid a servo error or rapid correction drive by the carriage  20 . 
     After the servo control of the carriage  20  is restarted, the carriage fixing mechanism  15  turns off the fixing actuators  152  under the instruction from the system controller  50 . Thereby, the carriage fixing mechanism  15  causes the fixing pads  151  of the pair of the fixing units  150  to separate from the carriage  20  to release the fixing of the carriage  20 . 
     With a series of the control described above, when processing the workpiece W on the carriage  20  by using the processing robot  31 , it is possible to increase the substantial rigidity of the carriage  20  by mechanically fixing the carriage  20  to the transport path  101  by using the carriage fixing mechanism  15 . Thereby, even when large external force is applied to the carriage  20 , it is possible to maintain accurate positioning of the carriage  20  and thus prevent a processing failure of the workpiece W. 
     In the present embodiment, the carriage fixing mechanism  15  described above is not installed in all the stop positions where processing processes on the workpiece W are performed by the processing robots  31   a  to  31   e  in the processing stations  30   a  to  30   e . That is, the carriage fixing mechanism  15  is installed for only the stop position where a processing process by the processing robot  31   d  of the processing station  30   d  of the processing stations  30   a  to  30   e  so as to fix the carriage  20  to the stop position, as illustrated in  FIG. 1 . 
     The processing robot  3   d  to which the carriage  20  is fixed by the carriage fixing mechanism  15  in processing processes the workpiece W while applying external force greater than a predetermined strength to the carriage  20  via the workpiece W. In contrast, other processing robots  31   a  to  31   c  and  31   e  to which the carriage  20  is not fixed by the carriage fixing mechanism  15  in processing process the workpiece W without applying external force of a predetermined strength. In such a way, in the present embodiment, out of a plurality of stop positions where the carriage  20  is stopped, for only the stop position where external force greater than a predetermined strength is applied to the carriage  20 , the carriage fixing mechanism  15  that fixes the carriage  20  to the stop position is installed. In the stop position where external force greater than a predetermined strength is not applied out of the plurality of stop positions, the carriage  20  is not fixed by the carriage fixing mechanism  15 . Thus, compared to a case where the carriage fixing mechanisms  15  are evenly installed for all the plurality of stop positions, the number of installed carriage fixing mechanisms  15  can be reduced in the present embodiment, and this enables cost reduction. 
     As discussed above, in the present embodiment, the number of installed carriage fixing mechanisms  15  that is a unit for fixing the carriage  20  can be reduced, which enables cost reduction of the processing system  1  including the transport system  4 . In the present embodiment, the carriage  20  can be reliably stopped by the carriage fixing mechanism  15  installed as described above, and accurate positioning can be realized at low cost. 
       FIG. 4  is a control block diagram illustrating a control configuration of the processing system  1  according to the present embodiment. The system controller  50  is a control unit responsible for the entire control of the processing system  1 . The transport controller  40  and a robot controller  32  that controls the processing robot  31  in each processing station  30  are connected to the system controller  50  via the whole-system serial communication network  51 , as illustrated in  FIG. 3 . Note that the robot controllers  32  are provided to the plurality of processing robots  31 , respectively. 
     The transport controller  40  is connected to the module controller  110  that controls the linear transport module  10  forming the transport path  101  by the transport-system serial communication network  41 . The module controllers  110  are provided to the plurality of linear transport modules  10 , respectively. A position detection sensor  114  that detects the position in the transport direction (X-axis direction) of the carriage  20  on the corresponding linear transport module  10  is connected to each module controller  110 . The position detection sensor  114  as a position detection unit may be a linear encoder, for example, without being limited thereto in particular. Note that the position detection sensor  114  is not illustrated in  FIG. 1 . 
     Further, the transport controller  40  is connected to an apparatus controller  111  that controls the carriage transfer apparatus  11  via the transport-system serial communication network  41 . The apparatus controllers  111  are provided to the plurality of carriage transfer apparatuses  11 , respectively. The position detection sensor  14  as a position detection unit described above that detects the position of the moving direction (Y-axis direction) of the linear transport module  12  of the corresponding carriage transfer apparatus  11  is connected to each apparatus controller  111 . 
     Further, the transport controller  40  is connected to a module controller  112  that controls the linear transport module  12  of the carriage transfer apparatus  11  by the transport-system serial communication network  41 . The module controllers  112  are provided to the plurality of linear transport modules  12 , respectively. A position detection sensor  214  that detects the position in the transport direction (X-axis direction) of the carriage  20  on the corresponding linear transport module  12  is connected to each module controller  112 . The position detection sensor  214  as a position detection unit may be a linear encoder, for example, without being limited thereto in particular. Note that the position detection sensor  214  is not illustrated in  FIG. 1 . 
     Furthermore, the transport controller  40  is connected to a module controller  113  that controls the maintenance linear transport module  13  by the transport-system serial communication network  41 . The module controllers  113  are provided to the plurality of maintenance linear transport modules  13 , respectively. A position detection sensor  314  that detects the position in the transport direction (X-axis direction) of the carriage  20  on the corresponding maintenance linear transport module  13  is connected to each module controller  113 . The position detection sensor  314  as a position detection unit may be a linear encoder, for example, without being limited thereto in particular. Note that the position detection sensor  314  is not illustrated in  FIG. 1 . 
     As discussed above, the transport controller  40  is connected to the module controllers  110 ,  112 , and  113  that are control units that control motion of the carriage  20  on the corresponding transport module. Further, the transport controller  40  is connected to the apparatus controller  111  that is a control unit that controls motion of the linear transport module of the carriage transfer apparatus  11 . 
     The transport controller  40  functions as the control unit that controls the module controllers  110 ,  112 , and  113  and the apparatus controller  111  connected by the transport-system serial communication network  41  as described above. Further, the position detection sensors  14 ,  114 ,  214 , and  314  are connected to the transport controller  40  by the transport-system serial communication network  41 , and an output signal of each sensor is transmitted. These various controllers and sensors are connected to the same communication network, namely, the transport-system serial communication network  41 , and thereby latency in the transport system  4  can be reduced. 
     According to the instruction from the transport controller  40 , each of the module controllers  110 ,  112 , and  113  performs control of current conduction of the coils  19  of the corresponding linear transport modules  10 ,  12 , and  13  under the control thereof. Thereby, each of the module controller  110 ,  112 , and  113  functions as a control unit to control motion of the carriage  20  on the corresponding linear transport modules  10 ,  12 , and  13 . Further, according to the instruction from the transport controller  40 , the apparatus controller  111  functions as a control unit that controls motion of the linear transport module  12  by the carriage transfer apparatus  11 . In this way, the transport controller  40  can control each of the module controllers  110 ,  112 , and  113  and the apparatus controller  111  to separately control the plurality of carriages  20  on the transport path  101  with desired drive profiles, respectively. 
     Further, the carriage fixing mechanism  15  is connected to the input/output control port of the system controller  50 . The system controller  50  controls the operation of the carriage fixing mechanism  15  in accordance with transportation of the carriage  20 . Note that, in some command system, the carriage fixing mechanism  15  may be connected to the input/output control port of the transport controller  40 . In this case, the transport controller  40  controls the operation of the carriage fixing mechanism  15  in accordance with transportation of the carriage  20 . 
     The transport controller  40  controls each linear transport module  10  and the carriage transfer apparatus  11  on the transport path  101  in synchronization. This enables a reduction in the tact time in the processing system  1  in the present embodiment. A specific procedure of a transfer process of the carriage  20  will be described below in a time sequence by using  FIG. 5A  to  FIG. 5E .  FIG. 5A  to  FIG. 5E  are schematic diagrams illustrating the procedure of the transfer process of the carriage  20  between the transport path  101  and the carriage transfer apparatus  11  and illustrate in a time sequence the position of the carriage  20  and the linear transport module  12  of the carriage transfer apparatus  11 . Note that, in the following, the module controllers  110  illustrated in  FIG. 4  provided to the corresponding linear transport modules  10   a  to  10   j  illustrated in  FIG. 1  are referred to as module controllers  110   a  to  110   j , respectively, if necessary. Further, the apparatus controllers  111  illustrated in  FIG. 4  provided to the corresponding carriage transfer apparatus  11   a  and  11   b  illustrated in  FIG. 1  are referred to as apparatus controllers  111   a  and  111   b , respectively, if necessary. Further, the module controllers  112  illustrated in  FIG. 4  provided to the corresponding linear transport modules  12   a  and  12   b  illustrated in  FIG. 1  are referred to as module controllers  112   a  and  112   b , respectively, if necessary. Further, the module controller  113  illustrated in  FIG. 4  provided in association with the maintenance linear transport module  13   a  illustrated in  FIG. 1  is referred to as module controller  113   a , if necessary. 
       FIG. 5A  illustrates a state where, after the completion of processing of the workpiece W at the processing stations  30   a ,  30   c ,  30   d , and  30   e  installed along the forward transport path  101   a , each of the carriages  20   a ,  20   b ,  20   c , and  20   d  starts moving to the next process. That is, the carriage  20   a  starts moving after the completion of processing of the workpiece W- 1  at the processing station  30   e . The carriage  20   b  starts moving after the completion of processing of the workpiece W- 2  at the processing station  30   d . The carriage  20   c  starts moving after the completion of processing of the workpiece W- 3  at the processing station  30   c . The carriage  20   d  starts moving after the completion of processing of the workpiece W- 4  at the processing station  30   a.    
     First, the transport controller  40  detects from an output signal of the position detection sensor  14   a  that the linear transport module  12   a  of the carriage transfer apparatus  11   a  is in connection with the linear transport module  10   e  of the transport path  101   a . In response, the transport controller  40  transmits, to the module controllers  110   e  and  112   a , an instruction to drive the carriage  20   a . The module controller  110   e  and  112   a  that have received this instruction to drive the carriage  20   a  control current conduction of the coils  19  of the linear transport modules  10   e  and  12   a , respectively. Thereby, as illustrated in  FIG. 5A , the module controllers  110   e  and  112   a  move the carriage  20   a  from a place on the linear transport module  10   e  to a place on the linear transport module  12   a  and then stop the carriage  20   a.    
     Next, the transport controller  40  detects from an output signal of the position detection sensor  214  that the carriage  20   a  has moved on the linear transport module  12   a  of the carriage transfer apparatus  11   a . In response, the transport controller  40  transmits, to the apparatus controller  111   a , an instruction to drive the linear transport module  12   a  in a direction from the transport path  101   a  side toward the transport path  11   b  side in the Y-axis direction (−Y-axis direction). The apparatus controller  111   a  that has received this instruction to drive the linear transport module  12   a  moves the linear transport module  12   a  of the carriage transfer apparatus  11   a  in the −Y-axis direction, as illustrated in  FIG. 5B . Thereby, the apparatus controller  111   a  connects the linear transport module  12   a  to the linear transport module  10   f  of the reverse transport path  101   b.    
     Subsequently, the transport controller  40  detects from an output signal of the position detection sensor  14   b  that the linear transport module  12   a  of the carriage transfer apparatus  11   a  is connected to the linear transport module  10   f . In response, the transport controller  40  transmits, to the module controller  112   a  and  110   f , an instruction to drive the carriage  20   a . The module controllers  112   a  and  110   f  that have received this instruction to drive the carriage  20   a  control current conduction of the coils  19  of the linear transport modules  12   a  and  10   f , respectively. Thereby, as illustrated in  FIG. 5C , the module controllers  112   a  and  110   f  move the carriage  20   a  from a place on the linear transport module  12   a  to a place on the linear transport module  10   f.    
     Note that, after the carriage  20   a  moves from the place on the linear transport module  12   a  to the place on linear transport module  10   f , the transport controller  40  controls the linear transport module  12   a  of the carriage transfer apparatus  11   a  that has output the carriage  20   a  to return. That is, the transport controller  40  transmits, to the apparatus controller  111   a , an instruction to drive the linear transport module  12   a  in a direction from the transport path  101   b  side toward the transport path  101   a  side in the Y-axis direction (+Y-axis direction). The apparatus controller  111   a  that has received this instruction to drive the linear transport module  12   a  moves the linear transport module  12   a  of the carriage transfer apparatus  11   a  in the +Y-axis direction, as illustrated in  FIG. 5D  and  FIG. 5E . Thereby, the apparatus controller  111   a  again connects the linear transport module  12   a  to the linear transport module  10   e  of the forward transport path  101   a.    
     As described above, the carriage  20   a  on which the workpiece W- 1  that has been subjected to the processing process on the forward transport path  101   a  is mounted is transferred from the forward transport path  101   a  to the reverse transport path  101   b . Since no processing process is performed on the reverse transport path  101   b , the carriage  20   a  on the linear transport module  10   f  is collected subsequently. Thus, the transport controller  40  transmits, to the module controllers  110   f  to  110   j  and  112   b , an instruction to drive the carriage  20   a  to the linear transport module  12   b  of the carriage transfer apparatus  11   b . The module controllers  110   f  to  110   j  and  112   b  that have received this instruction to drive the carriage  20   a  control current conduction of the coils  19  of the linear transport modules  10   f  to  10   j  and  12   b , respectively. Thereby, as illustrated in  FIG. 5D , the module controllers  110   f  to  110   j  and  112   b  move the carriage  20   a  from a place on the linear transport module  10   f  toward a place on the linear transport module  12   b.    
     At the time when motion of the carriage  20   a  toward the place on the linear transport module  12   b  of the carriage transfer apparatus  11   b  is started as illustrated in  FIG. 5C , the linear transport module  12   b  is stopped at a stop position for connecting to the linear transport module  10   a  at the upstream end of the forward transport path  101   a . That is, at this time, the linear transport module  12   b  of the carriage transfer apparatus  11   b  is not in connection with the linear transport module  10   j  at the downstream end of the reverse transport path  101   b . Thus, the transport controller  40  transmits, to the apparatus controller  111   b , an instruction to drive the linear transport module  12   b  in a direction from the transport path  101   a  side toward the transport path  101   b  side in the Y-axis direction (−Y-axis direction). The apparatus controller  111   b  that has received this instruction to drive the linear transport module  12   b  moves the linear transport module  12   b  in the −Y-axis direction and connects the linear transport module  12   b  to the linear transport module  10   j  of the reverse transport path  101   b , as illustrated in  FIG. 5D . 
     Here, the transport controller  40  takes the moving distance and speed of the carriage  20   a  and moving distance and speed of the linear transport module  12   b  into consideration and transmits the drive instruction directed to the module controllers  110   f  to  110   j  described above and the drive instruction directed to the apparatus controller  111   b . That is, the transport controller  40  transmits the instruction to drive the carriage  20   a  directed to the module controllers  110   f  to  110   j  and drives the carriage  20   a  without having connection of the linear transport module  12   b  of the carriage transfer apparatus  11   b  and the linear transport module  10   j . In such a way, by moving the carriage  20   a  without having connection of the linear transport module  12   b  and the linear transport module  10   j , it is possible to reduce the entire process time. Further, the transport controller  40  controls the module controllers  110   f  to  110   j  and the apparatus controller  111   b  so that the linear transport module  12   b  connects to the linear transport module  10   j  before the carriage  20   a  passes by a predetermined position of the transport path  101   b.    
     Next, the transport controller  40  detects from an output signal of the position detection sensor  14   c  that the linear transport module  12   b  of the carriage transfer apparatus  11   b  connects to the linear transport module  10   j . In response, the transport controller  40  transmits, to the module controllers  110   j  and  112   b , an instruction to drive the carriage  20   a . The module controllers  110   j  and  112   b  that have received this instruction to drive the carriage  20   a  control current conduction of the coils  19  of the linear transport modules  10   j  and  12   b , respectively. Thereby, as illustrated in  FIG. 5E , the module controllers  110   j  and  112   b  move the carriage  20   a  from a place on the linear transport module  10   j  to a place on the linear transport module  12   b  and stops the carriage  20   a . In such a way, the carriage  20   a  on which the processed workpiece W- 1  is mounted is transferred from the forward transport path  101   a  to the reverse transport path  101   b  and collected. Note that the carriage  20   a  can be transferred and supplied to the forward transport path  101   a  by using the carriage transfer apparatus  11   b  with a workpiece W being again mounted thereon. 
     Note that, at the time illustrated in  FIG. 5E , the linear transport module  12   a  of the carriage transfer apparatus  11   a  is moving in the +Y-axis direction toward the forward transport path  101   a  side and not in connection with the linear transport module  10   e . Thus, the transport controller  40  does not transmit instructions to drive the carriages  20   b  and  20   c . On the other hand, the subsequent carriage  20   d  is able to move to a stop position in the linear transport module  10   c . Thus, the transport controller  40  transmits, to the module controllers  110   b  and  110   c , an instruction to drive the carriage  20   d.    
     Further, motion of the carriage  20  between the maintenance linear transport module  13  and the linear transport module  12  of the carriage transfer apparatus  11  can be performed in the same manner as the motion of the carriage  20  between the linear transport module  10  and the linear transport module  12  described above. The motion of the carriage  20  between the maintenance linear transport module  13   a  installed adjacently to the carriage transfer apparatus  11   b  and the linear transport module  12   b  of the carriage transfer apparatus  11   b  will be described below as an example. 
     The carriage  20  can be transferred from a place on the linear transport module  12   b  of the carriage transfer apparatus  11   b  to a place on the maintenance linear transport module  13   a  as illustrated below. Note that the carriage  20  can be moved and stopped on the linear transport module  12   b  in the same manner as described above, for example. 
     First, the transport controller  40  detects from an output signal of the position detection sensor  214  that the carriage  20  has moved to a place on the linear transport module  12   b  of the carriage transfer apparatus  11   b . In response, the transport controller  40  transmits, to the apparatus controller  111   b , an instruction to drive the linear transport module  12   b  in the Y-axis direction toward the maintenance linear transport module  13   a  side. The apparatus controller  111   b  that has received this instruction to drive the linear transport module  12   b  moves the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the Y-axis direction and connects the linear transport module  12   b  to the maintenance linear transport module  13   a.    
     Next, the transport controller  40  detects from an output signal of the position detection sensor  14   d  that the linear transport module  12   b  of the carriage transfer apparatus  11   b  has been connected to the maintenance linear transport module  13   a . In response, the transport controller  40  transmits, to the module controllers  112   b  and  113   a , an instruction to drive the carriage  20 . 
     The module controllers  112   b  and  113   a  that have received this instruction to drive the carriage  20  control current conduction of the coils  19  of the linear transport modules  12   b  and  13   a , respectively. Thereby, the module controllers  112   b  and  113   a  move the carriage  20  from a place on the linear transport module  12   b  to a place on the maintenance linear transport module  13   a  and then stop the carriage  20 . 
     On the other hand, the carriage  20  can be transferred from a place on the maintenance linear transport module  13   a  to a place on the linear transport module  12   b  of the carriage transfer apparatus  11   b  as described below. 
     First, the transport controller  40  transmits, to the apparatus controller  111   b , an instruction to drive the linear transport module  12   b  in the Y-axis direction toward the maintenance linear transport module  13   a  side on which the carriage  20  is stopped. The apparatus controller  111   b  that has received this instruction to drive the linear transport module  12   b  moves the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the Y-axis direction and connects the linear transport module  12   b  to the maintenance linear transport module  13   a.    
     Next, the transport controller  40  detects from an output signal of the position detection sensor  14   d  that the linear transport module  12   b  of the carrier transfer apparatus  11   b  is connected to the maintenance linear transport module  13   a . In response, the transport controller  40  transmits, to the module controllers  113   a  and  112   b , an instruction to drive the carriage  20 . The module controllers  113   a  and  112   b  that have received this instruction to drive the carriage  20  control current conduction of the coils  19  of the linear transport modules  13   a  and  12   b , respectively. Thereby, the module controllers  113   a  and  112   b  move the carriage  20  from a place on the maintenance linear transport module  13   a  to a place on the linear transport module  12   b  and then stop the carriage  20 . Then, the carriage  20  on the linear transport module  12   b  can be transferred and supplied to the forward transport path  101   a  by the carriage transfer apparatus  11   b , for example. 
     As discussed above, in the processing system  1  according to the present embodiment, the module controllers  110 ,  112 , and  113  of the respective linear transport modules  10 ,  12 , and  13  and the apparatus controller  111  of the carriage transfer apparatus  11  are under the control of the transport controller  40 . Therefore, in the present embodiment, all the carriages  20  can be efficiently and safely controlled in accordance with the entire status of the processing system  1 . 
     Further, when the linear transport module  12  of the carriage transfer apparatus  11  and the linear transport module  10  of the transport path  101  are connected to each other, it is necessary to position the linear transport module  12  with high accuracy in the Y-axis direction with respect to the linear transport module  10  as described above. In the present embodiment, the position detection sensor  14  is used to correct a position shift to realize accurate positioning of the linear transport module  12  in the Y-axis direction. In the following, a case where the linear transport module  12   b  of the carriage transfer apparatus  11   b  is connected to the linear transport module  10   j  of the reverse transfer path  101   b  as illustrated above in  FIG. 5D  will be described as an example. Note that, for the case of other connection, it is possible to correct a position shift and perform connection in the same manner. Further, also for the case of connecting the maintenance linear transport module  13  to the linear transport module  12 , it is possible to correct a position shift and perform connection in the same manner. 
     The apparatus controller  111   b  moves the linear transport module  12   b  in the −Y-axis direction and causes the linear transport module  12   b  to stop at a target stop position for connection to the linear transport module  10   j  of the reverse transport path  101   b , as described above. A position shift may occur in the Y-axis direction between the stopped linear transport module  12   b  and the linear transport module  10   j.    
     At this time, the transport controller  40  calculates a position displacement in the Y-axis direction between the stopped linear transport module  12   b  and the linear transport module  10   j  based on an output signal from the position detection sensor  14   c . Specifically, a position displacement in the Y-axis direction between the guiderail  9  of the linear transport module  12   b  and the guiderail  9  of the linear transport module  10   j  is calculated. 
     Next, the transport controller  40  transmits, to the apparatus controller  111   b , a correction drive instruction for performing correction-drive of the linear transport module  12   b  to correct a position shift. The correction drive instruction is to instruct driving and moving the linear transport module  12   b  by a correction motion amount corresponding to a position displacement in a direction to cancel the calculated position displacement. In this way, the transport controller  40  corrects the position where the linear transport module  12   b  connects to the linear transport module  10   j  so as to reduce a position displacement. 
     Note that, in the case of an excessively large position displacement, there may be a failure of the carriage transfer apparatus  11   b  or the like, or even when there is no failure, correction of the position shift may reduce the process efficiency in the processing system  1 . Accordingly, when a position displacement exceeds a predetermined threshold, a process of notifying that the threshold is exceeded can be performed, instead of correction of the position shift at the connection position. In this case, the transport controller  40  can be configured to output a notification signal indicating that the position displacement exceeds a predetermined threshold and transmit the notification signal to the system controller  50  via the whole-system serial communication network  51 . The system controller  50  that has received the notification signal can temporarily suspend the processing system  1  or perform an alert process such as alert display or the like to the operator. 
     The apparatus controller  111   b  that has received the correction drive instruction described above moves the linear transport module  12   b  of the carriage transfer apparatus  11   b  by a correction motion amount in a direction to cancel the position displacement. In this way, the apparatus controller  111   b  corrects a position shift and connects the linear transport module  12   b  to the linear transport module  10   j . In such a way, in the present embodiment, when connecting the linear transport module  12   b  of the carriage transfer apparatus  11   b  to the linear transport module  10   j , it is possible to position the linear transport module  12   b  with high accuracy in the Y-axis direction with respect to the linear transport module  10   j . Further, in the present embodiment, the module controllers  110 ,  112 , and  113 , the apparatus controller  111 , and the position detection sensor  14  are connected to the transport controller  40  by the transport-system serial communication network  41  that is a single communication network as described above. Thus, in the present embodiment, it is possible to correct a position shift at a high speed and transfer the carriage  20  at a high speed. 
     In the present embodiment, the transport controller  40  can sense a position displacement of the connection part of the linear transport module  12  of the carriage transfer apparatus  11  as a position variation of the linear transport module  12  itself and control it as position correction of the carriage transfer apparatus  11 . Further, in the present embodiment, an alert may be generated when it is recognized that a position displacement is above a predetermined value. 
     As discussed above, in the present embodiment, damage on the transport path  101  or the carriage  20  when the carriage  20  is transferred can be reduced, and the carriage  20  can be transferred at a high speed. 
     Note that the above-described position displacement between the linear transport module  12  of the carriage transfer apparatus  11  and the linear transport module  10  of the transport path  101  may vary due to time degradation or the like. Specifically, the position displacement may increase with time. The same applies to the position displacement between the linear transport module  12  of the carriage transfer apparatus  11  and the maintenance linear transport module  13 . In this case, the transport controller  40  may monitor an output signal of the position detection sensor  14  in the carriage transfer apparatus  11 . This enables the transport controller  40  to perform correction driving on the linear transport module  12  by suitably calculating a correction drive amount of the linear transport module  12  of the carriage transfer apparatus  11  in accordance with a position displacement that varies due to time degradation or the like. Therefore, in this case, it is possible to position the linear transport module  12  of the carriage transfer apparatus  11  with respect to the linear transport modules  10  and  13  always at high positioning accuracy in accordance with a varying position displacement. 
     Second Embodiment 
     A second embodiment of the present invention will be described by using  FIG. 6A  to  FIG. 7 . Note that the same components as those in the first embodiment described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 6A  and  FIG. 6B  are schematic diagrams illustrating a configuration of carriage fixing mechanism  15 ′ according to the present embodiment, which are a top view, when viewed from the top, and a side view, when viewed from the side, of the carriage fixing mechanism  15 ′ according to the present embodiment and the carriage  20  fixed thereby, respectively.  FIG. 7  is a control block diagram illustrating a control configuration of a processing system according to the present embodiment. 
     While the carriage fixing mechanism  15 ′ according to the present embodiment is to fix the carriage  20  to the transport path  101  at a predetermined stop position on the transport path  101  in the same manner as the carriage fixing mechanism  15  according to the first embodiment, the installation location thereof is different from that in the first embodiment. That is, the difference between the present embodiment and the first embodiment is that, while the carriage fixing mechanism  15  according to the first embodiment is installed on the transport path  101 , the carriage fixing mechanism  15 ′ according to the present embodiment is installed on the carriage  20 . 
     As illustrated in  FIG. 6A  and  FIG. 6B , the carriage fixing mechanism  15 ′ according to the present embodiment has a pair of fixing units  150 ′ installed on the carriage  20 . Each of the fixing units  150 ′ has a fixing pad  151 ′ and a fixing actuator  152 ′. The fixing pad  151 ′ is configured to be able to be pressed against the fence  1011  of the transport path  101  outward in the Y-axis direction of the carriage  20  to support itself. The fixing actuator  152 ′ is an actuator that drives the fixing pad  151 ′ in the Y-axis direction. In addition to the permanent magnets  21  for causing the carriage  20  to travel, permanent magnets  22  installed to the carriage  20  are connected to the fixing actuator  152 ′. Each permanent magnet  22  is a permanent magnet that functions as a force receiving unit for driving the fixing actuator  152 ′ by electromagnetic force generated between the permanent magnet  22  and the coils  19  of the linear transport module  10 . Note that, instead of the permanent magnet  22 , a ferromagnetic material such as an iron core can be used as the force receiving unit. 
     The electromagnetic force generated between the permanent magnets  22  for receiving force and the coils  19  drives the fixing actuator  152 ′ as drive force via conversion from rotational motion into linear motion by a transmission mechanism such as a rack and pinion, for example. Note that the fixing actuator  152 ′ is driven under the instruction from the module controller  110 . 
     The carriage fixing mechanism  15 ′ installed on the carriage  20  drives and causes the fixing actuators  152 ′ of a pair of fixing units  150 ′ to extend outward in the Y-axis direction of the carriage  20 . This causes the carriage fixing mechanism  15 ′ to support the pair of fixing pads  151 ′ against the fences  1101  on both sides of the transport path  101  to fix the carriage  20  at that place. 
     In the first embodiment, since the carriage fixing mechanism  15  is installed on the transport path  101 , the position at which the carriage  20  is fixed by the carriage fixing mechanism  15  is determined in the design of the transport path  101 . In contrast, in the present embodiment, the carriage fixing mechanism  15 ′ is installed on the carriage  20 , and the position at which the carriage  20  is fixed by the carriage fixing mechanism  15 ′ can be changed by a change in the current conduction control of the coils  19  of the linear transport module  10 . Therefore, in the present embodiment, a position at which the carriage  20  is fixed by the carriage fixing mechanism  15 ′ can be set with great flexibility or can be changed. When multiple types of products are produced in the same processing system, a place where processing is performed or external force that is applied to the workpiece is often different according to the type of product to be produced. In this regard, in the present embodiment, with only change of software control, it is possible to change the position at which the carriage  20  is fixed by the carriage fixing mechanism  15 ′. Therefore, the present embodiment has an advantage of being able to reduce suspended time of the processing system required for changing the arrangement. 
     As discussed above, in the present embodiment, the carriage fixing mechanism  15 ′ is installed on the carriage  20 , which can ensure flexibility in determination of the fixing position of the carriage  20 . According to the present embodiment, even when correction of a fixing position of the carriage  20  is needed, this can be addressed by only software change of a carriage stop instruction and a carriage fixing instruction, and no hardware change is necessary. Therefore, in the present embodiment, the number of correction steps for correcting the fixing position of the carriage  20  can be reduced. 
     Further, in the present embodiment, the fixing actuators  152 ′ of the carriage fixing mechanism  15 ′ are driven by current conduction control of the coils  19  of the linear transport module  10 , as described above. Thus, unlike the control configuration of the first embodiment illustrated in  FIG. 4 , the carriage fixing mechanism  15 ′ is not connected to the input/output control port of the system controller  50  in the present embodiment as illustrated in  FIG. 7 . 
     The control of the carriage fixing mechanism  15 ′ according to the present embodiment is performed as described below. First, information on the processing station  30  where the carriage  20  needs to be fixed is notified to the transport controller  40  from the system controller  50 . The transport controller  40  transmits control information on the coils  19  for fixing the carriage  20  to the module controller  110  of the linear transport module  10  to which the carriage  20  has to be fixed. The module controller  110  controls current conduction of the coils  19  according to the received control information and drives the carriage fixing mechanism  15 ′ to fix the carriage  20 . 
     Note that the carriage fixing mechanism  15 ′ according to the present embodiment can be used together with the carriage fixing mechanism  15  according to the first embodiment. With a use of both the mechanisms together, a position shift of the carriage  20  at a stop position can be avoided even in a process in which greater external force is applied. 
     Third Embodiment 
     A third embodiment of the present invention will be described by using  FIG. 8  and  FIG. 9 . Note that the same components as those in the first and second embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 8  is a schematic diagram illustrating the entire configuration of a processing system  2  according to the present embodiment, which is a top view of the entire processing system  2  including a transport system  5  when viewed from the top. 
     In the first and second embodiments, a ring-shaped transport path is formed of the two transport paths  101   a  and  101   b  and the two carriage transfer apparatuses  11   a  and  11   b  connected to the both ends of the transport paths  101   a  and  101   b . In contrast, in the present embodiment, curved transport modules  16  are used instead of the carriage transfer apparatuses  11  to form a closed looped, more specifically, an oval (elliptical) circulating transport path  101 ′. The present embodiment is different from the first and second embodiments in this feature. 
     As illustrated in  FIG. 8 , in the transport system  5  according to the present embodiment, curved transport modules  16   b  and  16   c  are installed instead of the carriage transfer apparatus  11   a . The curved transport modules  16   b  and  16   c  are adjacent to each other to form a half-arc-shaped transport path. The end of the curved transport module  16   b  is connected to the end of the linear transport module  10   e  of the forward transport path  101   a . The end of the curved transport module  16   c  is connected to the end of the linear transport module  10   f  of the reverse transport path  101   b.    
     Further, in the transport system  5  according to the present embodiment, curved transport modules  16   d  and  16   a  are installed instead of the carriage transfer apparatus  11   b . The curved transport modules  16   d  and  16   a  are adjacent to each other to form a half-arc-shaped transport path. The end of the curved transport module  16   d  is connected to the end of the linear transport module  10   j  of the reverse transport path  101   b . The end of the curved transport module  16   a  is connected to the end of the linear transport module  10   a  of the forward transport path  101   a.    
     Each curved transport module  16  is a curved transport module on which the carriage  20  moves on a curve, specifically, an arc. The curved transport module  16  has substantially the same configuration as the linear transport module  10  except that it has a curved guiderail  9  instead of the linear guiderail  9 . In each curved transport module  16 , likewise the linear transport module  10 , current conduction of the coils  19  is controlled by the module controller  116  (see  FIG. 9 ), and motion of the carriage  20  thereon is controlled. 
     As discussed above, in the transport system  5  according to the present embodiment, a closed-looped, that is, the closed transport path  101 ′ having no end of the forward path and the reverse path is formed. Thus, in the present embodiment, drive control of the carriage  20  can be performed without requiring to check a connection state between the linear transport modules  10  and  12  according to the first embodiment. Therefore, the processing system  2  according to the present embodiment enables the carriage  20  to travel faster and safer than in the processing system  1  according to the first embodiment. 
     Specifically, in the first embodiment, for example, as illustrated in  FIG. 5E , the linear transport module  10   e  and the linear transport module  12   a  of the carriage transfer apparatus  11   a  may not be connected to each other even though the process at the processing station  30   e  is finished. In this case, in order to move the carriage  20   b  on which the process on the processing station  30   e  is finished, it is necessary to stand by for establishment of connection between the linear transport modules  10   e  and  12   a . In contrast, in the present embodiment, since it is not necessary to stand by for establishment of connection between the linear transport modules  10  and  12  as above, waste time in which the carriage  20  is in standby state can be eliminated. 
     On the other hand, in the transport system  5  according to the present embodiment, there is no end in the closed transport path  101 ′. Thus, in the transport system  5  according to the present embodiment, in order to enable connection between the maintenance linear transport module  13  and the transport path  101 ′, a part of the linear transport module  10  of the transport path  101 ′ is replaced with the linear transport module  12  of the carriage transfer apparatus  11 . 
     Specifically, in the present embodiment, the carriage transfer apparatus  11   c  is installed so as to be arranged over the boundary of the processing operation area  100  with respect to the reverse transport path  101   b , as illustrated in  FIG. 8 . The maintenance linear transport module  13   c  is installed so as to be adjacent to one side of the carriage transfer apparatus  11   c  outside the processing operation area  100 . 
     The carriage transfer apparatus  11   c  has the movable linear transport module  12   c  that can move in the Y-axis direction in the same manner as the carriage transfer apparatuses  11   a  and  11   b  according to the first embodiment. The linear transport module  12   c  is formed to be able to function as a part of the linear transport module  10  of the reverse transport path  101   b.    
     The linear transport module  12   c  of the carriage transfer apparatus  11   e  is configured to be able to move to a position for connecting to the linear transport modules  10   g  and  10   h  of the reverse transport path  101   b . This allows the linear transport module  12   c  to form a part of the reverse transport path  101   b . Further, the linear transport module  12   c  is configured to be able to move to a position for connecting to the maintenance linear transport module  13   c . This enables the carriage  20  to transfer between the linear transport module  12   c  and the maintenance linear transport module  13   c.    
     The maintenance linear transport module  13   c  is installed outside the processing operation area  100  including the transport path  101 ′ in the same manner as the maintenance linear transport modules  13   a  and  13   b  according to the first embodiment. Thus, also with the maintenance linear transport module  13   c , supply of the workpiece W to the carriage  20 , collection of the carriage  20 , or maintenance of the carriage  20  can be performed without suspension of a process operation in the same manner as with the maintenance linear transport modules  13   a  and  13   b.    
     As discussed above, in the present embodiment, the maintenance linear transport module  3   c  can be connected to the closed transport path  101 ′ without suspension of an operation process. Therefore, according to the present embodiment, even with the closed transport path  101 ′, a particular carriage  20  can be accessed efficiently in a short time, and collection, supply, maintenance, or the like of the carriage  20  can be performed without suspension of other carriages  20 . 
       FIG. 9  is a control block diagram illustrating a control configuration of the processing system  2  according to the present embodiment. Note that the control configuration illustrated in  FIG. 9  is for a case of using the carriage fixing mechanism  15 ′ installed on the carriage  20  likewise the control configuration of the second embodiment illustrated in  FIG. 4 . Also in the present embodiment, likewise the first embodiment, the carriage  20  can be fixed by using the carriage fixing mechanism  15  installed on the transport path  101 ′ instead of or in addition to the carriage fixing mechanism  15 ′. 
     The present embodiment is different from the first embodiment in that, as illustrated in  FIG. 9 , a module controller  116  that controls a curved transport module  16  is connected to the transport controller  40  by the transport-system serial communication network  41 . Each module controller  116  is provided to each of a plurality of curved transport modules  16 . A position detection sensor  414  that detects the position in the transport direction of the carriage  20  on the corresponding curved transport module  16  is connected to each of the module controllers  116 . The position detection sensor  414  as a position detection unit is not limited in particular but may be a linear encoder, for example. Note that the position detection sensor  414  is not illustrated in  FIG. 8 . 
     The module controller  116  controls current conduction of the coils  19  of the corresponding curved transport module  16  under the control thereof in accordance with an instruction from the transport controller  40 . Thereby, the module controller  116  controls the motion of the carriage  20  on the corresponding curved transport module  16 . 
     Further, the apparatus controller  111  is provided to the carriage transfer apparatus  11   c  in the same manner as the carriage transfer apparatuses  11   a  and  11   b  according to the first embodiment. Further, the module controller  112  is provided to the linear transport module  12   c  of the carriage transfer apparatus  11   c  in the same manner as the linear transport modules  12   a  and  12   b  according to the first embodiment. Further, the module controller  113  is provided to the maintenance linear transport module  13   c  in the same manner as the maintenance linear transport modules  13   a  and  13   b  according to the first embodiment. 
     Further, as the position detection sensor  14 , a position detection sensor  14   f  that detects the position in the Y-axis direction of the linear transport module  12   c  connected to the maintenance linear transport module  13   c  is provided to the carriage transfer apparatus  11   c . Further, as the position detection sensor  14 , a position detection sensor  14   g  that detects the position in the Y-axis direction of the linear transport modules  12   c  respectively connected to the linear transport modules  10   g  and  10   h  of the reverse transport path  101   b  is provided to the carriage transfer apparatus  11   c.    
     Motion of the carriage  20  between the maintenance linear transport module  13   c  and the linear transport module  12   c  of the carriage transfer apparatus  11   c  can be performed in the same manner as in the first embodiment. That is, this motion of the carriage  20  can be performed in the same manner as the motion of the carriage  20  between the maintenance linear transport module  13   a  and the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the first embodiment. 
     Further, also in the present embodiment, likewise the first embodiment, it is possible to position the linear transport module  12   c  of the carriage transfer apparatus  11   e  accurately in the Y-axis direction with respect to the maintenance linear transport module  13   c  by position shift correction using the position detection sensor  14   f . Further, likewise the first embodiment, it is possible to position the linear transport module  12   c  accurately in the Y-axis direction with respect to the linear transport modules  10   g  and  10   h  of the transport path  101   b  by position shift correction using the position detection sensor  14   g.    
     Fourth Embodiment 
     A fourth embodiment of the present invention will be described by using  FIG. 10 . Note that the same components as those in the first to third embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 10  is a schematic diagram illustrating the entire configuration of a processing system  2 ′ according to the present embodiment, which is a top view of the entire processing system  2 ′ including a transport system  5  when viewed from the top. Note that, also in the present embodiment, the same control configuration as the control configuration illustrated in  FIG. 9  can be employed. 
     The basic configuration of the processing system  2 ′ according to the present embodiment is the same as the configuration of the processing system  2  according to the third embodiment. The processing system  2 ′ according to the present embodiment is different from the processing system  2  according to the third embodiment is that, in the connection position to the maintenance linear transport module  13   c , the linear transport module  12   c  of the carriage transfer apparatus  11   c  can also connect to another maintenance linear transport module  13   d . That is, in the transport system  5  according to the present embodiment, the maintenance linear transport modules  13   c  and  13   d  are able to connect to both the ends of the linear transport module  12   c.    
     In the transport system  5  according to the present embodiment, as illustrated in  FIG. 10 , the other maintenance linear transport module  13   d  is installed outside the processing operation area  100 . Another maintenance linear transport module  13   d  is installed so as to be adjacent to the other side of the carriage transfer apparatus  11   c  that is opposite to the side where the maintenance linear transport module  13   c  is installed. The module controller  113  is provided to the maintenance linear transport module  13   d  in the same manner as the maintenance linear transport module  13   c.    
     The linear transport module  12   c  of the carriage transfer apparatus  11   c  is configured such that, at a stop position where one end of linear transport module  12   c  is connected to the maintenance linear transport module  13   c , the other end can be connected to the other maintenance linear transport module  13   d . That is, in the present embodiment, the linear transport module  12   c  is configured to be able to connect to the maintenance linear transport modules  13   c  and  13   d  at both the ends thereof at the same stop position. This enables the carriage  20  to transfer between the linear transport module  12   c  and either the maintenance linear transport module  13   c  or  13   d.    
     As discussed above, in the transport system  5  according to the present embodiment, the linear transport module  12   c  of the carriage transfer apparatus  11   c  can connect to both the two maintenance linear transport modules  13   c  and  13   d  at the same time at a single stop position. Thereby, in the present embodiment, the motion of the carriage  20  described below is possible. In the present embodiment, since the linear transport module  12   c  of the carriage transfer apparatus  11   c  connects to both of the two maintenance linear transport modules  13   c  and  13   d  at the same time, this enables operation in a shorter time without needing manual operation. 
     For example, a carriage  20   e  on which a workpiece W- 5  to be processed is mounted is prepared on the maintenance linear transport module  13   d  in advance. On the other hand, the carriage  20   a  on which the processed workpiece W- 1  is mounted is collected to the maintenance linear transport module  13   c . At this timing of collection of the carriage  20   a , the carriage  20   e  on which the workpiece W- 5  is mounted is moved to the linear transport module  12   c  of the carriage transfer apparatus  11   c . The carriage  20   e  moved to the linear transport module  12   c  is supplied to the transport path  101 ′ by the carriage transfer apparatus  11   c . The carriage  20   e  supplied to the transport path  101 ′ is moved to the reverse transport path  101   a , and the workpiece W- 5  is processed. In such a way, in the present embodiment, since the workpiece W to be processed can be supplied at a timing when the processed workpiece W is collected, the workpiece W can be collected and supplied efficiently in a shorter time. 
     Fifth Embodiment 
     A fifth embodiment of the present invention will be described by using  FIG. 11 . Note that the same components as those in the first to fourth embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 11  is a schematic diagram illustrating the entire configuration of a processing system  2 ″ according to the present embodiment, which is a top view of the entire processing system  2 ″ including a transport system  5  when viewed from the top. Note that, also in the present embodiment, the same control configuration as the control configuration illustrated in  FIG. 9  can be employed. 
     The basic configuration of the processing system  2 ″ according to the present embodiment is the same as the configuration of the processing systems  2  and  2 ′ according to the third and fourth embodiments. The present embodiment is different from the third and fourth embodiments in that the carriage transfer apparatus  11   d  intersects with the transport path at two points and that the carriage transfer apparatus  11   d  has two linear transport modules  12   d  and  12   e.    
     In the transport system  5  according to the present embodiment, as illustrated in  FIG. 11 , the carriage transfer apparatus  11   d  is installed so as to intersect with the forward and reverse transport paths  101   a  and  101   b  and be arranged over the boundary of the processing operation area  100  on respective sides of the transport paths  101   a  and  110   b.    
     Further, in the present embodiment, the processing stations  30   a  to  30   d  are installed along the forward transport path  101   a , and the processing stations  30   e  to  30   h  are installed along the reverse transport path  101   b . The carriage transfer apparatus  11   d  intersects with the transport path  101   a  between the processing stations  30   c  and  30   d . Further, the carriage transfer apparatus  11   d  intersects with the transport path  101   b  between the processing stations  30   e  and  30   f.    
     The maintenance linear transport modules  13   c  and  13   d  are installed so as to be adjacent to the both sides of the carriage transfer apparatus  11   d  outside the processing operation area  100  on the transport path  110   b  side in the same manner as in the fourth embodiment. The maintenance linear transport modules  13   e  and  13   f  are installed so as to be adjacent to the both sides of the carriage transfer apparatus  11   d  outside the processing operation area  100  on the transport path  101   a  side in the same manner as the maintenance linear transport modules  13   c  and  13   d.    
     The carriage transfer apparatus  11   d  has movable linear transport modules  12   d  and  12   e  that can move in the Y-axis direction. The carriage transfer apparatus  11   d  drives the linear transport modules  12   d  and  12   e  in the Y-axis direction by using single-axis actuators (not illustrated) separated from each other. The linear transport module  12   d  is configured to be able to function as a part of the linear transport module  10  of the reverse transport path  101   b  and configured to be able to function as a part of the linear transport module  10  of the forward transport path  101   a . The linear transport module  12   e  is configured to be able to function as a part of the linear transport module  10  of the forward transport path  101   a  and configured to be able to function as a part of the linear transport module  10  of the reverse transport path  101   b.    
     One linear transport module  12   d  of the carriage transfer apparatus  11   d  is configured to be able to move to a position for connecting to the linear transport modules  10   g  and  10   h  of the reverse transport path  101   b . This allows the linear transport module  12   d  to form a part of the reverse transport path  101   b . Further, the linear transport module  12   d  is configured to be able to move to a position for connecting to the linear transport modules  10   c  and  10   d  of the forward transport path  101   a . This allows the linear transport module  12   d  to forma part of the forward transport path  101   a . Further, the linear transport module  12   d  is configured to be able to move to a position for connecting to the maintenance linear transport modules  13   c  and  13   d . This enables the carriage  20  to transfer between the linear transport module  12   d  and either the maintenance linear transport module  13   c  or  13   d . Note that the stop position where the linear transport module  12   d  connects to the maintenance linear transport modules  13   c  and  13   d  is an evacuation position of the linear transport module  12   d  when another linear transport module  12   e  forms a part of the reverse transport path  101   b.    
     The other linear transport module  12   e  of the carriage transfer apparatus  11   d  is configured to be able to move to a position for connecting to the linear transport modules  10   c  and  10   d  of the forward transport path  101   a . This allows the linear transport module  12   e  to form a part of the forward transport path  101   a . Further, the linear transport module  12   e  is configured to be able to move to a position for connecting to the linear transport modules  10   g  and  10   h  of the reverse transport path  101   b . This allows the linear transport module  12   e  to form a part of the reverse transport path  101   b . Further, the linear transport module  12   e  is configured to be able to move to a position for connecting to the maintenance linear transport modules  13   e  and  13   f . This enables the carriage  20  to transfer between the linear transport module  12   e  and either the maintenance linear transport module  13   e  or  13   f . Note that the stop position where the linear transport module  12   e  connects to the maintenance linear transport modules  13   e  and  13   f  is an evacuation position of the linear transport module  12   e  when another linear transport module  12   d  forms a part of the forward transport path  101   a.    
     The apparatus controller  111  is provided to the carriage transfer apparatus  11   d  in the same manner as the carriage transfer apparatuses  11   a  and  11   b  according to the first embodiment. Further, the module controller  112  is provided to the linear transport modules  12   d  and  12   e  of the carriage transfer apparatus  11   d  in the same manner as the linear transport modules  12   a  and  12   b  according to the first embodiment. Further, the module controller  113  is provided to the maintenance linear transport modules  13   c ,  13   d ,  13   e , and  13   f , respectively, in the same manner as the maintenance linear transport modules  13   a  and  13   b  according to the first embodiment. 
     Further, as the position detection sensor  14 , a position detection sensor  14   f  that detects the position in the Y-axis direction of the linear transport module  12   d  connected to the maintenance linear transport modules  13   c  and  13   d  is provided to the carriage transfer apparatus  11   d . Further, as the position detection sensor  14 , a position detection sensor  14   g  that detects the position in the Y-axis direction of the linear transport modules  12   d  respectively connected to the maintenance linear transport modules  10   g  and  10   h  of the reverse transport path  101   b  is provided to the carriage transfer apparatus  11   d.    
     Further, as the position detection sensor  14 , a position detection sensor  14   h  that detects the position in the Y-axis direction of the linear transport modules  12   e  respectively connected to the linear transport modules  10   c  and  10   d  of the forward transport path  101   a  is provided to the carriage transfer apparatus  11   d . Further, as the position detection sensor  14 , a position detection sensor  14   i  that detects the position in the Y-axis direction of the linear transport module  12   e  connected to the maintenance linear transport modules  13   e  and  13   f  is provided to the carriage transfer apparatus  11   d.    
     Motion of the carriage  20  between the linear transport module  12   d  of the carriage transfer apparatus  11   d  and the maintenance linear transport modules  13   c  and  13   d  can be performed in the same manner as in the first embodiment. Motion of the carriage  20  between the linear transport module  12   e  of the carriage transfer apparatus  11   d  and the maintenance linear transport modules  13   e  and  13   f  can be performed in the same manner as in the first embodiment. That is, the motion of the carriage  20  can be performed in the same manner as the motion of the carriage  20  between the maintenance linear transport module  13   a  and the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the first embodiment. 
     Further, also in the present embodiment, the linear transport modules  12   d  and  12   e  of the carriage transfer apparatus  11   d  can be accurately positioned in the same manner as in the first embodiment. 
     That is, in the same manner as in the first embodiment, one linear transport module  12   d  can be positioned accurately in the Y-axis direction with respect to the maintenance linear transport modules  13   c  and  13   d  by position shift correction using the position detection sensor  14   f . Further, in the same manner as in the first embodiment, one linear transport module  12   d  can be positioned accurately in the Y-axis direction with respect to the linear transport modules  10   g  and  10   h  of the transport path  101   b  by position shift correction using the position detection sensor  14   g . Furthermore, in the same manner as in the first embodiment, one linear transport module  12   d  can be positioned accurately in the Y-axis direction with respect to the linear transport modules  10   c  and  10   d  of the transport path  101   a  by position shift correction using the position detection sensor  14   h.    
     Further, in the same manner as in the first embodiment, the other linear transport module  12   c  can be positioned accurately in the Y-axis direction with respect to the linear transport modules  10   c  and  10   d  of the transport path  101   a  by position shift correction using the position detection sensor  14   h . Further, in the same manner as in the first embodiment, the other linear transport module  12   e  can be positioned accurately in the Y-axis direction with respect to the maintenance linear transport modules  13   e  and  13   f  by position shift correction using the position detection sensor  14   i . Furthermore, in the same manner as in the first embodiment, the other linear transport module  12   e  can be positioned accurately in the Y-axis direction with respect to the linear transport modules  10   g  and  10   h  of the transport path  101   b  by position shift correction using the position detection sensor  14   g.    
     In the processing system  2 ″ according to the present embodiment, the carriage transfer apparatus  11   d  is located between the processing stations  30 . This enables the processing system  2 ″ according to the present embodiment to change the order of processing performed by the processing stations  30  or omit processing performed by some of the processing stations  30 . 
     For example, when the processing processes by the processing stations  30   d  and  30   e  are not necessarily required for all the workpieces W, the carriage  20  on the transport path  101   a  is moved to the linear transport module  12   e  of the carriage transfer apparatus  11   d  after the completion of the process by the processing station  30   c . Next, the linear transport module  12   e  is moved in the Y-axis direction toward the transport path  101   b , and the linear transport module  12   e  is connected to the linear transport modules  10   g  and  10   h  of the transport path  101   b  at a position that can be detected by the position detection sensor  14   g . Next, the carriage  20  on the linear transport module  12   e  is moved to the linear transport module  10   h  and sent to the processing station  30   f . In this way, the processing processes by the processing stations  30   d  and  30   e  can be omitted. 
     In contrast, for example, the processing processes by the processing stations  30   d  and  30   e  can be continuously repeated for multiple times. In this case, after the completion of the processing process by the processing station  30   e , the carriage  20  on the transport path  101   b  is moved to the linear transport module  12   d  of the carriage transfer apparatus  11   d . Next, the linear transport module  12   d  is moved in the Y-axis direction toward the transport path  101   a , and the linear transport module  12   d  is connected to the linear transport modules  10   c  and  10   d  of the transport path  101   a  at a position that can be detected by the position detection sensor  14   h . Next, the carriage  20  on the linear transport module  12   d  is moved to the linear transport module  10   d  and again sent to the processing station  30   d . In this way, the processing processes by the processing stations  30   d  and  30   e  can be repeated. 
     Furthermore, for example, the order of processing process performed by the processing stations  30   e  and  30   d  can be changed. In this case, after the completion of the processing process by the processing station  30   c , the carriage  20  on the transport path  101   a  is moved to the linear transport module  12   e  of the carriage transfer apparatus  11   d . Next, the linear transport module  12   e  is moved in the Y-axis direction toward the transport path  101   b , and the linear transport module  12   e  is connected to the linear transport modules  10   g  and  10   h  of the transport path  101   b  at a position that can be detected by the position detection sensor  14   g . Next, the carriage  20  on the linear transport module  12   e  is moved to the linear transport module  10   g  and sent to the processing station  30   e . After the completion of the processing process by the processing station  30   e , the carriage  20  is sent to the processing station  30   d  through the curved transport modules  16   c  and  16   b . After the completion of the processing process by the processing station  30   d , the carriage  20  on the transport path  101   a  is again moved to the linear transport module  12   e  of the carriage transfer apparatus  11   d . Next, the linear transport module  12   e  is moved in the Y-axis direction toward the transport path  101   b , and the linear transport module  12   e  is again connected to the linear transport modules  10   g  and  10   h  of the transport path  101   b . Next, the carriage  20  on the linear transport module  12   e  is moved to the linear transport module  10   h  in turn and sent to the processing station  30 C. 
     In short, in the present embodiment, it is possible to selectively connect a part between the processing stations  30   c ,  30   d ,  30   e , and  30   f  via the carriage transfer apparatus  11   d  to move the carriage  20  on the connected part between them. 
     Further, in the present embodiment, the evacuation positions of the linear transport modules  12   d  and  12   e  of the carriage transfer apparatus  11   d  are provided outside the processing operation area  100 , respectively. These evacuation positions serve as a connection position between the linear transport module  12   d  and the maintenance linear transport modules  13   c  and  13   d  and a connection position between the linear transport module  12   e  and the maintenance linear transport modules  13   e  and  13   f . In the present embodiment, the evacuation position also serves as the connection position in such a way, and thereby the space of the installation place of the processing system  2 ″ can be reduced. 
     Sixth Embodiment 
     A sixth embodiment of the present invention will be described by using  FIG. 12  and  FIG. 13 . Note that the same components as those in the first to fifth embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 12  is a schematic diagram illustrating the entire configuration of a processing system  3  according to the present embodiment, which is a top view of the entire processing system  3  including a transport system  6  when viewed from the top.  FIG. 13  is a control block diagram illustrating a control configuration of the processing system  3  according to the present embodiment. 
     In the transport system  6  included in the processing system  3  according to the present embodiment, a ring-shaped circulating transport path  101 ″ is configured in which a plurality of curved transport modules  16  having the same curvature as each other are connected. In the oval circulating transport path  101 ′ according to the third to fifth embodiments, two types of transport modules, namely, the linear transport module  10  and the curve transport module  16  are connected. In contrast, in the ring-shaped circulating transport path  101 ″ according to the present embodiment, only one type of transport modules, namely, the curved transport modules  16  and  17  having the same curvature as each other are connected. Note that the curved transport module  17  of the plurality of curve transport modules  16  and  17  corresponds to the curved transport module  17  of the carriage transfer apparatus  11   e.    
     Specifically, as illustrated in  FIG. 12 , the ring-shaped transport path  101 ″ is configured such that the curved transport modules  16   a  to  16   g  and  17  having the same curvature as each other are connected in a ring shape. In the present embodiment, since the curvature of the transport path  101 ″ is even, variation in the strength and the direction of external force applied to the carriage  20  traveling on the transport path  101 ″ can be suppressed to maintain the strength and the direction of the external force to be constant. Therefore, according to the present embodiment, influence of a position shift due to external force on the carriage  20  traveling on the transport path  101 ″ and the workpiece W mounted on the carriage  20  can be suppressed. 
     In the present embodiment, the processing stations  30   a  to  30   g  are installed along the ring-shaped transport path  101 ″. Further, the carriage transfer apparatus  11   e  is installed on the ring-shaped transport path  101 ″ so as to be arranged over the boundary of the processing operation area  100 . The maintenance linear transport module  13   g  is installed outside the processing operation area  100  so as to be adjacent to one side of the carriage transfer apparatus  11   e.    
     The carriage transfer apparatus  11   e  has a movable curved transport module  17  that can move. The carriage transfer apparatus  11   e  drives the curved transport module  17  in an OA direction described later by using a single-axis actuator (not illustrated). The curved transport module  17  has the same configuration as the curved transport module  16  of the transport path  101 ″ and has the same curvature as the curved transport module  16 . In the curved transport module  17 , likewise the curved transport module  16 , current conduction of the coils  19  thereof is controlled by a module controller  117  (see  FIG. 13 ), and motion of the carriage  20  thereon is controlled. 
     The curved transport module  17  of the carriage transfer apparatus  11   e  is configured to be able to function as a part of the curved transport module  16  of the transport path  101 ″. That is, the curved transport module  17  is configured to be able to move to a position for connecting to the curved transport modules  16   a  and  16   g  of the transport path  101 ″, This enables the curved transport module  17  to form a part of the transport path  101 ″. 
     The carriage transfer apparatus  11   e  drives the curved transport module  17  in the OA direction that is a direction in which an end face A of the curved transport module  17  is connected to the center O of the transport path  101 ″. In contrast, the maintenance linear transport module  13   g  is installed along a direction parallel to a tangential line of the ring-shaped transport path  101 ″ that is a direction orthogonal to the OA direction. Note that, in  FIG. 12 , the OA direction is in the Y-axis direction, and the maintenance linear transport module  13   g  is installed in parallel to the X-axis direction that is a direction orthogonal to the OA direction. 
     Further, the curved transport module  17  of the carriage transfer apparatus  11   e  is configured to be able to move to a position for connecting to the maintenance linear transport module  13   g  installed adjacently to the carriage transfer apparatus  11   e  as described above. This enables the carriage  20  to transfer between the curved transport module  17  and the maintenance linear transport module  13   g.    
     As described above, the maintenance linear transport module  13   g  is installed along the direction orthogonal to the OA direction. Thus, when the curved transport module  17  is connected to the maintenance linear transport module  13   g , the carriage  20  travels on the connection part of both the transport modules  17  and  13   g  in the tangential line direction of the curved transport module  17 . Therefore, in the present embodiment, it is possible to suppress external force applied to the carriage  20  when the transfer thereof between the transport modules  17  and  13   g.    
       FIG. 13  is a control block diagram illustrating a control configuration of the processing system  3  according to the present embodiment. Note that the control configuration illustrated in  FIG. 13  is for a case of using the carriage fixing mechanism  15 ′ installed on the carriage  20  in the same manner as the control configuration of the second embodiment illustrated in  FIG. 4 . Also in the present embodiment, the carriage  20  can be fixed by using the carriage fixing mechanism  15  installed on the transport path  101 ″ instead of or in addition to the carriage fixing mechanism  15 ′ in the same manner as the first embodiment. 
     In the present embodiment, since the linear transport module  10  is not used on the transport path  101 ″, the module controller  110  that controls the linear transport module  10  is not provided as illustrated in  FIG. 13 . 
     Further, the apparatus controller  111  is provided to the carriage transfer apparatus  11   e  in the same manner as the carriage transfer apparatuses  11   a  and  11   b  according to the first embodiment. 
     A module controller  117  that controls the curved transport module  17  of the carriage transfer apparatus  11   e  is connected to the transport controller  40  by the transport-system serial communication network  41 . A position detection sensor  514  that detects the position in the transport direction of the carriage  20  on the curved transport module  17  is connected to the module controller  117 . The position detection sensor  514  as a position detection unit may be a linear encoder, for example, without being limited thereto in particular. Note that the position detection sensor  514  is not illustrated in  FIG. 12 . 
     The module controller  117  controls current conduction of the coils  19  of the curved transport module  17  in accordance with an instruction from the transport controller  40 . Thereby, the module controller  117  controls the position of the carriage  20  on the curved transport module  17 . 
     Further, as the position detection sensor  14 , a position detection sensor  14   j  that detects the position in the OA direction of the curved transport module  17  connected to the curved transport module  16   a  of the transport path  101 ″ is provided to the carriage transfer apparatus  11   e . Further, as the position detection sensor  14 , a position detection sensor  14   k  that detects the position in the OA direction of the curved transport module  17  connected to the maintenance linear transport module  13   g  is provided to the carriage transfer apparatus  11   e.    
     The module controller  113  is provided to the maintenance linear transport module  13   g  in the same manner as the maintenance linear transport modules  13   a  and  13   b  according to the first embodiment. 
     Motion of the carriage  20  between the maintenance linear transport module  13   g  and the curved transport module  17  of the carriage transfer apparatus  11   e  can be performed in the same manner as in the first embodiment. That is, the motion of the carriage  20  can be performed in the same manner as the motion of the carriage  20  between the maintenance linear transport module  13   a  and the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the first embodiment. 
     Further, also in the present embodiment, the curved transport module  17  of the carriage transfer apparatus  11   e  can be positioned accurately in the OA direction with respect to the maintenance linear transport module  13   g  by position shift correction using the position detection sensor  14   k  in the same manner as in the first embodiment. Further, the curved transport module  17  can be positioned accurately in the OA direction with respect to the curved transport module  16  of the transport path  101 ″ by position shift correction using the position detection sensor  14   j  in the same manner as in the first embodiment. 
     Note that, while the case where the carriage transfer apparatus  11   e  and the maintenance linear transport module  13   g  are installed on the ring-shaped transport path  101 ″ has been described in the present embodiment, the embodiment is not limited thereto. For example, the carriage transfer apparatus  11   e  and the maintenance linear transport module  13   g  can be installed also to the curved part of the oval transport path  101 ′ according to the third embodiment in the same manner as in the present embodiment. 
     Seventh Embodiment 
     A seventh embodiment of the present invention will be described by using  FIG. 14  and  FIG. 15 . Note that the same components as those in the first to sixth embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 14  is a schematic diagram illustrating the entire configuration of a processing system  3 ′ according to the present embodiment, which is a top view of the entire processing system  3 ′ including a transport system  6  when viewed from the top.  FIG. 15  is a control block diagram illustrating a control configuration of the processing system  3 ′ according to the present embodiment. 
     The basic configuration of the processing system  3 ′ according to the present embodiment is the same as the configuration of the processing system  3  according to the sixth embodiment. The processing system  3 ′ according to the present embodiment is different from the processing system  3  according to the sixth embodiment in the shapes of the end face of a curved transport module  17 ′ of the carriage transfer apparatus  11   f  and the maintenance transport module. 
     In the present embodiment, as illustrated in  FIG. 14 , the carriage transfer apparatus  11   f  is installed to the ring-shaped transport path  101 ″ so as to be arranged over the boundary of the processing operation area  100 . The maintenance curved transport modules  18   a  and  18   b  are installed so as to be adjacent to both sides of the carriage transfer apparatus  11   f  outside the processing operation area  100 . Note that not both the maintenance curved transport modules  18   a  and  18   b  may be installed, and any one of the maintenance curved transport modules  18   a  and  18   b  may be installed. 
     The carriage transfer apparatus  11   f  has the movable curved transport module  17 ′ that can move. The carriage transfer apparatus  11   f  drives the curved transport module  17 ′ in a moving direction that is a predetermined radius direction of the ring-shaped transport path  101 ″ by using a single-axis actuator (not illustrated). The curved transport module  17 ′ has the same configuration as the curved transport module  16  forming the transport path  101 ″ and has the same curvature as the curved transport module  16 . In the curved transport module  17 ′, current conduction of the coils  19  thereof is controlled by the module controller  117  (see  FIG. 15 ) in the same manner as in the curved transport module  16 , and motion of the carriage  20  thereon is controlled. 
     The curved transport module  17 ′ of the carriage transfer apparatus  11   f  is configured to be able to function as a part of the curved transport module  16  forming the transport path  101 ″. That is, the curved transport module  17 ′ is configured to be able to move to a position for connecting to the curved transport modules  16   a  and  16   g  of the transport path  101 ″. 
     In the present embodiment, both end faces B of the curved transport module  17 ′ of the carriage transfer apparatus  11   f  are parallel to the moving direction of the curved transport module  17 ′ driven by the carriage transfer apparatus  11   f . On the other hand, end faces of the curved transport modules  16   a  and  16   g  of the transport path  101 ″ that connect to the curved transport module  17 ′ are also parallel to the moving direction of the curved transport module  17 ′, respectively. This enables the curved transport module  17 ′ to connect to the curved transport modules  16   a  and  16   b  in the present embodiment. 
     Further, the curved transport module  17 ′ of the carriage transfer apparatus  11   f  is configured to be able to connect, at both the ends thereof, to the maintenance curved transport modules  18   a  and  18   b  installed adjacently to the carriage transfer apparatus  11   f  as described above. The maintenance curved transport modules  18   a  and  18   b  are installed outside the processing operation area  100  including the transport path  101 ″. The curved transport module  17 ′ is able to connect to the maintenance curved transport modules  18   a  and  18   b  at the same stop position. This enables the carriage  20  to transfer between the curved transport module  17 ′ and either the maintenance curved transport module  18   a  or  18   b . Each of the maintenance curved transport modules  18   a  and  18   b  has the same configuration as the curved transport module  16  forming the transport path  101 ″ and has the same curvature as the curved transport module  16 . In each of the maintenance curved transport modules  18   a  and  18   b , the current conduction thereof is controlled by a module controller  118  (see  FIG. 15 ), and motion of the carriage  20  thereon is controlled in the same manner as in the curved transport module  16 . 
     Also in the present embodiment, in the same manner as in the processing system  2 ′ according to the fourth embodiment, the curved transport module  17 ′ of the carriage transfer apparatus  11   f  can be connected to the two maintenance curved transport modules  18   a  and  18   b  at a single stop position. Thereby, also in the present embodiment, it is possible to collect and supply the workpiece W efficiently in a short time in the same manner as in the fourth embodiment. 
     As discussed above, in order that the curved transport module  17 ′ moves in a straight direction on a plane and from the inside to the outside of a circle to connect to the maintenance curved transport modules  18   a  and  18   b  at the same position, it is necessary that both the end faces B of the curved transport module  17 ′ be parallel to the moving direction thereof as described above. That is, with a curved transport module being shaped such that each of both the end faces forms an arc circumference parallel to the radius direction of the circle, connection to the maintenance curved transport module  18   a  or  18   b  is not possible. 
     Further, in order to install the maintenance curved transport modules  18   a  and  18   b  outside the processing operation area  100  so as not to interfere with the external shape of the transport path  101 ″, that is, the processing operation area  100 , a distance y and an angle θ are required to satisfy a predetermined condition. Here, the distance y is a distance by which the curved transport module  17 ′ of the carriage transfer apparatus  11   f  is moved from the transport path  101 ″ to connect to the maintenance curved transport modules  18   a  and  18   b . Further, the angle θ is an angle that is half the angle CO′D which is formed by the respective centers of the end faces C and D outside the maintenance curved transport modules  18   a  and  18   b  and the center O′ spaced apart from the center O of the ring-shaped transport path  101 ″ by the distance y in the moving direction of the curved transport module  17 ′. The condition that the distance y and the angle θ have to satisfy is expressed by Equation (1): 
         y ( y+ 2 r   1  cos θ)≥ r   2   2   −r   1   2   (1)
 
     where r 1  is an inner radius of the transport path  101 ″ defined by the fence  1011  inside the transport path  101 ″, and r 2  is an outer radius of the transport path  101 ″ defined by the fence  1011  outside the transport path  101 ″. 
     Note that, in the sixth embodiment, unlike the present embodiment, the maintenance linear transport module  13   g  is a linear transport module and is installed along a direction parallel to the tangential line direction of the transport path  101 ″. Thus, in the sixth embodiment, the maintenance linear transport module  13   g  can be installed in a position where the curved transport module  17  of the carriage transfer apparatus  11   e  can be connected to the maintenance linear transport module  13   g  at a position that does not interfere with the processing operation area  100 . 
     Further, while the case where the carriage transfer apparatus  11   f  and the maintenance curved transport modules  18   a  and  18   b  are installed on the ring-shaped transport path  101 ″ has been described in the present embodiment, the embodiment is not limited thereto. For example, in the same manner as the present embodiment, the carriage transfer apparatus  11   f  and the maintenance curved transport modules  18   a  and  18   b  can be installed to the curved part of the oval transport path  101 ′ according to the third embodiment. 
       FIG. 15  is a control block diagram illustrating a control configuration of the processing system  3 ′ according to the present embodiment. Note that the control configuration illustrated in  FIG. 15  is a case of using the carriage fixing mechanism  15 ′ installed in the carriage  20  in the same manner as the control configuration of the second embodiment illustrated in  FIG. 4 . Also in the present embodiment, the carriage  20  can be fixed by using the carriage fixing mechanism  15  installed on the transport path  101 ″ instead of or in addition to the carriage fixing mechanism  15 ′ in the same manner as the first embodiment. 
     The apparatus controller  111  is provided to the carriage transfer apparatus  11   f  in the same manner as the carriage transfer apparatus  11   e  according to the sixth embodiment. The module controller  117  is provided to the curved transport module  17 ′ of the carriage transfer apparatus  11   f  in the same manner as the curved transport module  17  according to the sixth embodiment. 
     As the position detection sensor  14 , a position detection sensor  14   l  that detects the position in the moving direction of the curved transport module  17 ′ is connected to the curved transport modules  16   a  and  16   g  of the transport path  101 ″ is provided to the carriage transfer apparatus  11   f . Further, as the position detection sensor  14 , a position detection sensor  14   m  that detects the position in the moving direction of the curved transport module  17 ′ is connected to the maintenance curved transport modules  18   a  and  18   g  is provided to the carriage transfer apparatus  11   f.    
     Each module controller  118  that controls each of the maintenance curved transport modules  18   a  and  18   b  is connected to the transport controller  40  by the transport-system serial communication network  41 . Each position detection sensor  614  that detects the position in the transport direction of the carriage  20  on each of the maintenance curved transport modules  18   a  and  18   b  is connected to each module controllers  118 . The position detection sensor  614  as a position detection unit may be a linear encoder, for example, without being limited thereto in particular. Note that the position detection sensor  614  is not illustrated in  FIG. 14 . 
     Motion of the carriage  20  between the maintenance curved transport modules  18   a  and  18   b  and the curved transport module  17 ′ of the carriage transfer apparatus  11   f  can be performed in the same manner as in the first embodiment. That is, the motion of the carriage  20  can be performed in the same manner as the motion of the carriage  20  between the maintenance linear transport module  13   a  and the linear transport module  12   b  of the carriage transfer apparatus  11   b  in the first embodiment. 
     Further, also in the present embodiment, the curved transport module  17 ′ of the carriage transfer apparatus  11   f  can be positioned accurately in the moving direction with respect to the maintenance curved transport modules  18   a  and  18   b  by position shift correction using the position detection sensor  14   m  in the same manner as in the first embodiment. Further, the curved transport module  17 ′ can be positioned accurately in the moving direction with respect to the curved transport module  16  of the transport path  101 ″ by position shift correction using the position detection sensor  14   l  in the same manner as in the first embodiment. 
     Eighth Embodiment 
     An eighth embodiment of the present invention will be described by using  FIG. 16  to  FIG. 24B . First, the entire configuration of a processing system according to the present embodiment will be described by using  FIG. 16 .  FIG. 16  is a schematic diagram illustrating the entire configuration of the processing system including a transport system according to the present embodiment, which is a top view of the whole processing system when viewed from the top. 
     As illustrated in  FIG. 16 , a processing system  2000  according to the present embodiment has a transport apparatus forward path  2001 , a transport apparatus reverse path  2002 , a carriage transfer apparatus  2003 , a carriage transfer apparatus  2004 , a workpiece input apparatus  2005 , a workpiece output apparatus  2006 , a processing apparatus  2007 , blocking apparatuses  2008 , and transport carriages  2010 . The processing system  2000  according to the present embodiment includes a transport system  2061  that transports workpieces W that are process objects to be processed and positions the workpieces W on the transport carriages  2010 . The transport system  2061  has the transport apparatus forward path  2001 , the transport apparatus reverse path  2002 , the carriage transfer apparatus  2003 , the carriage transfer apparatus  2004 , and the blocking apparatuses  2008 . The transport apparatus forward path  2001 , the transport apparatus reverse path  2002 , the carriage transfer apparatus  2003 , and the carriage transfer apparatus  2004  form a transport path of the transport carriages  2010 . 
     Coordinate axes and directions of an X-axis, a Y-axis, and a Z-axis of an XYZ coordinate system that is a rectangular coordinate system used in the following description are now defined. First, the X-axis is defined as an axis in the transport direction of the transport carriage  2010  transported horizontally. Further, an axis orthogonal to a frame  2062  placed horizontally described later, that is, an axis in the perpendicular direction is defined as the Z-axis, and an axis orthogonal to the X-axis and the Z-axis is defined as the Y-axis. In the XYZ coordinate system where the coordinate axes are defined as above, a direction in the X-axis is defined as an X-direction, and, of the X-direction, the same direction as the transport direction of the transport carriage  2010  on the transport apparatus forward path  2001  is defined as a +X-direction and the opposite direction to the +X-direction is a −X-direction. Further, a direction in the Y-axis is defined as a Y-direction, and, of the Y-direction, the direction from the right side to the left side with respect to the +X-direction is defined as a +Y-direction and the opposite direction to the +Y-direction is a −Y-direction. Further, a direction in the Z-axis is defined as a Z-direction, and, of the Z-direction, the direction from the transport path side to the transport carriage  2010  side, that is, the perpendicular upward direction is defined as a +Z-direction and the direction from the transport carriage  2010  side to the transport path side, that is, the perpendicular downward direction is defined as a −Z-direction. 
     In the processing system  2000 , the transport apparatus forward path  2001  and the transport apparatus reverse path  2002 , which form linear transport paths for transporting the transport carriage  2010 , respectively, are installed in parallel to each other. The transport carriage  2010  that is a carriage is transported along the transport apparatus forward path  2001  and the transport apparatus reverse path  2002 . The carriage transfer apparatus  2003  is installed at the most upstream of the transport apparatus forward path  2001 . Further, the carriage transfer apparatus  2004  is installed at the most downstream of the transport apparatus forward path  2001 . The transport carriage  2010  transported along the transport apparatus forward path  2001  is transferred to the transport apparatus reverse path  2002  by the carriage transfer apparatus  2004 . Further, the transport carriage  2010  transported along the transport apparatus reverse path  2002  is transferred to the transport apparatus forward path  2001  by the carriage transfer apparatus  2003 . That is, the transport carriage  2010  is circulated and transported along the transport path including the transport apparatus forward path  2001  and the transport apparatus reverse path  2002 . Note that a single transport carriage  2010  may be installed or a plurality of transport carriages  2010  may be installed. 
     In the upstream of the transport apparatus forward path  2001 , the workpiece input apparatus  2005  that is a workpiece supply apparatus for supplying and loading a workpiece W on the transport carriage  2010  is installed. In the downstream of the transport apparatus forward path  2001 , the workpiece output apparatus  2006  that picks out a workpiece W from the transport carriage  2010  for output is installed. 
     One or a plurality of processing apparatuses  2007  are installed between the workpiece input apparatus  2005  and the workpiece output apparatus  2006 . The plurality of processing apparatuses  2007  are installed at predetermined intervals. Each processing apparatus  2007  applies a predetermined processing operation such as assembly of a component or application to a workpiece W fixed on the transport carriage  2010 . Note that the processing apparatus  2007  is not limited in particular, and any processing apparatus that applies various processing operations to a workpiece W can be used. A process of applying a processing operation to the workpiece W by using the processing apparatus  2007  is performed in such a way, and thereby an article such as an electronic device is manufactured. An article to be manufactured is not limited to a particular object, and any article may be manufactured. Various articles can be manufactured by a manufacturing method of an article using the processing system  2000  according to the present embodiment. 
     The transport carriage  2010  is a carriage sequentially transported among the workpiece input apparatus  2005 , the processing apparatus  2007 , and the workpiece output apparatus  2006  installed at predetermined intervals with respect to the transport apparatus forward path  2001 . A workpiece W is supplied to the workpiece input apparatus  2005  and then input to the transport carriage  2010 . Next, after the workpiece W is positioned and fixed on the transport carriage  2010 , a predetermined processing operation is applied by the processing apparatus  2007  to the workpiece W on the transport carriage  2010 . After the completion of all the processing operations performed by the processing apparatuses  2007 , the workpiece W is picked out from the top of the transport carriage  2010  by the workpiece output apparatus  2006 . 
     The blocking apparatuses  2008  are provided to both the ends of the transport apparatus forward path  2001  and the transport apparatus reverse path  2002 , respectively. That is, the blocking apparatus  2008  is provided to a connection part to the carriage transfer apparatus  2003  that is one end of the transport apparatus forward path  2001 . Further, the blocking apparatus  2008  is provided to the connection part to the carriage transfer apparatus  2004  that is the other end of the transport apparatus forward path  2001 . Further, the blocking apparatus  2008  is provided to a connection part to the carriage transfer apparatus  2004  that is one end of the transport apparatus reverse path  2002 . Further, the blocking apparatus  2008  is provided to the connection part to the carriage transfer apparatus  2003  that is the other end of the transport apparatus reverse path  2002 . As described later, the blocking apparatus  2008  prevents the transport carriage  2010  from jumping out of or dropping from the transport path when the carriage transfer apparatuses  2003  and  2004  are not connected. 
     Next, the general configuration of the transport apparatus forward path  2001 , the transport apparatus reverse path  2002 , the carriage transfer apparatuses  2003  and  2004 , and the transport carriage  2010  in the transport system  2061  will be described by using  FIG. 17A  and  FIG. 17B . 
       FIG. 17A  is a diagram of the transport apparatus forward path  2001  viewed from the Y-direction.  FIG. 17B  is a diagram of the transport carriage  2010  viewed from the Y-direction. 
     The transport apparatus forward path  2001  is configured as modules, which has a plurality of transport modules  2011 . The processing system  2000  has a plurality of lower-level controllers  2043  communicably connected to the plurality of transport modules  2011 , the carriage transfer apparatus  2003 , and the carriage transfer apparatus  2004 , respectively. The lower-level controllers  2043  functions as a control unit that controls the transport modules  2011  to be connected or the carriage transfer apparatuses  2003  and  2004  including carriage transfer modules  2039 . 
     Note that, in  FIG. 17A , for simplified illustration, two transport modules  2011  are illustrated, and two lower-level controllers  2043   a  and  2043   b  are illustrated as lower-level controllers  2043  connected to respective transport modules  2011 . Further, lower-level controllers  2043   c  and  2043   d  are illustrated as the lower-level controllers  2043  connected to the carriage transfer apparatus  2003 . Further, lower-level controllers  2043   e  and  2043   f  are illustrated as the lower-level controllers  2043  connected to the carriage transfer apparatus  2004 . The plurality of lower-level controllers  2043  are connected to a lower-level controller network  2042 . 
     The processing system  2000  further has a middle-level controller  2041  and a higher-level controller  2040 . The middle-level controller  2041  is communicably connected to the plurality of lower-level controllers  2043  via the lower-level controller network  2042 . The middle-level controller  2041  functions as a control unit that controls the plurality of lower-level controllers  2043 . Furthermore, the higher-level controller  2040  that functions as a control unit that transmits an operation instruction to the middle-level controller  2041  is connected to the middle-level controller  2041 . 
     As illustrated in  FIG. 17A , the transport modules  2011  are installed on a horizontal installation face of the frame  2062 . Each of the transport module  2011  has a transport module casing  2015 , encoders  2012   a ,  2012   b , and  2012   c , carriage drive coils  2013 , and guiderails  2014 . Further, a power source (not illustrated) is connected to the lower-level controller  2043 . 
     The transport module casings  2015  are installed on the horizontal installation face of the frame  2062 . The encoders  2012  are attached to a plurality of positions of the transport module casings  2015 . The carriage drive coils  2013  are attached to the transport module casings  2015  in parallel to the X-direction. The guiderails  2014  are attached on the transport module casings  2015  in parallel to the X-direction. 
     As illustrated in  FIG. 17B , the transport carriage  2010  has a carriage base  2030 , a scale  2032 , a plurality of permanent magnets  2033 , a permanent magnet bracket  2034 , a scale bracket  2031 , a guide block  2035  (see  FIG. 18 ,  FIG. 19 , or the like), and a workpiece positioning mechanism  2100 . Note that, for simplified illustration,  FIG. 17B  depicts a configuration partially different from  FIG. 18 ,  FIG. 19 , or the like. 
     The guide block  2035  is attached to the under face of the carriage base  2030 . The permanent magnet bracket  2034  is attached to the under face of the carriage base  2030 . The scale bracket  2031  is attached to the side face extending in the X-direction of the carriage base  2030 . The plurality of permanent magnets  2033  are attached to the permanent magnet bracket  2034  so as to be aligned in the X-direction. The scale  2032  is attached to the scale bracket  2031 . 
     The workpiece positioning mechanism  2100  is attached on the carriage base  2030 . The workpiece positioning mechanism  2100  is for positioning a workpiece W on the transport carriage  2010  and fixing the workpiece W on the transport carriage  2010 . 
     The guide block  2035  attached to the carriage base  2030  is guided by the guiderail  2014 , and the transport carriage  2010  is arranged on the transport module  2011  so as to be movable in the X-direction. The scale  2032  is attached to the carriage base  2030  via the scale bracket  2031  and has a pattern used for position detection of the transport carriage  2010 . 
     With a current being applied to the carriage drive coils  2013 , electromagnetic force that drives the transport carriage  2010  is generated between the plurality of permanent magnets  2033  attached to the carriage base  2030  via the permanent magnet bracket  2034  and the carriage drive coils  2013  attached to the transport module casings  2015 . The transport carriage  2010  is driven by electromagnetic force generated between the plurality of permanent magnets  2033  and the carriage drive coils  2013  and transported in the +X-direction on the transport apparatus forward path  2001 . Accordingly, the transport system  2061  with a moving magnet (MM) type linear motor is configured in the present embodiment. 
     The encoders  2012  of the transport module  2011  are attached to the transport module casing  2015  such that the gap to the scale  2032  attached to the transport carriage  2010  is constant. The encoder  2012  can detect the position of the transport carriage  2010  in the X-direction as a relative position from the encoder  2012  by reading the pattern of the scale  2032 . 
     The encoders  2012  are installed to positions so as to be able to detect the transport carriage  2010  located at any position on the transport module  2011 . 
     The lower-level controller  2043  can calculate the position of the transport carriage  2010  on the transport module  2011  based on the output of the connected encoders  2012  and the positions where those encoders  2012  are installed. The lower-level controller  2043  can control a current amount applied to the carriage drive coils  2013  in accordance with the calculated position of the transport carriage  2010  or the like. This enables the lower-level controller  2043  to transport the transport carriage  2010  up to a predetermined position at a predetermined speed and stop it. 
     Further, the lower-level controller  2043  can use the encoders  2012  to detect that the transport carriage  2010  enters the connected transport module  2011  from the adjacent transport module  2011 . The lower-level controller  2043  controls the transport carriage  2010  within the connected transport module  2011  in order to transport the transport carriage  2010  that has entered the connected transport module  2011  up to a predetermined position at a predetermined speed and stop it. 
     Each of the lower-level controllers  2043  has a communication function for communicating information with the middle-level controller  2041 . The lower-level controller  2043  communicates with the middle-level controller  2041  for position information or the like on the transport carriage  2010  detected by the encoders  2012  belonging to the lower-level controller  2043 . 
     The middle-level controller  2041  can transmit instructions for operating the transport carriage  2010  to each of the lower-level controllers  2043 . This enables the middle-level controller  2041  to control the plurality of transport carriages  2010 . 
     Note that the transport apparatus reverse path  2002  has the same configuration as the above-described transport apparatus forward path  2001  except that the transport direction of the transport carriage  2010  is opposite to the transport direction in the transport apparatus forward path  2001 . 
     Next, the configuration of the carriage transfer apparatus  2003  and the carriage transfer apparatus  2004  will be described. As illustrated in  FIG. 17A , each of the carriage transfer apparatus  2003  and the carriage transfer apparatus  2004  has a carriage transfer actuator  2050  that is movable in the Y-direction and a module that is loaded on the carriage transfer actuator  2050  and has the same configuration as the transport module  2011 . 
     The lower-level controller  2043   c  connected to the carriage transfer apparatus  2003  controls the carriage transfer actuator  2050  of the carriage transfer apparatus  2003 . The lower-level controller  2043   d  connected to the carriage transfer apparatus  2003  controls a module having the same configuration as the transport module  2011  of the carriage transfer apparatus  2003  in a similar manner to the lower-level controllers  2043   a  and  2043   b . Further, the lower-level controller  2043   e  connected to the carriage transfer apparatus  2004  controls the carriage transfer actuator  2050  of the carriage transfer apparatus  2004 . The lower-level controller  2043   f  connected to the carriage transfer apparatus  2004  controls a module having the same configuration as the transport module  2011  of the carriage transfer apparatus  2004  in a similar manner to the lower-level controllers  2043   a  and  2043   b.    
     The carriage transfer apparatus  2003  and the carriage transfer apparatus  2004  move between the transport apparatus forward path  2001  and the transport apparatus reverse path  2002  to transfer the transport carriage  2010 , respectively. The carriage transfer apparatus  2004  transfers, from the transport apparatus forward path  2001  to the transport apparatus reverse path  2002 , the transport carriage  2010  transported along the transport apparatus forward path  2001 . The carriage transfer apparatus  2003  transfers, from the transport apparatus reverse path  2002  to the transport apparatus forward path  2001 , the transport carriage  2010  transported along the transport apparatus reverse path  2002 . 
     The higher-level controller  2040  controls the entire processing system  2000  and is communicably connected to a controller (not illustrated) that is for the processing apparatus  2007  and controls the processing apparatus  2007  or the like in addition to the middle-level controller  2041 . The higher-level controller  2040  controls the operation of each apparatus and the order of operations in the processing system  2000 . 
     Next, a fundamental configuration of the transport carriage  2010  and the transport module  2011  before implementing the present embodiment will be described in detail by using  FIG. 18  and  FIG. 19 .  FIG. 18  is a front view illustrating a fundamental configuration of the transport system  2061  before implementing the present embodiment, which is a view of the transport carriage  2010  and the transport module  2011  when viewed from the Y-direction.  FIG. 19  is a sectional view illustrating a fundamental configuration of the transport system  2061  before implementing the present embodiment, which is a view of the transport carriage  2010  and the transport module  2011  when viewed from the X-direction. 
     As illustrated in  FIG. 18  and  FIG. 19 , three encoders  2012   a ,  2012   b , and  2012   c  are installed in the transport module  2011 . Each encoder  2012  is installed on an encoder attachment face  2018  provided on the transport module casing  2015  via an encoder bracket  2017 . 
     The encoders  2012   a ,  2012   b , and  2012   c  are installed so as to be aligned in the X-direction. The encoder  2012   b  is installed at the center in the X-direction of the transport module  2011 , and the encoders  2012   a  and  2012   c  are installed at both the ends of the transport module  2011 , respectively. The attachment interval of the encoder  2012   a  and  2012   b  and the attachment interval of the encoder  2012   b  and encoder  2012   c  are shorter than the length of the scale  2032  provided to the transport carriage  2010 . This allows the position of the transport carriage  2010  to be detected by any of the encoders  2012   a ,  2012   b , and  2012   c  at any position on the transport module  2011 . 
     The transport module casing  2015  has a side-opened recess structure. The guiderail  2014  is installed on the upper face of the transport module casing  2015 . The carriage drive coils  2013  are installed on the upper inner wall of the transport module casing  2015 . The guiderail  2014  and the carriage drive coils  2013  are arranged back to back via the transport module casing  2015 . 
     The lower-level controller  2043  that controls the transport module  2011  is installed to the transport module casing  2015  thereof via the lower-level controller bracket  2024 . The lower-level controller  2043  is connected by wirings (not illustrated) to the encoders  2012  and the carriage drive coils  2013  installed to the same transport module  2011 . 
     A cover  2016  is installed to the transport module  2011 . The cover  2016  is installed to protect the guiderail  2014 , the carriage drive coils  2013 , the encoders  2012 , and the lower-level controller  2043 . 
     On the other hand, the carriage base  2030  has the side-opened recess structure in the transport carriage  2010 . The carriage base  2030  is arranged so as to engage with the transport module casing  2015  with the opened sides thereof facing each other. 
     Tow guide blocks  2035  are installed in series in the transport direction on the upper inner wall of the carriage base  2030 . Each guide block  2035  is guided movably in the X-direction by the guiderail  2014  of the transport module  2011 . The plurality of permanent magnets  2033  are installed so as to be aligned in the X-direction to the lower inner wall of the carriage base  2030  via the permanent magnet bracket  2034 . The scale  2032  is installed to the carriage base  2030  via the scale bracket  2031 . The scale  2032  is arranged at a position that can be detected by the encoders  2012  of the transport module  2011 . 
     In the present embodiment, in the transport system  2061  having the transport carriage  2010  and the transport module  2011  having the above fundamental configuration illustrated in  FIG. 18  and  FIG. 19 , the blocking apparatus  2008  is installed. The configuration including the blocking apparatus  2008  of the transport system  2061  according to the present embodiment will be described below in detail by using  FIG. 20  to  FIG. 22 . 
       FIG. 20  and  FIG. 22  illustrate the configuration including the carriage transfer apparatus  2003 , the transport carriage  2010 , the transport modules  2011 , and the blocking apparatuses  2008  of the transport system  2061  according to the present embodiment.  FIG. 20  is a top view of the transport system  2061  when viewed from the Z-direction according to the present embodiment.  FIG. 21  is a front view of the transport system  2061  when viewed from the Y-direction according to the present embodiment.  FIG. 22  is a side view of the transport system  2061  when viewed from the X-direction according to the present embodiment. Note that the position of the carriage transfer apparatus  2003 , that is, the position of a carriage transfer apparatus base  2101  and a carriage transfer apparatus casing  2103  is different between  FIGS. 20 and 21  and  FIG. 22 . 
     The transport carriage  2010  illustrated in  FIG. 20 ,  FIG. 21 , and  FIG. 22  has the same configuration as the above fundamental configuration before implementing the present embodiment illustrated in  FIG. 18  and  FIG. 19 . On the other hand, while that the blocking apparatuses  2008  are provided to the connection part to the carriage transfer apparatus  2003 , the transport module  2011  has the same configuration as the above fundamental configuration before implementing the present embodiment illustrated in  FIG. 18  and  FIG. 19  except that the blocking apparatuses  2008  are provided. 
     The blocking apparatus  2008  is to obstruct and prevent movement of the carriage toward the outside of the transport module  2011  when the carriage transfer module  2039  is not connected to the end of the transport module  2011 . As illustrated in  FIG. 20  to  FIG. 22 , each blocking apparatus  2008  has a cam follower  2105 , a linear motion guide  2106 , a blocking stopper  2107 , and a spring  2108 . The blocking apparatus  2008  is configured to operate by an interlock mechanism including the cam follower  2105  and a cam plate  2104 . While the cam follower  2105 , the linear motion guide  2106 , the blocking stopper  2107 , and the spring  2108  are provided to the transport module  2011 , the cam plate  2104  is provided to the carriage transfer module  2039 . 
     The linear motion guide  2106  is provided at the end of the transport module  2011 . The linear motion guide  2106  guides the blocking stopper  2107  so that the blocking stopper  2107  operates in the Z-axis direction. The transport module  2011  is adapted to connect to the carriage transfer apparatus  2003  at the end thereof to which the linear motion guide  2106  is provided. 
     The blocking stopper  2107  is attached to the linear motion guide  2106 . The blocking stopper  2107  is able to operate along the linear motion guide  2106  at a position for obstruction the movement of the transport carriage  2010  and at a position for not obstructing the movement of the transport carriage  2010  on the transport module  2011 . 
     Further, the spring  2108  is arranged between the blocking stopper  2107  and the transport module  2011 . The blocking stopper  2107  receives pushing force toward the side of the position for obstructing and preventing the movement of the transport carriage  2010  and pushed by the spring  2108  arranged between the blocking stopper  2107  and the transport module  2011 . Further, the cam follower  2105  used for operating the blocking stopper  2107  as described later is installed to the blocking stopper  2107 . 
     Note that the spring  2108  may be installed in any manner as long as it applies force to the blocking stopper  2107  toward the side of the position for obstructing and preventing the movement of the transport carriage  2010  to push the blocking stopper  2107 . The spring  2108  may be installed other than between the blocking stopper  2107  and the transport module  2011 , and may be installed between the blocking stopper  2107  and the frame  2062 , for example. Furthermore, instead of the spring  2108 , a pushing member that pushes the blocking stopper  2107  by utilizing an elastic member other than a spring, for example, magnetic force, air pressure, or the like may be used as long as it can apply pushing force in a desired direction to the blocking stopper  2107 . 
     Here, the position for obstructing and preventing the movement of the transport carriage  2010  is a position where the blocking stopper  2107  and the transport carriage  2010  come into contact with and interfere with each other, and in the present embodiment, a position where the blocking stopper  2107  comes into contact with and interferes with the guide block  2035  of the transport carriage  2010 . The blocking stopper  2107  comes into contact with and interferes with a part of the transport carriage  2010 , and thereby the movement of the transport carriage  2010  on the transport module  2011  is obstructed and prevented. Further, the position for not obstructing the movement of the transport carriage  2010  is a position where the blocking stopper  2107  and the transport carriage  2010  do not interfere with each other. 
     On the other hand, as illustrated in  FIG. 20  to  FIG. 22 , the carriage transfer apparatus  2003  has the carriage transfer module  2039 . The carriage transfer module  2039  is a transport module having the same configuration as the transport module  2011 . The carriage transfer module  2039  is configured to be able to move to the position for being able to connect to the end of the transport module  2011 . Further, the carriage transfer module  2039  is configured so that the transport carriage  2010  can move to and from the connected transport module  2011  and transfer and transport the transport carriage  2010  to and from the connected transport module  2011 . 
     The carriage transfer module  2039  is installed on the carriage transfer apparatus base  2101 . The carriage transfer apparatus base  2101  is installed on the linear motion guide  2102  so as to be movable along the linear motion guide  2102  provided in the Y-direction adjacently to the end of the transport apparatus forward path  2001  and the transport apparatus reverse path  2002 . The carriage transfer actuator  2050  and a ball screw  2051  used for driving the carriage transfer module  2039  are provided to the carriage transfer module  2039  on the carriage transfer apparatus base  2101 . The carriage transfer module  2039  is movable in the Y-direction in  FIG. 20  to  FIG. 22  by using the carriage transfer actuator  2050  and the ball screw  2051 . 
     The carriage transfer apparatus casing  2103  that is a casing of the carriage transfer module  2039  is installed on the carriage transfer apparatus base  2101 . The cam plate  2104  is attached to the end on the transport module  2011  side of the carriage transfer apparatus casing  2103 . The carriage transfer apparatus casing  2103  is adapted to connect to the transport module  2011  at the end to which the cam plate  2104  is attached. 
     The cam plate  2104  is a cam that engages with the cam follower  2105 . The cam plate  2104  is adapted to engages with the cam follower  2105  provided to the end of the transport module  2011  when the carriage transport apparatus casing  2103  is connected to the end of the transport module  2011  to push down the cam follower  2105 . The cam plate  2104  has legs that are a pair of opposing sides at both ends in the Y-direction and has a trapezoidal shape in which the lower end has a narrower width in the Y-direction, for example. 
     The cam plate  2104  is adapted to push down the cam follower  2105  by coming in contact with the cam follower  2105  and moving in the Y-direction. By the cam follower  2105  being pushed down, the blocking stopper  2107  to which the cam follower  2105  is attached is also pushed down against pushing force of the spring  2108 . Here, the cam plate  2104  and the cam follower  2105  are attached to each other in a positional relationship in which, when the cam follower  2105  is pushed down by the cam plate  2104 , the blocking stopper  2107  can be operated to a position for not obstructing the movement of the transport carriage  2010 . Alternatively, the shape of the cam plate  2104  and the positional relationship of the cam plate  2104  and the com follower  2105  are configured to enable the operation of the blocking stopper  2107  described above. Note that, while the shape of the cam plate  2104  is a trapezoid in the present embodiment, the shape of the cam plate  2104  may be other shapes such as an arc, a groove, or the like. 
     On the other hand, when the carriage transfer apparatus casing  2103  is not connected to the transport module  2011 , the cam plate  2104  does not push down the cam follower  2105 . Thus, the blocking stopper  2107  to which the cam follower  2105  is attached is located in a position for obstructing the movement of the transport carriage  2010 . 
     In such a way, the blocking apparatus  2008  interlocks with the motion of the carriage transfer module  2039  of the carriage transfer apparatus  2003  by the interlocking mechanism including the cam plate  2104  and the cam follower  2105 . Thereby, the blocking apparatus  2008  operates so as to switch a state of obstructing the movement of the transport carriage  2010  toward the outside of the transport module  2011  to and from a state of not obstructing such movement. 
     Note that the blocking apparatus  2008  is provided also at the end of the transport module  2011  on the carriage transfer apparatus  2004  side in the same manner as the blocking apparatus  2008  described above. 
     In the transport system  2061 , there is a period of absence of the carriage transfer module  2039  in which the carriage transfer apparatus casing  2103  of the carriage transfer module  2039  is not connected to the end of the transport module  2011 . Even during the absence of the carriage transfer module  2039 , a transfer operation of the transport carriage  2010  to the carriage transfer module  2039  may occur due to an erroneous operation, the transport carriage  2010  being out of control, or the like. The situation of the transport carriage  2010  being out of control may be caused by malfunction of a program that controls motion of the transport carriage  2010 . 
     In contrast, in the present embodiment, the blocking apparatus  2008  is provided at the end of the transport module  2011  forming the transport path. The blocking apparatus  2008  has the blocking stopper  2107  located in a position for obstructing the movement of the transport carriage  2010  toward the outside of the transport module  2011  during the absence of the carriage transfer module  2039 . 
     Therefore, in the present embodiment, even when a transfer operation of the transport carriage  2010  to the carriage transfer module  2039  occurs during the absence of the carriage transfer module  2039 , the blocking apparatus  2008  can obstruct the movement of the transport carriage  2010  out of the transport module  2011 . Therefore, according to the present embodiment, it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport module  2011  forming a transport path. 
     Next, the operation of the transport system  2061  including the operation of the blocking apparatus  2008  will be described by using  FIG. 23A  to  FIG. 24B .  FIG. 23A  is a top view illustrating a stop position of the transport carriage  2010  in the transport system  2061  according to the present embodiment.  FIG. 23B  is a diagram illustrating a part of the timing chart illustrating the operation of the transport system  2061  according to the present embodiment.  FIG. 24A  and  FIG. 24B  are schematic diagrams illustrating the operation of the blocking apparatus  2008  in the transport system  2061  according to the present embodiment. 
       FIG. 23A  corresponds to  FIG. 20  and illustrates stop positions P 1 , P 2 , and P 3  of the transport carriage  2010  and illustrates stop positions P 10  and P 11  of the carriage transfer module  2039  in the carriage transfer apparatus  2003 . Further,  FIG. 23A  illustrates transport modules  2011   a  and  2011   b  as the transport module  2011  adjacent to the carriage transfer apparatus  2003  and illustrates blocking apparatuses  2008   a  and  2008   b  provided to the ends of the transport modules  2011   a  and  2011   b  as the blocking apparatus  2008 , respectively. The stop position P 10  of the carriage transfer module  2039  is a position where the carriage transfer module  2039  connects to the end of the transport module  2011   a . The stop position P 11  of the carriage transfer module  2039  is a position where the carriage transfer module  2039  connects to the end of the transport module  2011   b .  FIG. 23B  illustrates a timing chart when the transport carriage  2010  moves from the stop position P 1  on the transport module  2011   a  to the stop position P 3  on the transport module  2011   b  via the stop position P 2  on the carriage transfer module  2039 . 
     Note that an initial state is a state at the time t 0 . In the initial state, the transport carriage  2010  has stopped at the stop position P 1 , the carriage transfer module  2039  has stopped at the stop position P 10 , the blocking apparatus  2008   a  is opened, and the blocking apparatus  2008   b  is closed. Here, each of the blocking apparatus  2008   a  and the blocking apparatus  2008   b  has the cam plate  2104 , the cam follower  2105 , the linear motion guide  2106 , the blocking stopper  2107 , and the spring  2108  and is operated by the cam plate  2104 , as described above by the illustration of  FIG. 20  to  FIG. 22 . The opened state of the blocking apparatus  2008  refers to a state where the blocking stopper  2107  is located in the position for not obstructing the movement of the transport carriage  2010  as described above. The closed state of the blocking apparatus  2008  refers to a state where the blocking stopper  2107  is located in a position for obstructing the movement of the transport carriage  2010 . 
     The transport carriage  2010  is driven by the transport module  2011  controlled by the lower-level controller  2043  to move on the transport path under the control of the middle-level controller  2041  that has received an operation instruction from the higher-level controller  2040 . 
     First, during the time t 0  to the time t 1 , the transport carriage  2010  that has stopped at the stop position P 1  on the transport module  2011   a  moves to the stop position P 2  on the carriage transfer module  2039 . At this time, the carriage transfer module  2039  of the carriage transfer apparatus  2003  has stopped at the stop position P 10  and has been connected to the end of the transport module  2011   a . Thus, the blocking apparatus  2008   a  has been opened. Thus, movement of the transport carriage  2010  is not obstructed by the blocking apparatus  2008   a  and is able to move from the stop position P 1  to the stop position P 2 . 
     Next, during the time t 1  to the time t 2 , the carriage transfer module  2039  on which the transport carriage  2010  has stopped moves from the stop position P 10  to the stop position P 11  and connects to the end of the transport module  2011  at the stop position P 11 . During this period from the time t to the time t 2 , the blocking apparatuses  2008   a  and  2008   b  also interlocks with the motion of the carriage transfer module  2039  of the carriage transfer apparatus  2003 . That is, the blocking apparatus  2008   a  gradually closes as the carriage transfer module  2039  moves away from the stop position P 10 , and the blocking apparatus  2008   a  is closed before the carriage transfer module  2039  stops at the stop position P 11 . By the blocking apparatus  2008   a  being closed, it is possible to prevent the subsequent transport carriage  2010  from jumping out of or dropping from the end of the transport module  2011   a  to which the carriage transfer module  2039  is not connected. On the other hand, the blocking apparatus  2008   b  is gradually opened as the carriage transfer module  2039  approaches the stop position P 11 , and blocking apparatus  2008   b  is opened before the carriage transfer module  2039  stops at the stop position P 11 . 
     Next, during the time t 2  to the time t 3 , the transport carriage  2010  moves from the stop position P 2  on the carriage transfer module  2039  to the stop position P 3  on the transport module  2011   b . At this time, the carriage transfer module  2039  has stopped at the stop position P 11  and has been connected to the end of the transport module  2011   b . Thus, the blocking apparatus  2008   b  is opened as described above. This enables the transport carriage  2010  to move from the stop position P 2  to the stop position P 3  without the movement thereof being obstructed by the blocking apparatus  2008   a.    
       FIG. 24A  and  FIG. 24B  illustrate the operation of the blocking apparatus  2008 .  FIG. 24A  illustrates a closed state of the blocking apparatus  2008 .  FIG. 24B  illustrates an opened state of the blocking apparatus  2008 . 
     As illustrated in  FIG. 24A  and  FIG. 24B , in the closed blocking apparatus  2008 , the blocking stopper  2107  is pushed up along the linear motion guide  2106  by the spring  2108 . Since being located in a position of interfering with, for example, the guide block  2035  of the transport carriage  2010 , the blocking stopper  2107  pushed up by the spring  2108  is adapted to obstruct the movement of the transport carriage  2010 . The blocking stopper  2107  located in a position for obstructing the movement of the transport carriage  2010  comes into contact and interferes with the guide block  2035  of the transport carriage  2010 , and thereby the closed blocking apparatus  2008  stops the transport carriage  2010 . 
     When the carriage transfer module  2039  of the carriage transfer apparatus  2003  moves in the −Y-direction and comes close to the closed blocking apparatus  2008 , the cam plate  2104  attached to the carriage transfer apparatus casing  2103  of the carriage transfer module  2039  comes close to the cam follower  2105 . Then, when the carriage transfer module  2039  further moves in the −Y-direction and thereby the cam plate  2104  comes into contact with the cam follower  2105 , the cam follower  2105  moves in accordance with the shape of the cam plate  2104 . The cam follower  2105  is pushed down by the cam plate  2104  and moves in the −Z-direction. Thus, the blocking stopper  2107  to which the cam follower  2105  is attached also moves in the −Z-direction along the linear motion guide  2106  while contracting the spring  2108  against pushing force of the spring  2108 . In this way, the blocking stopper  2107  moves in the −Z-direction, and thereby moves from the position for obstructing the movement of the transport carriage  2010  to the position for not obstructing the movement of the transport carriage  2010 , as illustrated in  FIG. 24B . As a result, the blocking apparatus  2008  is opened. 
     Note that, when the carriage transfer module  2039  of the carriage transfer apparatus  2003  moves in the +Y-direction and moves away from the opened blocking apparatus  2008 , the blocking apparatus  2008  moves in a manner opposite to the above-described case illustrated in  FIG. 24A  and  FIG. 24B . Further, the case where the carriage transfer module  2039  of the carriage transfer apparatus  2003  moves has been described above, and when the carriage transfer module  2039  of the carriage transfer apparatus  2004  moves, the corresponding blocking apparatus  2008  moves in the same manner as described above. 
     As discussed above, in the present embodiment, when the carriage transfer module  2039  of the carriage transfer apparatus  2003  or  2004  and the end of the transport module  2011  is not connected to each other, the blocking apparatus  2008  is closed. Thus, even when transfer operation of the transport carriage  2010  to the carriage transfer apparatus  2003  or  2004  occurs due to an erroneous operation, the transport carriage  2010  being out of control, or the like, it is possible to prevent the transport carriage  2010  from jumping out or dropping. Further, since the blocking apparatus  2008  interlocks with the operation of the operation of the carriage transfer module  2039  of the carriage transfer apparatus  2003  or  2004 , it is possible to ensure the operation of the blocking apparatus  2008  and prevent the transport carriage  2010  from jumping out or dropping. 
     As discussed above, according to the present embodiment, even when a transfer operation of the transport carriage  2010  to the carriage transfer module  2039  occurs in the absence of the carriage transfer module  2039 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport path. 
     Note that, while the case of the interlocking mechanism in which the cam plate  2104  and the cam follower  2105  are used as a mechanism for operating the blocking apparatus  2008  has been described above, the embodiment is not limited thereto. Other various mechanisms can be employed as an interlocking mechanism for operating the blocking apparatus  2008 . For example, a rack and pinion mechanism in which a rack gear is used instead of the cam plate  2104  and a pinion gear is used instead of the cam follower  2105  may be used. With an interlocking mechanism using the combination of a rack gear and a pinion gear, it is possible to operate the blocking stopper  2107  between the position for obstructing the movement of the transport carriage  2010  and the position for not obstructing the movement by causing the blocking stopper  2107  to rotate and interlock with the motion of the carriage transfer module  2039 . 
     Ninth Embodiment 
     A ninth embodiment of the present invention will be described by using  FIG. 25  to  FIG. 28 . Note that the same components as those in the eighth embodiment described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
     First, the fundamental configuration of the transport carriage  2010  and the transport module  2011  before implementing the present embodiment will be described by using  FIG. 25  and  FIG. 26 .  FIG. 25  is a font view illustrating the fundamental configuration of the transport system  2061  before implementing the present embodiment, which is a view of the transport carriage  2010  and the transport module  2011  when viewed from the Y-direction.  FIG. 26  is a sectional view illustrating the fundamental configuration of the transport system  2061  before implementing the present embodiment, which is a view of the transport carriage  2010  and the transport module  2011  when viewed from the X-direction. 
     As illustrated in  FIG. 25  and  FIG. 26 , in the present embodiment, the transport module  2011  has the transport module casing  2015  having a top-opened recess structure. The carriage drive coils  2013  including a pair of coil groups installed facing in the Y-direction spaced apart from each other are installed on the inner wall of the recess part of the transport module casing  2015 . Further, the carriage drive coils  2013  are configured such that the permanent magnet  2033  and the permanent magnet bracket  2034  installed on the transport carriage  2010  moving on the transport module  2011  pass between the pair of coil groups. 
     The coil groups forming the carriage drive coils  2013  are installed via heat insulating spacers  2020  to the transport module casing  2015 . Further, through holes  2022  reaching the carriage drive coils  2013  are provided in the transport module casing  2015 . A cover support  2021  is installed through the through holes  2022  to the carriage drive coils  2013 . The cover  2016  is installed to the outer end of the transport module casing  2015  of the cover support  2021 . 
     The encoder  2012  is installed on the encoder attachment face  2018  provided to the transport module casing  2015  via the encoder bracket  2017 . Further, the guiderail  2014  is provided on the top face on one side of the recess part of the transport module casing  2015 . 
     The lower-level controller  2043  that controls the transport module  2011  is installed inside the frame  2062  (not illustrated) or the like and connected to the transport module  2011  via a cable or the like. 
     On the other hand, the transport carriage  2010  has the guide block  2035  and the permanent magnet bracket  2034  installed on the under face of the flat carriage base  2030  and the transport carriage  2010  and has T-shaped structure. The scale  2032  is installed on the side face of the carriage base  2030  via the scale bracket  2031 . 
     In the present embodiment, in the transport system  2061  that has the transport carriage  2010  and the transport module  2011  having the above-described fundamental configuration illustrated in  FIG. 25  and  FIG. 26 , the blocking apparatus  2008  is installed. The configuration including the blocking apparatus  2008  of the transport system  2061  according to the present embodiment will be described below by using  FIG. 27  and  FIG. 28 . 
       FIG. 27  and  FIG. 28  illustrate the configuration including the carriage transfer apparatus  2003 , the transport carriage  2010 , and the transport module  2011  of the transport system  2061  according to the present embodiment.  FIG. 27  is a top view of the transport system  2061  according to the present embodiment when viewed from the Y-direction.  FIG. 28  is a side view of the transport system  2061  according to the present embodiment when viewed from the X-direction. 
     The transport carriage  2010  illustrated in  FIG. 27  and  FIG. 28  has the same configuration as the fundamental configuration before implementing the previously described present embodiment illustrated in  FIG. 25  and  FIG. 26 . On the other hand, the transport module  2011  has the blocking apparatus  2008  provided at the connection part to the carriage transfer module  2039  of the carriage transfer apparatus  2003  and has the same configuration as the previously described fundamental configuration before implementing the present embodiment except that the blocking apparatus  2008  is provided. 
     Also in the present embodiment, the blocking apparatus  2008  is configured to operate the blocking stopper  2107  by using the cam plate  2104  attached to the carriage transfer module  2039  of the carriage transfer apparatus  2003  and the cam follower  2105  installed to the blocking stopper  2107  in the same manner as in the eighth embodiment. Thus, features which distinguishes the present embodiment from the eighth embodiment will be described below. 
     In the eighth embodiment, when the blocking stopper  2107  is in a position for obstructing the movement of the transport carriage  2010 , the blocking stopper  2107  and the guide block  2035  come into contact with and interfere with each other, and thereby the transport carriage  2010  is stopped. In contrast, in the present embodiment, when the blocking topper  2107  is in a position for obstructing the movement of the transport carriage  2010 , the blocking stopper  2107  and the permanent magnet bracket  2034  come into contact with and interfere with each other, and thereby the transport carriage  2010  is stopped. 
     Furthermore, in the present embodiment, a blocking stopper detection unit  2118  that detects the position of the blocking stopper  2107  is installed near the blocking stopper  2107 . Specifically, the blocking stopper detection unit  2118  detects which of the position for obstructing the movement of the transport carriage  2010  or the position for not obstructing the movement of the transport carriage  2010  the blocking stopper  2107  is located in. Thereby, it is possible to check the position of the blocking stopper  2107  when the carriage transfer module  2039  of the carriage transfer apparatus  2003  is not connected to the end of the transport module  2011 . As the blocking stopper detection unit  2118 , without being limited thereto, an object detection sensor such as a photoelectric sensor or the like that detects the presence or absence of an object, for example, can be used. 
     The blocking stopper detection unit  2118  is connected to the lower-level controller  2043 , for example. Information on the detection result of the position of the blocking stopper  2107  is transmitted to the lower-level controller  2043  from the blocking stopper detection unit  2118 . The lower-level controller  2043  can control the transport module  2011  to stop the transport carriage  2010  based on the information on the detection result of the position of the blocking stopper  2107  transmitted from the blocking stopper detection unit  2118 . That is, the lower-level controller  2043  stops the transport carriage  2010  when the carriage transfer apparatus  2003  is not connected to the end of the transport module  2011  and when the blocking stopper  2107  is in a position for not obstructing the movement of the transport carriage  2010  due to breakage of the spring  2108  or the like. Thereby, even when the blocking apparatus  2008  is not normally operate, it is possible to prevent in advance the transport carriage  2010  from jumping out of or dropping from the transport path. 
     Note that, instead of the lower-level controller  2043 , the middle-level controller  2041 , the higher-level controller  2040 , or other controllers may perform the same control as by the lower-level controller  2043  based on the detection result of the position of the blocking stopper  2107  by using the blocking stopper detection unit  2118 . 
     Further, also in other embodiments including the eighth embodiment, the blocking stopper detection unit  2118  may be provided to perform the same control as in the present embodiment. 
     Note that, in the present embodiment and other embodiments including the eighth embodiment, the portion contacted with the blocking stopper  2107  or the blocking stopper  2107  of the transport carriage  2010  may be configured as below. 
     First, a portion of the transport carriage  2010  with which the blocking stopper  2107  contacts is not limited in particular and may be a carriage base  2030 , for example, without being limited to the guide block  2035  in the eighth embodiment or the permanent magnet bracket  2034  in the present embodiment. 
     Furthermore, in order to suppress damage of the transport carriage  2010  due to the contact by the blocking stopper  2107 , a component that absorbs impact, such as a shock absorber, may be attached to the blocking stopper  2107  or the portion with which the blocking stopper  2107  of the transport carriage  2010  contacts or both of them. 
     In addition, for example, the blocking stopper  2107  may be formed of a material such as a resin material whose strength is lower than the portion with which the blocking stopper  2107  of the transport carriage  2010  contacts. Thereby, the blocking stopper  2107  can be configured so that, when the blocking stopper  2107  and the transport carriage  2010  come into contact with each other, the blocking stopper  2107  side rather than the transport carriage  2010  is damaged. Such a configuration that suppresses damage of the transport carriage  2010  can be employed to the blocking stopper  2107 . The blocking stopper  2107  can be configured as an easily replaceable component. Thus, the configuration in which the blocking stopper  2107  side is damaged allows quick recovery of the transport system  2061  compared to the case where the damaged transport carriage  2010  is repaired, replaced, or the like. 
     As discussed above, also in the present embodiment, in the same manner as in the eighth embodiment, even when a transfer operation of the transport carriage  2010  to the carriage transfer module  2039  occurs in the absence of the carriage transfer module  2039 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport path. 
     Tenth Embodiment 
     A tenth embodiment of the present invention will be described by using  FIG. 29  and  FIG. 30 . Note that the same components as those in the eighth and ninth embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 29  and  FIG. 30  illustrate the configuration including the carriage transfer apparatus  2003 , the transport carriage  2010 , the transport module  2011 , and the blocking apparatus  2008  of the transport system  2061  according to the present embodiment.  FIG. 29  is a top view of the transport system according to the present embodiment when viewed from the Z-direction.  FIG. 30  is a side view of the transport system according to the present embodiment when viewed from the X-direction. Note that the position of the carriage transfer apparatus  2003 , that is, the positions of the carriage transfer apparatus base  2101  and the carriage transfer apparatus casing  2103  are different between  FIG. 29  and  FIG. 30 . 
     The carriage transfer apparatus  2003 , the transport carriage  2010 , and the transport module  2011  illustrated in  FIG. 29  and  FIG. 30  are the same as those of the eighth embodiment. Thus, the blocking apparatus  2008  according to the present embodiment that makes difference from the eighth embodiment will be described below. 
     As illustrated in  FIG. 29  and  FIG. 30 , the blocking apparatus  2008  according to the present embodiment is provided to the carriage transfer apparatus  2003 . The blocking apparatus  2008  according to the present embodiment has blocking stoppers  2107   m  and  2107   n . The blocking stoppers  2107   m  and  2107   n  are installed on the carriage transfer apparatus base  2101  that is movable in the Y-direction together with the carriage transfer module  2039  along the linear motion guide  2102 . 
     Furthermore, as illustrated in  FIG. 30 , the blocking stoppers  2107   m  and  2107   n  are installed so as to be located on both the left side and the right side of the carriage transfer module  2039  of the carriage transfer apparatus  2003  when viewed in the X-direction in  FIG. 30 . Thereby, when being connected to the end of the transport modules  2011  on any one of the forward path side and the reverse path side, the carriage transfer module  2039  can obstruct the movement of the transport carriage  2010  on the other transport module  2011 . That is, when the carriage transfer module  2039  is connected to the end of the transport module  2011   b  on the forward path side, movement of the transport carriage  2010  on the transport module  2011   a  on the reverse path side can be obstructed by the blocking stopper  2107   m . On the other hand, when the carriage transfer module  2039  is connected to the end of the transport module  2011   a  on the reverse path side, movement of the transport carriage  2010  on the transport module  2011   b  on the forward path side can be obstructed by the blocking stopper  2107   n.    
     However, the blocking stoppers  2107   m  and  2107   n  are installed so as not to obstruct the movement of the transport carriage  2010  from the transport module  2011  to the carriage transfer module  2039  which are connected to each other or from the carriage transport module  2039  to the transport module  2011  which are connected to each other. 
     The blocking stopper  2107  has such a shape that, when the carriage transfer module  2039  of the carriage transfer apparatus  2003  and the end of the transport module  2011  on any one of the forward path side and the reverse path side are connected to each other, reaches a position for obstructing the movement of the transport carriage  2010  on the other transport module  2011 . Specifically, the blocking stopper  2107   m  has such a shape that, when the carriage transfer module  2039  is connected to the end of the transport module  2011   b  on the forward path side, reaches a position for obstructing the movement of the transport carriage  2010  on the transport module  2011   a  on the reverse path side. Further, the blocking stopper  2107   n  has such a shape that, when the carriage transfer module  2039  is connected to the end of the transport module  2011   a  on the reverse path side, reaches a position for obstructing the movement of the transport carriage  2010  on the transport module  2011   b  on the forward path side. Note that the shape of the blocking stoppers  2107   m  and  2107   n  is not limited as long as it can obstruct the movement of the transport carriage  2010  as illustrated above and may be a plate-like shape, a grid-like shape, a bar-like shape, or the like, for example. 
     In the present embodiment, the blocking stoppers  2107   m  and  2107   n  interlock with the motion of the carriage transfer module  2039  of the carriage transfer apparatus  2003  and move to a position for obstructing the movement of the transport carriage  2010  and a position for not obstructing the movement as descried below. 
     As illustrated in  FIG. 29 , the carriage transfer module  2039  of the carriage transfer apparatus  2003  is connected to the end of the transport module  2011   b  on the forward path side. From this state, the carriage transfer apparatus base  2101  of the carriage transfer apparatus  2003  and the carriage transfer module  2039  move in the +Y-direction in  FIG. 29  from the transport module  2011   b  side to the transport module  2011   a  side by using the carriage transfer actuator  2050  and the ball screw  2051 . In response, the blocking stoppers  2107   m  and  2107   n  also interlock with the motion of the carriage transfer apparatus base  2101  and the carriage transfer module  2039  and move in the +Y-direction from the transport module  2011   b  side to the transport module  2011   a  side. 
     As described above, as a result of interlocking motion of the carriage transfer apparatus base  2101 , the carriage transfer module  2039 , and the blocking stoppers  2107   m  and  2107   n , the carriage transfer apparatus base  2101  leaves the end of the transport module  2011   b . At the same time, the blocking stopper  2107   n  approaches the end of the transport module  2011   b  and obstructs the movement of the transport carriage  2010  on the transport module  2011   b.    
     On the other hand, when the carriage transfer apparatus base  2101  and the carriage transfer module  2039  approach the end of the transport module  2011   a , the blocking stopper  2107   m  leaves the end of the transport module  2011   a . Once the carriage transfer module  2039  moves and connects to the end of the transport module  2011   a  in such a way, the blocking stopper  2107   m  is completely separated from the end of the transport module  2011   a . As a result, the movement of the transport carriage  2010  between the carriage transfer module  2039  and the transport module  2011   a  is not obstructed. 
     As discussed above, also in the present embodiment, likewise the eighth embodiment, even when a transfer operation of the transport carriage  2010  to the carriage transfer module  2039  occurs in the absence of the carriage transfer module  2039 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport path. 
     Note that, while the case where the blocking stoppers  2107   m  and  2107   n  are installed to the carriage transfer apparatus base  2101  has been described above, the embodiment is not limited thereto. Each of the blocking stoppers  2107   m  and  2107   n  may be any stopper as long as it interlocks and moves with the carriage transfer module  2039  of the carriage transfer apparatus  2003 . The blocking stoppers  2107   m  and  2107   n  may be installed on other portion of the carriage transfer apparatus  2003  than the carriage transfer apparatus base  2101 , for example, the carriage transfer apparatus casing  2103  of the carriage transfer module  2039 . 
     Furthermore, a portion to which the blocking stoppers  2107   m  and  2107   n  are installed is not limited to the carriage transfer apparatus  2003 . For example, the blocking stoppers  2107   m  and  2107   n  may be installed to the frame  2062  via a linear motion guide. In this case, the blocking stoppers  2107   m  and  2107   n  can be configured to interlock with the carriage transfer apparatus  2003  by being connected to the carriage transfer module  2039  of the carriage transfer apparatus  2003  via the cam follower or the like. 
     Further, while the case where the blocking apparatus  2008  is provided to the carriage transfer apparatus  2003  has been described above, the blocking apparatus  2008  may be provided to the carriage transfer apparatus  2004  in the same manner. 
     Eleventh Embodiment 
     An eleventh embodiment of the present invention will be described by using  FIG. 31  and  FIG. 32 . Note that the same components as those in the eighth to tenth embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
       FIG. 31  is a schematic diagram illustrating the entire configuration of a processing system including a transport system according to the present embodiment, which is a top view of the entire processing system when viewed from the top. Further,  FIG. 32  is a side view illustrating the configuration including a blocking apparatus of the transport system according to the present embodiment. Note that only the difference from the eighth embodiment will be described below. 
     As illustrated in  FIG. 31 , the transport system  2061  according to the present embodiment has the transport apparatus forward path  2001 , a carriage transfer apparatus  2119 , and the blocking apparatuses  2008 . The carriage transfer apparatus  2119  has an X-axis mechanism  2110  and a Y-axis mechanism  2111 . The transport apparatus forward path  2001  and the carriage transfer apparatus  2119  including the X-axis mechanism  2110  and the Y-axis mechanism  2111  form a transport path of the transport carriage  2010 . 
     The carriage transfer apparatus  2119  further has a carriage transfer module  2109 . The carriage transfer module  2109  has the same configuration as the transport module  2011  forming the transport apparatus forward path  2001 . The carriage transfer module  2109  is able to connect to the end of the transport module  2011  on the most upstream side and the most downstream side on the transport apparatus forward path  2001  and transport with the transport carriage  2010  being transferred thereto. 
     In the carriage transfer apparatus  2119 , the X-axis mechanism  2110  is configured to be able to move the carriage transfer module  2109  in the X-direction along the transport apparatus forward path  2001  with respect to the most upstream side or the most downstream side of the transport apparatus forward path  2001 . Further, the Y-axis mechanism  2111  is configured to be able to move the carriage transfer module  2109  that has been moved by the X-axis mechanism  2110  to the most upstream side or the most downstream side of the transport apparatus forward path  2001  in the Y-direction so as to be adjacent to the end of the most upstream side or the most downstream side of the transport apparatus forward path  2001 . The carriage transfer module  2109  that has been moved by the Y-axis mechanism  2111  so as to be adjacent to the end of the most upstream side or the most downstream side of the transport apparatus forward path  2001  is able to connect to the end of the adjacent transport module  2011  on the most upstream side or the most downstream side and transfer with the transport carriage  2010  being transported thereto. 
     As illustrated in  FIG. 32 , the X-axis mechanism  2110  has an X-axis actuator  2112 , an X-axis linear motion guide  2116 , and an X-axis base  2114 . The Y-axis mechanism  2111  is installed on the X-axis base  2114 . The X-axis mechanism  2110  uses the X-axis actuator  2112  to operate the X-axis base  2114  and the Y-axis mechanism  2111  installed on the X-axis base  2114  in the X-direction along the X-axis linear motion guide  2116  provided in parallel to the X-direction. 
     Further, the Y-axis mechanism  2111  has a Y-axis actuator  2113 , a Y-axis linear motion guide  2117 , and a Y-axis base  2115 . The carriage transfer module  2109  is installed on the Y-axis base  2115 . The Y-axis mechanism  2111  uses the Y-axis actuator  2113  to operate the Y-axis base  2115  and the carriage transfer module  2109  installed on the Y-axis base  2115  in the Y-direction along the Y-axis linear motion guide  2117  provided in parallel to the Y-direction. 
     As illustrated in  FIG. 31 , the transport carriage  2010  is transported along the transport apparatus forward path  2001  from the upstream to the downstream thereof (in the +X-direction in  FIG. 31 ). The carriage transfer module  2109  is connected to the end of the transport module  2011  on the most downstream side of the transport apparatus forward path  2001 . The transport carriage  2010  that has reached the most downstream side of the transport apparatus forward path  2001  transfers to the carriage transfer module  2109  at the most downstream side of the transport apparatus forward path  2001 . The transport carriage  2010  that has transferred to the carriage transfer module  2109  stops on the carriage transfer module  2109 . 
     Next, the transport carriage  2010  on the carriage transfer module  2109  is moved in the +Y-direction in  FIG. 31  together with the carriage transfer module  2109  by the Y-axis mechanism  2111 . 
     Next, the transport carriage  2010  on the carriage transfer module  2109  moves in the −X-direction in  FIG. 31  together with the Y-axis mechanism  2111  and the carriage transfer module  2109  by using the X-axis mechanism  2110 . At this time, the X-axis mechanism  2110  moves the Y-axis mechanism  2111 , the carriage transfer module  2109 , and the transport carriage  2010  up to the most upstream side on the transport apparatus forward path  2001 . 
     Next, the transport carriage  2010  on the carriage transfer module  2109  moves in the −Y-direction in  FIG. 31  together with the carriage transfer module  2109  by using the Y-axis mechanism  2111 . The carriage transfer module  2109  that has move in such a way connects to the end of the transport module  2011  on the most upstream side of the transport apparatus forward path  2001 . Next, the transport carriage  2010  on the carriage transfer module  2109  transfers to the transport module  2011  on the most upstream side of the transport apparatus forward path  2001 . The transport carriage  2010  that has transferred to the transport module  2011  on the most upstream side of the transport apparatus forward path  2001  is again transported on the transport apparatus forward path  2001 . 
     In this way, the transport carriage  2010  that has reached the most downstream side of the transport apparatus forward path  2001  is transferred to the most upstream side of the transport apparatus forward path  2001  by the X-axis mechanism  2110  and the Y-axis mechanism  2111  of the carriage transfer apparatus  2119  and thereby circulated and transported on the transport path including the transport apparatus forward path  2001 . Note that, also in the transport system  2061  of the present embodiment, a single transport carriage may be installed or a plurality of transport carriages may be installed as previously described. 
     Further, the carriage transfer apparatus  2119  has the X-axis mechanism  2110  and the Y-axis mechanism  2111  that can move the carriage transfer module  2109  in the X-direction and the Y-direction in  FIG. 31  and  FIG. 32  but is not limited thereto. The carriage transfer apparatus  2119  may be any carriage transfer apparatus as long as it can move the carriage transfer module  2109  so as to be able to connect to both the most upstream side and the most downstream side of the transport apparatus forward path  2001 . For example, the carriage transfer apparatus  2119  may be configured so that the carriage transfer module  2109  can move in two axis directions of the X-direction and the Z-direction in  FIG. 31  and  FIG. 32  or may be configured so that the carriage transfer module  2109  can move in three axis directions of the X-direction, the Y-direction, and the Z-direction in  FIG. 31  and  FIG. 32 . 
     In the transport system  2061  according to the present embodiment described above, the blocking apparatuses  2008  are provided to both the ends of the carriage transfer module  2109  in addition to both the ends of the transport apparatus forward path  2001 . Specifically, as the blocking apparatus  2008 , blocking apparatuses  2008   a  are provided to both the ends of the transport apparatus forward path  2001 , and blocking apparatus  2008   b  are provided to both the ends of the carriage transfer module  2109 . That is, each blocking apparatus  2008  is provided to the connection part between the transport apparatus forward path  2001  and the carriage transfer module  2109 . Thereby, when the transport apparatus forward path  2001  and the carriage transfer module  2109  are not connected to each other, it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport apparatus forward path  2001 . In addition, when the transport carriage  2010  on the carriage transfer module  2109  is transferred by the X-axis mechanism  2110  and the Y-axis mechanism  2111  of the carriage transfer apparatus  2119 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the carriage transfer module  2109 . 
     Next, the configuration of the blocking apparatuses  2008  according to the present embodiment will be described. As the blocking apparatuses  2008  according to the present embodiment, there are blocking apparatuses  2008   a  provided for preventing the transport carriage  2010  from jumping out of or dropping from the transport apparatus forward path  2001  and blocking apparatuses  2008   b  provided for preventing the transport carriage  2010  from jumping out of or dropping from the carriage transfer module  2109 . 
     As illustrated in  FIG. 32 , each of the blocking apparatuses  2008   a  at both the ends of the transport apparatus forward path  2001  has a cam follower  2105   a , a linear motion guide  2106   a , a blocking stopper  2107   a , and a spring  2108   a  and is configured to operate by a cam plate  2104   a  in the same manner as the eighth embodiment. Each blocking apparatus  2008   a  has the same configuration as the blocking apparatus  2008  according to the eighth embodiment and operates in the same manner as the blocking apparatus  2008  according to the eighth embodiment. The blocking apparatuses  2008   a  at both the ends of the transport apparatus forward path  2001  can prevent the transport carriage  2010  from jumping out of or dropping from the transport apparatus forward path  2001  in the absence of the carriage transfer module  2109 . 
     On the other hand, each of the blocking apparatuses  2008   b  at both the ends of the carriage transfer module  2109  has a cam follower  2105   b , a linear motion guide  2106   b , a blocking stopper  2107   b , and a spring  2108   b  and is configured to operate by a cam plate  2104   b . While the cam follower  2105   b , the linear motion guide  2106   b , the blocking stopper  2107   b , and the spring  2108   b  are provided to the carriage transfer module  2109 , the cam plate  2104   b  is installed to the transport module  2011 . 
     The operation of each of the blocking apparatuses  2008   b  at both the ends of the carriage transfer module  2109  is the same as that of each of the blocking apparatuses  2008   a  at both the ends of the transport module  2011 . That is, once the carriage transfer module  2109  connects to the end of the transport module  2011 , the cam plate  2104   b  and the cam follower  2105   b  causes the blocking stopper  2107   b  to be in a position for not obstructing the movement of the transport carriage  2010  from a position for obstructing the movement of the transport carriage  2010 . Note that the blocking stopper  2107   b  is adapted to interfere with the lower part of the carriage base  2030  of the transport carriage  2010  and obstruct and prevent the movement of the transport carriage  2010 , for example, in a position for obstructing the movement of the transport carriage  2010 . Each of the blocking apparatuses  2008   b  at both the ends of the carriage transfer module  2109  can prevent the transport carriage  2010  from jumping out of or dropping from the carriage transfer module  2109  when the transport carriage  2010  on the carriage transfer modules  2109  is transferred by the carriage transfer apparatus  2119 . 
     As discussed above, also in the present embodiment, likewise the eighth embodiment, even when a transfer operation of the transport carriage  2010  to the carriage transfer module  2109  occurs in the absence of the carriage transfer module  2109 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the transport path. Further, in the present embodiment, in particular, when a transfer operation is performed by the carriage transfer apparatus  2119 , it is possible to prevent the transport carriage  2010  from jumping out of or dropping from the carriage transfer module  2109 . 
     Twelfth Embodiment 
     A twelfth embodiment of the present invention will be described by using  FIG. 33  and  FIG. 34 . Note that the same components as those in the eighth to eleventh embodiments described above are labeled with the same reference numerals, and the description thereof will be omitted or simplified. 
     First, the configuration of the transport system according to the present embodiment will be described by using  FIG. 33 .  FIG. 33  is a schematic diagram illustrating the configuration of the transport system according to the present embodiment, which is atop view of the entire transport system when viewed from the top. However, the configuration of the transport system according to the present embodiment is the same as the transport system according to the eighth embodiment except for the feature of the blocking apparatus  2008 . In the present embodiment, as illustrated in  FIG. 33 , as the blocking apparatus  2008 , blocking apparatuses  2008   a  and  2008   b  are installed at both the ends of the transport apparatus forward path  2001 , and the blocking apparatuses  2008   c  and  2008   d  are installed at both the ends of the transport apparatus reverse path  2002 . Note that  FIG. 33  illustrates six transport carriages  2010   a ,  2010   b ,  2010   c ,  2010   d ,  2010   e , and  2010   f  as the transport carriages  2010 . 
     Each blocking apparatus  2008  according to the present embodiment is configured to use an air cylinder to operate the blocking stopper  2107 . Note that the blocking apparatus  2008  may be adapted to use a drive source other than an air cylinder to operate the blocking stopper  2107  and, for example, may be adapted to use a linear motion electromotive actuator to operate the blocking stopper  2107 . The blocking apparatus  2008  is connected to the middle-level controller  2041  in a controllable manner, for example. In this case, the blocking apparatus  2008  operates by being controlled by the middle-level controller  2041  and can operate so as to interlock with the motion of the carriage transfer module  2039  at the same timing as the blocking apparatus  2008  according to the eighth embodiment to switch a closed state and an opened state. 
     Next, the operation of the transport carriage  2010 , the carriage transfer apparatuses  2003  and  2004 , and the blocking apparatus  2008  will be described by using  FIG. 33  and  FIG. 34 .  FIG. 34  is a diagram illustrating a part of the timing chart illustrating the operation of the transport system according to the present embodiment. 
       FIG. 33  illustrates each position and state of the transport carriage  2010 , the carriage transfer apparatuses  2003  and  2004 , and the blocking apparatus  2008  at the time t 0 . Note that, in the present embodiment, the positions of the carriage transfer apparatuses  2003  and  2004  refer to respective positions of the carriage transfer modules  2039 . Further,  FIG. 34  illustrates the operation of the transport carriage  2010 , the carriage transfer apparatuses  2003  and  2004 , and the blocking apparatus  2008  from the time t 0  to the time t 4 . In  FIG. 33  and  FIG. 34 , P 1  to P 10  indicate stop positions of the transport carriage  2010 , P 20  and P 23  indicate the stop positions of the carriage transfer module  2039  of the carriage transfer apparatus  2003 , and P 21  and P 22  indicate the stop positions of the carriage transfer module  2039  of the carriage transfer apparatus  2004 . 
     First, at the time t 0 , the transport carriages  2010   a ,  2010   b ,  2010   c ,  2010   d ,  2010   e , and  2010   f  and the carriage transfer modules  2039  of the carriage transfer apparatuses  2003  and  2004  are at respective stop positions illustrated in  FIG. 33 . That is, the transport carriage  2010   a  is stopped at the stop position P, the transport carriage  2010   b  is stopped at the stop position P 2 , the transport carriage  2010   c  is stopped at the stop position P 4 , the transport carriage  2010   d  is stopped at the stop position P 5 , the transport carriage  2010   e  is stopped at the stop position P 7 , and the transport carriage  2010   f  is stopped at the stop position P 9 . Further, the carriage transfer module  2039  of the carriage transfer apparatus  2003  is stopped at the stop position P 20 , and the carriage transfer module  2039  of the carriage transfer apparatus  2004  is stopped at the stop position P 21 . 
     Further, at the time t 0 , the blocking apparatuses  2008   a  and  2008   b  are opened, that is, the blocking stoppers  2107   a  and  2107   b  are in respective positions for not obstructing the movement of the transport carriage  2010 . Further, at the time t 0 , the blocking apparatuses  2008   c  and  2008   d  are closed, that is, the blocking stoppers  2107   c  and  2107   d  are in respective positions for obstructing the movement of the transport carriage  2010 . 
     From the time t 0  to the time t 1 , the transport carriages  2010   a ,  2010   b ,  2010   c ,  2010   d ,  2010   e , and  2010   f  operate. That is, the transport carriage  2010   a  moves to and stops at the stop position P 2 , the transport carriage  2010   c  moves to and stops at the stop position P 5 , the transport carriage  2010   d  moves to and stops at the stop position P 6 , and the transport carriage  2010   f  moves to and stops at the stop position P 10 . At this time, the transport carriages  2010   b  and  2010   e  continue to move. 
     Next, from the time t 1  to the time t 2 , the transport carriages  2010   b  and  2010   c , the transport transfer apparatuses  2003  and  2004 , and the blocking apparatuses  2008   a ,  2008   b ,  2008   c , and  2008   d  operate. That is, the transport carriage  2010   b  moves to and stops at the stop position P 4 , the transport carriage  2010   e  moves to and stops at the stop position P 9 , the carriage transfer module  2039  of the carriage transfer apparatus  2003  moves to and stops at the stop position P 23 , and the carriage transfer module  2039  of the carriage transfer apparatus  2004  moves to and stops at the stop position P 22 . Further, interlocking with this motion of the carriage transfer apparatuses  2003  and  2004 , the blocking apparatuses  2008   a  and  2008   b  are switched from an opened state to a closed state, and the blocking apparatus  2008   c  and  2008   d  are switched from a closed state to an opened state. 
     At this time, the middle-level controller  2041  operates the blocking apparatus  2008  at a timing not causing interference with the carriage transfer module  2039  of the carriage transfer apparatus  2003  and switches the blocking apparatus  2008  between an opened state and a closed state. Thus, the transport carriage  2010   b  is moving also when the blocking apparatuses  2008   a  and  2008   b  are opened. Further, the transport carriage  2010   e  is moving also when the blocking apparatuses  2008   c  and  2008   d  are opened. 
     Here, the transport carriage  2010   c  preceding the transport carriage  2010   b  is located closer to the connection part where the carriage transfer module  2039  of the carriage transfer apparatus  2004  is connected to the transport module  2011  of the transport apparatus forward path  2001  than the transport carriage  2010   b . In this case, the middle-level controller  2041  controls the transport carriage  2010   c  to stop while moving the transport carriage  2010   b  during a period including a period when the carriage transfer module  2039  of the carriage transfer apparatus  2004  is not connected to the transport module  2011  of the transport apparatus forward path  2001 . 
     Similarly, the transport carriage  2010   f  preceding the transport carriage  2010   e  is located closer to the connection part where the carriage transfer module  2039  of the carriage transfer apparatus  2003  is connected to the transport module  2011  of the transport apparatus reverse path  2002  than the transport carriage  2010   e . In this case, the middle-level controller  2041  controls the transport carriage  2010   f  to stop while moving the transport carriage  2010   e  during a period including a period when the carriage transfer module  2039  of the carriage transfer apparatus  2003  is not connected to the transport module  2011  of the transport apparatus reverse path  2002 . 
     Thus, even if the transport carriage  2010   b  or  2010   e  does not stop at the stop position and almost jumps out of the transport path due to an erroneous operation, the transport carriage  2010  being out of control, or the like, such jumping out is prevented by the preceding stopped transport carriages  2010   c  or  2010   f . That is, even if the transport carriage  2010   b  almost jumps out of the transport apparatus forward path  2001 , the transport carriage  2010   b  collides with the preceding transport carriage  2010   c , which prevents the transport carriage  2010   b  from jumping out. Further, even if the transport carriage  2010   e  almost jumps out of the transport apparatus reverse path  2002 , the transport carriage  2010   e  collides with the preceding transport carriage  2010   f , which prevents the transport carriage  2010   e  from jumping out. 
     As discussed above, in the present embodiment, even when the blocking apparatuses  2008   a ,  2008   b ,  2008   c , and  2008   d  are opened, the preceding stopped transport carriages  2010   c  and  2010   f  prevent the moving transport carriages  2010   b  and  2010   e  from jumping out of the transport path. Thus, in the present embodiment, safety is ensured even when the blocking apparatus  2008  is opened. Therefore, in the present embodiment, even when the blocking apparatus  2008  is opened, the transport carriage  2010  can be moved. 
     Here, the middle-level controller  2041  that controls transportation of the transport carriage  2010  normally supplies motive power to the transport carriage  2010  stopped at a predetermined stop position and controls the transport carriage  2010  to stop at the predetermined stop position as a target stop position by using servo control. 
     In contrast, for further safety, the middle-level controller  2041  may perform control so as to cut off the motive power to the transport carriages  2010   c  and  2010   f  to stop the transport carriages  2010   c  and  2010   f  during the time t 1  to the time t 2 . By cutting off the motive power to stop the transport carriages  2010   c  and  2010   f , it is possible to more reliably prevent the transport carriages  2010   c  and  2010   f  from being pushed toward the outside of the transport path even when the subsequent transport carriages  2010   b  and  2010   e  collide. 
     Next, during the time t 2  to the time t 3 , the transport carriages  2010   d  and  2010   f  operate. That is, the transport carriage  2010   d  moves to and stops at the stop position P 7 , and the transport carriage  2010   f  moves to and stops at the stop position P 1 . 
     Next, during the time t 3  to the time t 4 , the carriage transfer apparatuses  2003  and  2004  and the blocking apparatuses  2008   a ,  2008   b ,  2008   c , and  2008   d  operate. That is, the carriage transfer module  2039  of the carriage transfer apparatus  2003  on which the transport carriage  2010   f  stops moves to and stops at the stop position P 20 , and the carriage transfer module  2039  of the carriage transfer apparatus  2004  moves to and stops at the stop position P 21 . Further, the blocking apparatuses  2008   a  and  2008   b  are switched from a closed state to an opened state, and the blocking apparatuses  2008   c  and  2008   d  are switched from an opened state to a closed state. 
     As a result, at the time t 4 , the state of the transport system according to the present embodiment is a state where the transport carriages  2010  have moved to the next position by one transport carriage from the state of the time t 0 . With repetition of the same operation as the operation from the time t 1  to the time t 4  as discussed above, circulating transportation of the transport carriages  2010  is performed. Note that, also in other embodiments, the transport system can be operated in the same manner as the present embodiment. 
     As discussed above, there may be a case where the carriage transfer module  2039  of the carriage transfer apparatus  2003  or  2004  is not connected to the end of the transport apparatus forward path  2001  or the transport apparatus reverse path  2002 , that is, the end of the transport module  2011  and further the blocking apparatus  2008  is opened. Even in such a case, by stopping the transport carriage  2010  located near the connection part of the carriage transfer module  2039  and the end of the transport module  2011 , it is possible to move the transport carriage  2010  located farther from the connection part than that transport carriage  2010 . Even if the transport carriage  2010  does not stop due to an erroneous operation, the transport carriage  2010  being out of control, or the like, the moving transport carriage  2010  collides with the stopped transport carriage  2010 , and it is therefore possible to prevent the transport carriage  2010  from jumping out or dropping from. 
     Note that, while each blocking apparatus  2008  according to the present embodiment is configured to use an air cylinder to operate the blocking stopper  2107 , the blocking apparatus  2008  as described above may be adapted to use a drive source other than an air cylinder to operate the blocking stopper  2107 . Further, as each configuration of the blocking apparatus  2008 , the configuration according to other embodiments such as the eighth embodiment may be employed. 
     Further, such a configuration may be employed that directly presses and fixes the transport carriage  2010  located near the connection part to the carriage transfer module  2039  and the end of the transport module  2011  by using an air cylinder or the like when the transport carriage  2010  is stopped at the stop position. For example, in the present embodiment, it is possible to install a fixing mechanism that presses and fixes the transport carriage  2010  stopping at the stop positions P 5  and P 10  that are the closest to the connection part, specifically, the transport carriages  2010   c  and  2010   f  stopping at the stop positions P 5  and P 10  during the time t 1  to the time t 2 . 
     Other Embodiments 
     The present invention is not limited to the embodiments described above, and various modifications are possible. 
     For example, while the case of using the carriage transfer apparatus  11  that moves each of the transport modules  12 ,  17 , and  17 ′ within a plane formed by the transport path such as the Y-axis direction has been described as an example in the above embodiments, the carriage transfer apparatus is not limited thereto. As the carriage transfer apparatus, for example, a carriage transfer apparatus in which the moving direction of the linear or curved transport module, that is, the transfer direction of a carriage is the Z-axis direction may also be used. In this case, the carriage transfer apparatus can move the transport module upward or downward with respect to a plane formed by the transport path and transfer a carriage from one transport path to another transport path or the maintenance transport module whose positions of the Z-axis direction are different from each other. This enables maintenance of a particular carriage without increasing the footprint of the transport system and without stopping a process on another carriage. 
     The transport module connection face of the fixed transport path may be configured to be engaged with a concave part and a convex part in the carriage traveling direction. In such a case, it appears to be difficult to use a carriage transfer apparatus having a transport module that moves in a direction different from the carriage traveling direction within a plane forming the transport path. Even in such a case, the use of the carriage transfer apparatus that moves the transport module in the Z-axis direction as described above can realize motion of a carriage between the transport paths different from each other or between the transport path and the maintenance transport module. 
     Further, in the case described above, the maintenance transport module may be arranged in a position in the Z-axis direction which does not interfere with the processing operation area and is different from the processing operation area and thereby can be configured to be able to connect to the carriage transfer apparatus. Thereby, also in a portion where the curved transport module of the transport path is used, constraints on the end face shape of the transport module or constraints for avoiding interference between the maintenance transport module and the processing operation area can be significantly eased. 
     Further, while the case where the transport system is formed of a synchronous type linear motor has been described as an example in the above embodiments, without being limited thereto, the transport system can be formed of a reluctance type linear motor. 
     Further, while the case where the processing system forms a production line such as an assembly line of workpieces or the like has been described as an example in the above embodiments, the invention is not limited thereto. The present invention can be applied to any line that divides a series of operation processes into a plurality of stations and performs the series of operation processes and can also be applied to a line for various operations other than a production line. 
     While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions. 
     This application claims the benefit of Japanese Patent Applications No. 2017-184119, filed Sep. 25, 2017, and No. 2017-184121, filed Sep. 25, 2017, which are hereby incorporated by reference herein in their entirety.