JP5018537B2 - Library apparatus and positioning method in library apparatus - Google Patents

Description

  The present invention is relatively positioned at a position facing a medium storage shelf provided with a plurality of cells for storing a storage medium and a target cell in the medium storage shelf. The present invention relates to a positioning method in a library apparatus that includes a medium gripping device that takes out and supplies a storage medium to a counter cell, and a recording / playback device that records or reproduces data on a storage medium supplied from the medium gripping device. Further, the present invention is positioned relative to a position where a medium storage shelf provided with a plurality of cells for storing a storage medium and a target cell in the medium storage shelf are opposed to each other. A medium gripping device for taking out a medium and supplying a storage medium to an opposite cell, a recording / reproducing device for recording or reproducing data on a storage medium supplied from the medium gripping device, and a target in a medium storage shelf The present invention relates to a library apparatus including position control means for positioning between a cell and a medium gripping apparatus.

  An example of the internal structure of a conventional library apparatus is shown in FIGS. The library apparatus 1 is relatively positioned and opposed to a medium storage shelf 3 provided with a plurality of cells 2 for storing a storage medium and a target cell 2 in the medium storage shelf 3. A medium gripping device 4 that takes out the storage medium from the cell 2 and supplies the storage medium to the opposite cell 2, and a recording / reproducing device 5 that records or reproduces data on the storage medium supplied from the medium gripping device 4. A position control means (not shown) for conveying the medium gripping device 4 and positioning the target cell 2 in the medium storage shelf 3 and the medium gripping device, and for loading and unloading the storage medium And a discharge device 6.

  In this library apparatus 1, for example, the storage medium stored in the medium storage shelf 3 or the loading / unloading apparatus 6 in the library apparatus 1 is taken out by the operation panel and recorded / reproduced by the recording / reproducing apparatus 5. Can do. Also, a specific storage medium can be discharged into the loading / unloading device 6.

  Inside the library apparatus 1, a medium storage shelf 3 and a recording / reproducing apparatus 5 are arranged in a U shape, for example, together with a loading / unloading apparatus 6, and a medium gripping device (accessor) 4 is installed inside the U-shaped array. ing. The medium storage shelf 3, the recording / reproducing device 5 and the loading / unloading device 6 are also arranged in the vertical direction. The medium gripping device 4 is guided and guided by a guide so that it can be accessed horizontally, vertically. It is configured to be able to rotate.

  In this type of library apparatus, it is required to increase the storage capacity per volume, which is its basic performance. For this purpose, it is necessary to arrange the cells 2 in the medium storage shelf 3 at a narrow interval. At this time, high accuracy is also required for relative positioning between the cell 2 in the medium storage shelf 3 and the medium gripping device 4.

  On the other hand, the relative positional relationship between the cell 2 in the medium storage shelf 3 and the medium gripping device 4 also varies due to tolerances and assembly errors of the parts constituting the library device 1. For this reason, it is necessary to make correction (adjustment) prior to the formal operation after the actual installation of the apparatus and the addition or replacement of the medium storage shelf or the like so that the relative positioning of the two can be performed with high accuracy.

  Conventionally, the relative positional relationship (error) between the cell 2 and the medium gripping device 4 is measured in advance, and this is performed at the time of relative positioning between the cell 2 and the medium gripping device 4 in actual operation. The error is corrected (see, for example, Patent Document 1 and Patent Document 2).

  In general, as shown in FIG. 7 and FIG. 8, a plate flag (target) 10 capable of grasping the presence of a predetermined cell 2 is fixed, and flag recognition means (for example, a CCD camera or the like) for reading the flag 10 is fixed. A reflective sensor or the like is integrally provided on the medium gripping device 4 side, and at the time of correction work, the device gripping position on the device design (cell) that is supposed to accurately face the medium gripping device 4 to the cell 2 to which the flag 10 is fixed. 2 is moved to the original position: normal position), the flag recognition means detects the actual position of the cell 10 at that position, and an error (deviation) of the actual position from the normal position is obtained. In actual operation, the medium gripping device 4 is moved by reflecting this error, and positioning between each cell 2 of the medium storage shelf 3 and the medium gripping device 4 is performed.

In the example of FIG. 8, the medium storage shelf 3 is composed of, for example, three units U1, U2, and U3, and the flags 10 are fixed to the cells 2 at the three corners of each unit U1, U2, and U3. The actual measurement position of the flag 10 (the actual measurement position of the cell 2) is detected by the flag recognition means, and the error of this actual measurement position with respect to the normal position is obtained. For example, for unit U2, if errors in cell 2 at three corners in unit U2 are known, proportional calculation is also performed for errors in other cells 2 in the same unit U2 based on these errors. Can be obtained more easily.
Then, at the time of relative positioning between the cell 2 and the medium gripping device 4 in the actual operation of the device, the medium gripping device 4 is relatively moved by using the correction value that eliminates the error of each cell 2. Then, positioning will be performed.
Japanese Patent Laid-Open No. 11-25553 (FIG. 6) JP 2004-93265 A (page 5)

  In the case of the above-described prior art, flags are fixed to cells at three corners in the unit on the assumption that each unit is deformed only in a parallelogram shape. Therefore, even in this case, the number of cells that can actually store the storage medium is reduced by 3 × number of units. Furthermore, if the premise that each unit is deformed only to a parallelogram is broken, it is necessary to increase the flag to increase the positioning accuracy. In this case, the flag has to be fixed in many cells, and the number of cells that can actually store the storage medium is further reduced, and the number of storage media that can be stored is also reduced. Therefore, the prior art has a problem that the dead space increases and the storage capacity per volume decreases.

  The present invention has been made to solve the above problem, and is intended to realize a library apparatus and a positioning method in the library apparatus that can increase positioning accuracy without reducing the number of cells that can actually store a storage medium. It is.

  The invention according to claim 1 for solving the above-described problem relates to a positioning method of a library apparatus, and a medium storage shelf provided with a plurality of cells for storing a storage medium, and a target cell in the medium storage shelf A medium gripping device that is positioned relative to the opposite position of the storage cell and takes out the storage medium from the opposite cell and supplies the storage medium to the opposite cell, and data storage with respect to the storage medium supplied from the medium gripping device. The present invention relates to a positioning method between the medium storage shelf and the medium gripping device in a library apparatus including a recording / reproducing apparatus that performs recording or reproduction.

  Specifically, in the positioning method, a positioning correction block having a shape that can be inserted into and removed from the cell of the medium storage shelf, the surface being opposed to the medium gripping device in the storage state in the cell. Prepares a block provided with a flag capable of grasping the presence of the block, and stores the block sequentially in a plurality of predetermined cells of the medium storage shelf at the time of positioning correction. By reading the flag on the block, for each of a plurality of predetermined cells, an error from the original position is obtained, and when the apparatus is actually operated, the error is reflected and each of the media storage shelves is reflected. Positioning between the cell and the medium gripping device is performed.

  In this invention, the positioning correction block provided with the flag is sequentially stored in a plurality of predetermined cells of the medium storage shelf, and the flag on the block is read each time the storage is performed. Thereby, for each of a plurality of predetermined cells, an error from the position where it should originally be is obtained, and when the apparatus is actually operated, the error is reflected, and each cell of the medium storage shelf and the medium gripping device are reflected. Position between.

  The invention according to claim 2 is relatively positioned at a facing position between a medium storage shelf provided with a plurality of cells for storing a storage medium and a target cell in the medium storage shelf. A medium gripping device for taking out the storage medium and supplying the storage medium to the opposite cell, a recording / reproducing device for recording or reproducing data on the storage medium supplied from the medium gripping device, and the medium storage shelf The present invention relates to a library apparatus provided with a position control means for positioning between a target cell in the medium and the medium gripping apparatus.

  Specifically, in the library apparatus, a positioning correction block having a shape that can be inserted into and removed from a cell of the medium storage shelf, and is provided on a surface facing the medium gripping apparatus in the storage state in the cell. Comprises a block provided with a flag capable of grasping the presence of the block, and a flag recognizing unit which is provided integrally on the medium gripping device side and reads the flag on the block, and the position control unit includes: At the time of positioning correction, in a state where the block is stored in a predetermined cell of the medium storage shelf, the flag recognition unit reads the flag to read the cell. Error is obtained from the original position, and then the block is collected using the medium gripping device and stored again in another predetermined cell. Retrieval of the flag on the block, thereby obtaining an error from the position where the cell should be originally obtained, for each of a plurality of cells in which the collection / storage and flag reading operations for the block are determined in advance. Execute and detect an error from a position where a plurality of predetermined cells should be, and reflect the error during actual operation of the apparatus, and each cell of the medium storage shelf and the medium gripping apparatus It is characterized by positioning between the two.

  In the present invention, in a state where the positioning correction block is stored in a predetermined cell of the medium storage shelf, the flag recognition means reads the flag, and from the original position of the cell in which the block is stored. Find the error of. Thereafter, the medium gripping device collects the block and stores it again in another predetermined cell. The flag recognizing unit reads the flag on the block again, and obtains an error from the position where the cell should be. When each of the collection / storage and flag reading operations for the block is executed for each of the plurality of predetermined cells, the detection of the error from the original position for the plurality of predetermined cells ends. During actual operation of the apparatus, this error is reflected to perform positioning between each cell of the medium storage shelf and the medium gripping apparatus.

  According to a third aspect of the present invention, in the library device according to the second aspect of the present invention, the block is formed such that the tip of the insertion side into the cell is tapered, and the other side wall of the block is placed on the side of the cell. An elastic member for pressing against the reference plane is provided.

  According to a fourth aspect of the present invention, in the library apparatus according to the third aspect, the upper wall portion of the block is also provided with an elastic member for pressing the lower wall portion of the block against the lower reference surface of the cell. It is a feature.

  The invention according to claim 5 is characterized in that, in the library device according to claim 3 or 4, the elastic member is a roller that rotates in the insertion / removal direction of the block.

  The invention according to claim 6 is the library apparatus according to claim 2, wherein the block is a maintenance cartridge in which a storage medium for diagnosis used for diagnosis of the library apparatus is stored, or a magnetic recording / reproducing apparatus included in the library apparatus. Any one of the cleaning cartridges used for cleaning the head is provided with a flag. Details will be described later with reference to FIGS.

  According to the first aspect of the present invention, the blocks for positioning correction are sequentially stored in a plurality of predetermined cells of the medium storage shelf, and the blocks are collected after reading the flag. It can be used as a normal cell for storing a storage medium and does not become a dead space. Therefore, it is possible to realize a positioning method in the library apparatus that can increase positioning accuracy without reducing the number of cells.

  According to the second aspect of the present invention, as in the first aspect, the block for positioning correction is sequentially stored in a plurality of predetermined cells of the medium storage shelf, and the block is recovered after reading the flag. Therefore, the cell after reading the flag can be used as a normal cell for storing the storage medium and does not become a dead space. Therefore, it is possible to realize a library apparatus that can increase the positioning accuracy without reducing the number of cells.

  According to the invention of claim 3, since the tip end side of the block into the cell is tapered, it is easy to insert the block into the cell even when the relative positional accuracy between the block and the cell is poor during the correction operation. Become. Furthermore, according to this invention, since the other side wall part of the block is pressed against the side reference surface of the cell by the elastic body provided on one side wall part of the block, the block is always stored accurately in the cell. .

  According to the invention of claim 4, the elastic body provided on the upper wall portion of the block presses the lower wall portion of the block against the lower reference surface of the cell, so that the block is stored more accurately in the cell. . Moreover, according to the invention which concerns on Claim 5, since an elastic body is a roller which rotates in the insertion / removal direction of a block, a block can be moved smoothly.

  Furthermore, according to the invention according to claim 6, since the flag is attached to either the maintenance cartridge used in the library apparatus or the cleaning cartridge as the block, the original maintenance can be performed by removing the flag. The cartridge can be used with a cleaning cartridge or a cleaning cartridge, and the number of windings of a tape cartridge containing a storage medium used by a user can be increased. Hereinafter, the cartridge is simply referred to as CTG.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the arrangement of flags for explaining the characteristic configuration of the present invention, which is compared with FIG. The difference between the present embodiment and the configuration shown in FIGS. 6 to 8 is the configuration of the medium storage shelf and the correction (adjustment) operation of the library apparatus, and there is no significant difference in other configurations and operations. In the description of this embodiment, the components corresponding to those in FIGS. 6 to 8 are denoted by the same reference numerals for easy understanding.

  In FIG. 1, the plate-like flag 10 in FIG. 8 is not fixed to the cells 2 of the units U1 and U2. On the other hand, a positioning correction block 20 as shown in FIG. 2 is stored in the cell 2 (initial storage location S1) at the lower left corner of the unit U3. The initial storage location S1 is a storage location of the block 20 at the start of the positioning correction work. Also at the end of the positioning correction work, the block 20 is returned to and stored here.

  The block 20 has a shape that can be inserted into and removed from the cell 2 of the medium storage shelf 3, and a taper is provided on the distal end side of the insertion into the cell 2, and the block 20 is tapered. This is so that the block 20 can be easily inserted into the cell 2 even if the block 20 is slightly displaced from the cell 2 and faces the cell 2 during the positioning correction operation.

  Also, on one side wall portion of the block 20, a roller 21 made of an elastic body such as rubber is provided as an elastic member for pressing the other side wall portion of the block 20 against the side reference surface of the cell 2. It is provided so as to be rotatable in 20 insertion / removal directions. Further, on the upper wall portion of the block 20, a roller 22 made of an elastic body such as rubber is inserted and removed as an elastic member for pressing the lower wall portion of the block 20 against the lower reference surface of the cell 2. It is provided to be rotatable in the direction. Thereby, in each cell 2, the block 20 is reliably pressed and stored in a stable position.

  A flag 30 that can grasp the presence of the block 20 is provided on the surface facing the medium gripping device 4 in the storage state in the cell 2. In this embodiment, only one block 20 is provided. This block 20 is used only during the positioning correction (adjustment) of the library apparatus that is performed prior to the actual operation of the apparatus. This correction work improves the positioning accuracy between each cell 2 of the medium storage shelf 3 and the medium gripping device 4 during actual operation of the apparatus.

  As shown in FIG. 3, in order to measure the flag 30 on the block 20, the medium gripping device 4 is integrally provided with a flag recognition means 7. The flag recognizing means 7 in the present embodiment is fixed to the upper surface of the front portion of the medium gripping device 4, and is a line type LED 71 for irradiating light so as to draw a horizontal straight line on the flag 30, and a medium gripping device 4, a CCD camera 72 fixed to the upper surface of the rear portion of the camera 4 and capturing a pattern on the flag 30 and recognizing the position of the block 20 (measured position of the cell 2). In FIG. 3, the claw 41 of the medium gripping device 4 is for engaging the notch 23 on the side wall of the block 20 from both sides to grip the block 20.

  For example, as shown in FIG. 4, the flag 30 is a pattern in which white patterns 33 to 37 having a high reflectance are formed in a black portion 31 having a low reflectance. A linear line 38 is drawn on these patterns 33 to 37 by light irradiation by the LED 71. The two line-symmetric triangular patterns 33 and 34 are the same as those described in Patent Document 2, and are for detecting errors in the horizontal, vertical, and depth directions of the cell 2. The three rectangular patterns 35 to 37 are for detecting an error in the inclination direction based on a ratio of dimensions between rectangles divided into lines 38.

  The procedure for position correction using this flag 30 is as follows. First, the flag 30 is irradiated with light from the LED 71, picked up by the CCD camera 72, detected from the positional relationship between the three rectangular patterns 35 to 37 and the line 38, and detected an error in the tilt direction, and corrected the tilt position. To do. After correcting the position of the tilt, the flag 30 is again irradiated with light from the LED 71 and picked up by the CCD camera 72. From the positional relationship between the two triangular patterns 33 and 34 and the line 38, the horizontal, vertical and depth directions of the cell 2 are obtained. Are detected, and horizontal, vertical, and depth position correction data are acquired. This completes the creation of horizontal, vertical, and depth position correction data in one cell 2.

  Next, a procedure for sequentially creating correction values for position correction for a plurality of specific cells 2 will be described. In a state where the positioning correction block 20 is stored in a predetermined cell 2 (initial storage location S1) of the medium storage shelf 3, the flag recognition means 7 measures the pattern of the flag 30, and the block 20 The error from the position where the stored cell 2 is supposed to be is obtained.

  Thereafter, the medium gripping device 4 collects the block 20 and stores it again in another predetermined cell 2 (the position S2 of the upper left corner of the unit U3). The flag recognizing means 7 reads the flag 30 on the block 20 again and obtains an error from the original position for the cell 2.

  Thereafter, the collection / storage and flag reading operations for the block 20 are performed for each of the plurality of predetermined cells 2. That is, the position S3 of the upper right corner of the unit U3 → the position S4 of the lower right corner of the unit U2 → the position S5 of the lower left corner of the unit U2 → the position S6 of the upper left corner of the unit U2 → the position of the unit U1 The block 20 is inserted in the order of the position S7 at the lower left corner, the position S8 at the lower right corner of the unit U1, and the position S9 at the upper left corner of the unit U1. Find the error of. Here, the detection of the error from the position which should be originally about the some cell 2 defined beforehand is complete | finished. When a series of positioning correction operations are completed, the block 20 is returned to the initial storage location S1 and stored therein.

  When the error from the position where the cell 2 should be originally obtained is obtained, a correction value for position correction is obtained for a plurality of predetermined cells 2. For the cells 2 other than the plurality of predetermined cells 2, for example, in the case of the unit U2, if the errors in the cells 2 at the three corner positions S4 to S6 in the unit U2 are known, these errors are determined. Based on the above, errors in other cells 2 in the same unit U2 can be easily obtained by proportional calculation. This method of determination is the same as in the prior art.

  Then, at the time of relative positioning between the cell 2 and the medium gripping device 4 in the actual operation of the device, the medium gripping device 4 is relatively positioned by using a correction value that eliminates the error in each cell 2. It will move to, and positioning will be performed. For this positioning, either the medium storage shelf 3 or the medium gripping device 4 may be moved, but in the present embodiment, the medium gripping device 4 side is moved.

  According to the above configuration, the positioning correction block 20 is sequentially stored in a plurality of predetermined cells 2 of the medium storage shelf 3, and after reading the flag 30, the block 20 is recovered. The cell 2 can be used as a normal cell 2 for storing a storage medium and does not become a dead space. Therefore, positioning accuracy can be increased without reducing the number of cells.

  Further, since the tip end side of the block 20 into the cell 2 is tapered, the block 20 can be easily inserted into the cell 2 even if the relative positional accuracy between the block 20 and the cell 2 is poor during the correction operation. Furthermore, in this embodiment, the other side wall portion of the block 20 is pressed against the side reference surface of the cell 2 by the elastic body provided on one side wall portion of the block 20, so that the block 20 is always in the cell 2. Stored correctly. In addition, since the lower wall portion of the block 20 is pressed against the lower reference surface of the cell 2 by the elastic body provided on the upper wall portion of the block 20, the block 20 is stored in the cell 2 more accurately. Moreover, since this elastic body is the rollers 21 and 22 which rotate in the insertion / removal direction of the block 20, the block 20 can be moved smoothly.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the flag 30 having the pattern shown in FIG. 4 is used, and the flag recognizing means 7 is composed of the line type LED 71 and the CCD camera 72. Any pattern flag may be used as long as an error from a desired position can be detected, and any type of flag recognition means may be used.

  Further, the block 20 is surely pressed to the stable position, and the elastic body is not limited to the roller type but may be one utilizing the urging force of a leaf spring or a coil spring.

  Furthermore, in the above configuration, if all the cells 2 are selected as the plurality of predetermined cells 2 of the medium storage shelf 3, flag measurement is performed for all the cells 2 at the initial installation. In this case, at the time of relocation, only the flag measurement of a specific number of cells 2 is performed, and by comparing with the previous measurement value (error), the correction values of all the cells 2 based on the actual measurement can be calculated, and the accuracy is high. Correction can be performed in a short time.

  In the present invention, the flag measurement of the cell 2 close to the initial storage location S1 of the block is first performed, and the flag measurement of the cell 2 farther away can be performed reflecting the correction. In this way, even if the dimensional accuracy of the block 20 or the apparatus is rough, the block 20 can be reliably inserted into the cell 2 and flag measurement can be performed.

  FIG. 9 shows an external view of the tape CTG. As an example, the appearance of the maintenance CTG, the cleaning CTG, or the tape CTG used in the tape library apparatus is the same. Here, the appearance of the tape CTG is shown. For example, a bar code label 91 indicating information or the like for recognizing the type of CTG is attached to the position of the flag 30 attached to the block 20 shown in FIG.

  FIG. 10 shows an example of a flag sheet metal, which serves as a block for positioning correction, and is of a conventionally known type, and has a flag 101 on the side surface of the sheet metal part 100 made of sheet metal. Is attached.

  FIG. 11 shows an example of the position correction CTG. FIG. 11a shows a state where the flag 101 is pasted on the position correction CTG, and FIG. 11b shows a state where the flag is removed from the position correction CTG. Here, the position correction CTG is obtained by attaching the flag 101 to either the maintenance CTG or the cleaning CTG. By removing the flag 101, the position correction CTG can be used as an original maintenance CTG or cleaning CTG.

  Normally, the positioning correction work using the flag sheet metal is performed only once during the field adjustment work, and the flag sheet metal is often unnecessary when the official operation starts. By making the flag sheet metal removable and removing the flag sheet metal after the positioning correction work is completed, the cell can be used for storing data CTG, and the number of stored turns can be reduced.

  Therefore, in the present invention, by further attaching a flag to the CTG, the flag of the CTG (position correction CTG) to which the flag has been attached is removed after the positioning correction work is completed, so that the original barcode label can be seen from the outside. In the library apparatus, the original CTG is used.

  For example, a CTG (position correction CTG) with a flag attached is performed when the tape library apparatus is shipped from the factory in a state of being stored in a designated cell and the apparatus is installed at a customer site. In the on-site adjustment work, the medium gripping device reads position information of a plurality of position correction CTGs stored in the cell, and performs positioning correction on the cell.

  After performing the positioning correction, a plurality of position correction CTGs having a plurality of medium gripping devices are sequentially taken out from the cell, and transported to the CTG input / output port (hereinafter referred to as CAS) in the input / output device of the tape library device, A local adjustment worker discharges the tape library device. Thus, the empty cell can be used for storing the tape CTG.

It is a figure which shows the example of arrangement | positioning of the flag for demonstrating the characteristic structure of this invention. It is a perspective view of a block. It is a perspective view which shows a flag recognition means. It is explanatory drawing of a flag. It is a flowchart which shows the procedure of a position correction. It is a figure which shows the example of an internal structure of a library apparatus. It is an enlarged view of a medium storage shelf part. It is a figure which shows the example of flag arrangement | positioning in a prior art. The external view of tape CTG. An example of a flag sheet metal. An example of a CTG for position correction.

Explanation of symbols

S1: Initial storage location U1, U2, U3: Unit 1: Library device 2: Cell 3: Medium storage shelf 4: Medium gripping device 5: Recording / reproducing device 6: Loading / discharging device 7: Flag recognition means 20: Block 21: Roller 22: Roller 23: Notch 30: Flag 38: Line 90: Tape CTG
91: Barcode label 100: Sheet metal part 101: Flag

Claims (5)

A medium storage shelf provided with a plurality of cells for storing a storage medium and a relative position between the medium storage shelf and a target cell in the medium storage shelf. The medium storage shelf in a library apparatus comprising: a medium gripping device that supplies a storage medium to a recording medium; and a recording / playback device that records or reproduces data on the storage medium supplied from the medium gripping device; In the positioning method with the medium gripping device,
The medium gripping device is moved to a predetermined first cell of the medium storage shelf in which a block having a shape that can be inserted into and removed from each cell of the medium storage shelf is stored. The position information is recognized by the position information recognition means attached to the medium gripping device, an error from the original position of the first cell is detected, and the first cell and the medium grip are detected based on the error. Perform positioning correction with the device,
Thereafter, the medium is collected from the first cell by the medium gripping device, and the blocks are arranged in the order closer to the first cell among a plurality of predetermined second cells of the medium storage shelf. Each time storage is performed, the position information provided in the block is read by position information recognition means attached to the medium gripping device, and an error from the original position of the cell is detected. Based on the error, perform a process of correcting the positioning between the cell and the medium gripping device,
Performing a process of detecting an error between the first cell and the plurality of second cells and the medium gripping device;
Based on the positioning correction value obtained using the error, the medium gripping device and the target cell are positioned.
A positioning method in a library apparatus. A medium storage shelf provided with a plurality of cells for storing a storage medium and a relative position between the medium storage shelf and a target cell in the medium storage shelf. Medium holding device for supplying a storage medium to the recording medium, recording / reproducing device for recording / reproducing data on / from the storage medium supplied from the medium holding device, a target cell in the medium storage shelf, and the medium In a library apparatus comprising position control means for positioning with a gripping device,
Position information recognition means that is provided in the medium gripping device and reads position information on a block having a shape that can be inserted into and removed from each cell of the medium storage shelf ,
The position control means includes
Position information recognition means for moving the medium gripping device to a predetermined first cell of the medium storage shelf in which the block is stored and attaching the position information provided in the block to the medium gripping device And detecting an error from a position where the first cell should originally be, and performing positioning correction between the first cell and the medium gripping device based on the error,
Thereafter, the medium is collected from the first cell by the medium gripping device, and the blocks are arranged in the order closer to the first cell among a plurality of predetermined second cells of the medium storage shelf. Each time storage is performed, the position information provided in the block is read by position information recognition means attached to the medium gripping device, and an error from the original position of the cell is detected. Based on the error, perform a process of correcting the positioning between the cell and the medium gripping device,
Performing a process of detecting an error between the first cell and the plurality of second cells and the medium gripping device;
The library apparatus , wherein the medium gripping apparatus and a target cell are positioned based on a positioning correction value obtained using the error .   The block has a tapered tip at the insertion tip side into the cell, and one side wall is provided with an elastic member for pressing the other side wall of the block against the side reference surface of the cell. The library apparatus according to claim 2, wherein   4. The library apparatus according to claim 3, wherein an elastic member for pressing the lower wall portion of the block against the lower reference surface of the cell is also provided on the upper wall portion of the block.   5. The library apparatus according to claim 3, wherein the elastic member is a roller that rotates in the insertion / removal direction of the block.

Images