JP6989415B2 - Lock mechanism, movable object moving device, control method of movable object moving device, and control program of movable object moving device - Google Patents

Description

The present invention relates to a technique for protecting a movable portion from vibration, impact, etc. during transportation of the apparatus by fixing the movable portion included in the apparatus.

An example of a technique relating to a library device is disclosed in Patent Document 1. The library device of Patent Document 1 includes a cartridge transporting means, a hangar, and a medium driving means. The hangar has a plurality of shelves divided in the vertical direction and the horizontal direction on the front surface, and each shelf stores a cartridge containing a recording medium. The medium driving means is provided outside the hangar and drives the recording medium of the inserted cartridge. The cartridge delivery means transports and inserts / removes the cartridge between the hangar and the medium driving means. As a result of the above configuration, the library device of Patent Document 1 drives a recording medium selected from a plurality of recording media.

However, the library device of Patent Document 1 has a problem that the cartridge transport means, which is a robot mechanism for transporting and inserting / removing cartridges, is vulnerable to vibration and impact during transportation of the library device.

The library device has moving parts such as an accessor and a picker. Therefore, when transporting the library device, it is desirable to protect the movable parts from vibration and impact during transportation by fixing them to the housing of the library device (transport lock state).

Patent Document 2 discloses an example of a technique for protecting a library device from vibration and impact during transportation. The disc playback device of Patent Document 2 has a transport section that moves inside the device body and a transport section fixing section that protrudes from the device body and suppresses the movement of the transport section by engaging the device body with the packing material. include. As a result of the above configuration, in the disc playback device of Patent Document 2, it is easy to fix the transport unit when transporting the disc playback device.

However, the disc playback device of Patent Document 2 has a problem that a special packing material is required at the time of transportation.

Therefore, in general, it is desirable that the library device itself has a transport lock mechanism for fixing moving parts such as an accessor and a picker. For example, in the library device, before transportation, when the power is turned off by soft control and when the accessor and the picker are in the hibernation mode, the transportation lock mechanism is operated to put the accessor and the picker in the transportation lock state. Is possible. Then, for example, in the library device, the accessor and the picker are positioned, which may occur when the accessor and the picker operate in the transport locked state by automatically releasing the transport lock mechanism when the power is turned on after the transport. It is possible to prevent inaccuracies and damage.

Patent Document 3 discloses an example of a technique in which the library device itself has a transport lock mechanism. The transport lock device of Patent Document 3 includes a lock member, a lock actuator, and a groove hole. The locking member is attached to the carriage so that it can move between the locked and unlocked positions. The lock actuator works with the locking member to move the locking member between the locked and unlocked positions. Grooves are provided in the frame and are sized to engage the locking member when the carriage is in the accommodation position and when the locking member is located in the locking position. As a result of the above configuration, the transport locking device of Patent Document 3 protects the internal mechanism from destruction when transporting the data storage system that processes and stores the data cartridge.

Japanese Unexamined Patent Publication No. 06-321306 Japanese Unexamined Patent Publication No. 10-283713 Japanese Unexamined Patent Publication No. 2000-149529

In the picker transport lock mechanism of Patent Document 3, the picker transport lock mechanism is moved between the locked position and the unlocked position by the operation of the picker (sam assembly) installed in the accessor. However, even if the picker retracts to accommodate the cartridge, the picker transport locking mechanism is always moved to the locked position. That is, the number of operations of the picker transport lock mechanism is large. Therefore, there is a problem that the picker transport lock mechanism reaches the end of its life sooner. On the other hand, in order to prevent the picker transport lock mechanism from being constantly moved when the picker is retracted to accommodate the cartridge, it is necessary to increase the size of the accessor. That is, there is a problem that the space for storing the data cartridge is reduced.

The present invention has been made in view of the above problems, and a main object of the present invention is to realize miniaturization and improvement of durability of a movable object locking mechanism.

In one aspect of the invention, the locking mechanism moves a movable object, which is movable in a first direction and a second direction substantially orthogonal to the first direction, to a negative side in a second direction at a predetermined fixed position. A fixed portion to be locked in the lever, a lever that can be locked to a movable object from the positive side in the second direction and is urged from the positive side in the second direction, and a predetermined lever in the second direction. In position, it can be locked to the lever from the negative side in the first direction, is urged from the negative side in the first direction, and is moved to the negative side in the first direction by a movable object with respect to the lever. It is equipped with a retainer that can release the lock.

In one aspect of the present invention, the movable object moving device is a movable object that is movable in a first direction and a second direction that is substantially orthogonal to the first direction, and movement of the movable object to the negative side in the second direction. A fixed portion that locks the animal in a predetermined fixed position, a lever that can be locked to a movable object from the positive side in the second direction and is urged from the positive side in the second direction, and a second lever. Can be locked from the negative side in the first direction at a predetermined position in the direction of, is urged from the negative side in the first direction, and is moved to the negative side in the first direction by a movable object. It comprises a locking mechanism including a retainer capable of releasing the lock on the lever, and a control unit for controlling the movement of the movable object in the first direction and the second direction.

In one aspect of the present invention, the control method of the movable object moving device is a movable object that is movable in a second direction substantially orthogonal to the first direction and the first direction, and a negative in the second direction of the movable object. A fixed portion that locks the movement to the side at a predetermined fixed position, a lever that can be locked to a movable object from the positive side in the second direction, and a lever that is urged from the positive side in the second direction. It can be locked from the negative side in the first direction at a predetermined position in the second direction of the lever, is urged from the negative side in the first direction, and is moved to the negative side in the first direction by a movable object. A method of controlling a movable object moving device including a retainer that can release the lock to the lever by being moved, wherein the movable object moves to a second preparation position without colliding with the locking mechanism. The moveable object is moved to a possible first preparation position in the first direction, and the retainer is moved from the lever to a second preparation position where the lock can be released by moving the movable object in the first direction. By moving the movable object in the first direction, the movable object is fixed to the lever and the fixing portion.

In one aspect of the invention, the control program for the movable object moving device is a movable object that is movable in a first direction and a second direction that is substantially orthogonal to the first direction, and a negative in the second direction of the movable object. A fixed portion that locks the movement to the side at a predetermined fixed position, a lever that can be locked to a movable object from the positive side in the second direction, and a lever that is urged from the positive side in the second direction. It can be locked from the negative side in the first direction at a predetermined position in the second direction of the lever, is urged from the negative side in the first direction, and is moved to the negative side in the first direction by a movable object. A movable object moving device equipped with a locking mechanism including a retainer that can be moved to unlock the lever allows the moving object to move to a second preparatory position without colliding with the locking mechanism. , The process of moving the movable object to the first preparation position in the first direction, and moving the retainer from the lever to the second preparation position where the lock can be released by moving the movable object in the first direction. The process and the process of fixing the movable object to the lever and the fixing portion by moving the movable object in the first direction are executed.

According to the present invention, there is an effect that the lock mechanism of a movable object can be miniaturized and its durability can be improved.

It is a block diagram which shows an example of the structure of the movable object moving device in 1st Embodiment of this invention. It is an exploded perspective view which shows an example of the structure of the lock mechanism in 1st Embodiment of this invention. It is a top view explaining the operation of the movable object moving apparatus in 1st Embodiment of this invention. It is a flowchart which shows the operation which fixes the movable object of the movable object moving device in 1st Embodiment of this invention. It is a flowchart which shows the operation which releases the fixing of the movable object of the movable object moving device in 1st Embodiment of this invention. It is a top view explaining the structure and operation of the movable object moving apparatus in 2nd Embodiment of this invention. It is a perspective view which shows an example of the structure of the library in 3rd Embodiment of this invention. It is a perspective view which shows an example of the structure of the accessor and the transport lock mechanism in the 3rd Embodiment of this invention. It is a perspective view which shows an example of the structure of the transport lock mechanism in 3rd Embodiment of this invention. It is a figure (the 1) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (the 2) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (the 3) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (the 4) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (the 5) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (the 6) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (7) explaining the operation of the library in the 3rd Embodiment of this invention. It is a figure (8) explaining the operation of the library in the 3rd Embodiment of this invention. It is a flowchart which shows the lock operation of the library in the 3rd Embodiment of this invention. It is a flowchart which shows the unlock operation of the library in 3rd Embodiment of this invention. It is a block diagram which shows an example of the hardware composition which can realize the movable object moving device in each embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all the drawings, the same components are designated by the same reference numerals, and the description thereof will be omitted as appropriate.
(First Embodiment)
The first embodiment of the present invention, which is the basis of each embodiment of the present invention, will be described.

The configuration in this embodiment will be described.

FIG. 1 is a block diagram showing an example of the configuration of a movable object moving device according to the first embodiment of the present invention.

The movable object moving device 300 in the present embodiment includes a lock mechanism 100, a movable object 200, and a control unit 310.

FIG. 2 is an exploded perspective view showing an example of the configuration of the locking mechanism according to the first embodiment of the present invention. In the drawings after FIG. 2 and the following description, when viewed from a certain direction, the width direction of the device (housing) is indicated by "Y", the depth direction is indicated by "X", and the height (thickness) direction is indicated. Is indicated by "Z". That is, the X direction, the Y direction, and the Z direction are directions substantially orthogonal to each other. In each of the Y direction, the X direction, and the Z direction, the right direction, the back direction, and the upward direction are referred to as "positive side", and the left direction, the front direction, and the downward direction are referred to as "negative side". In the drawings after FIG. 2 and the following description, the direction in which the device is installed is an example, and the direction in which the device is actually installed may be arbitrary. Further, in the following description, the positive side in the X direction is the "X +" side, the negative side in the X direction is the "X-" side, the positive side in the Y direction is the "Y +" side, and the negative side in the Y direction is the negative side. The "Y-" side, the positive side in the Z direction are also referred to as the "Z +" side, and the negative side in the Z direction is also referred to as the "Z-" side.

The movable object 200 is movable in the X direction and the Y direction. The movable object 200 may also be movable in the Z direction.

The lock mechanism 100 fixes and unlocks the movable object 200 in the Y direction. The lock mechanism 100 may fix and release the movable object 200 in the X direction or the Z direction as well.

The control unit 310 controls the movement of the movable object 200 in the X direction and the Y direction. The control unit 310 may also control the movement of the movable object 200 in the Z direction.

The lock mechanism 100 includes a fixing portion 160, a lever 110, and a retainer 150.

The fixing portion 160 locks the movement of the movable object 200 toward the Y-side at a predetermined fixing position. Here, the predetermined fixed position is on the Y− side of the lever 110.

The lever 110 can be locked to the movable object 200 from the Y + side. Further, the lever 110 is urged from the Y + side.

The retainer 150 can be locked to the lever 110 from the X− side at a predetermined position in the lever 110 in the Y direction (for example, the position of the locking portion 120 (described later)). Further, the retainer 150 is urged from the X− side. Further, the retainer 150 can be released from the lock on the lever 110 by being moved to the X− side by the movable object 200.

An example of the configuration of the lock mechanism 100 shown in FIG. 2 will be described in detail.

The urging against the retainer 150 is realized, for example, by the elastic force of the elastic body connected to the retainer 150. The retainer 150 is, for example, a rectangular plate perpendicular to the Y direction.

The lever 110 includes, for example, an urging portion 130 and a locking portion 120. The lever 110 is, for example, a long plate having a length in the Y direction and a short side in the X direction and perpendicular to the Z direction.

The locking portion 120 has a shape that can be locked and unlocked with respect to the retainer 150. The locking portion 120 has a shape that can be released from the retainer 150 by pushing the retainer 150 toward the X− side when the movable object 200 is locked to the retainer 150. The locking portion 120 has a shape that locks the lever 110 on the Y− side when it is locked with respect to the retainer 150. The locking portion 120 has a shape that does not lock the lever 110 in the Y direction when it is not locked to the retainer 150. The locking portion 120 is, for example, a notch formed on the Y− side and the X− side in the long plate of the lever 110.

The urging portion 130 has a shape that can be locked and unlocked with respect to the movable object 200 from the Y + side. The urging portion 130 has a shape that can be locked to the movable object 200 when the locking portion 120 is released from the retainer 150. If the urging portion 130 is locked to the movable object 200 and the locking portion 120 is not locked to the retainer 150, the urging portion 130 urges the movable object 200 to the Y− side. The urging to the urging portion 130 is realized, for example, by the elastic force of the elastic body connected to the urging portion 130. The urging portion 130 is, for example, a plate of the long plate of the lever 110 that stands upright from the long plate to the Z + side on the Y + side.

The operation in this embodiment will be described.

The operation of the movable object moving device 300 to fix the movable object 200 will be described.

FIG. 3 is a plan view illustrating the operation of the movable object moving device according to the first embodiment of the present invention. Specifically, FIG. 3 is a snapshot of the operation of the movable object moving device 300 at each stage. However, FIG. 3 shows an example in which the movable object 200 has a shape including a shaft portion 220 in addition to the main body portion 210.

FIG. 4 is a flowchart showing an operation of fixing a movable object of the movable object moving device according to the first embodiment of the present invention. The flowchart shown in FIG. 4 and the following description are examples, and the processing order and the like may be changed, the processing may be returned, or the processing may be repeated depending on the processing to be requested as appropriate.

First, the lever 110 and the fixing portion 160 do not fix the movable object 200 (step S110 in FIG. 3A, FIG. 4). Here, for example, since the locking portion 120 is locked to the retainer 150, the lever 110 is prevented from moving to the Y− side.

Next, the control unit 310 moves the movable object 200 to the first preparation position 410 (step S120 in FIG. 4). Here, the first preparation position 410 is a position in the X direction in which the movable object 200 can move to the second preparation position 420 without colliding with the lock mechanism 100. Further, the second preparation position 420 is a position in the Y direction in which the retainer 150 can be unlocked from the lever 110 by moving the movable object 200 in the X direction. In FIG. 3, the first preparation position 410 and the second preparation position 420 are shown with the X− side and Y + side ends of the movable object 200 as the reference positions of the movable object 200.

Subsequently, the control unit 310 moves the movable object 200 to the second preparation position 420 (step S130 in FIG. 4).

Subsequently, the movable object 200 moves to the X− side and pushes out the retainer 150 (FIG. 3B, step S140 in FIG. 4).

Subsequently, the locking portion 120 is unlocked from the retainer 150 (step S150 in FIG. 3C, FIG. 4).

Subsequently, the lever 110 is urged to the Y− side (step S160 in FIG. 4).

Subsequently, the lever 110 and the fixing portion 160 fix the movable object 200 in the Y direction (step S170 in FIG. 3D, FIG. 4).

The operation of the movable object moving device 300 to release the fixing of the movable object 200 will be described.

FIG. 5 is a flowchart showing an operation of releasing the fixing of the movable object of the movable object moving device according to the first embodiment of the present invention. The flowchart shown in FIG. 5 and the following description are examples, and the processing order and the like may be changed, the processing may be returned, or the processing may be repeated depending on the processing to be requested as appropriate.

First, the lever 110 and the fixing portion 160 fix the movable object 200 in the Y direction (FIG. 3 (D), step S210 in FIG. 5). Here, for example, since the locking portion 120 is not locked to the retainer 150, the lever 110 is urged to the Y− side.

Next, the control unit 310 moves the movable object 200 to the third preparation position 430 (step S220 in FIG. 5). Here, the third preparation position 430 is a position in the Y direction in which the retainer 150 can be locked to the lever 110 (for example, the locking portion 120) by moving the movable object 200 in the X direction. In FIG. 3, the third preparation position 430 is shown with the X− side and Y + side ends of the movable object 200 as the reference position of the movable object 200.

Subsequently, the control unit 310 moves the movable object 200 to a position in the X direction in which the movable object 200 is released from the lever 110 (step S230 in FIG. 5).

Subsequently, the lever 110 moves to the Y− side (step S240 in FIG. 5).

Subsequently, the lever 110 (for example, the locking portion 120) is locked to the retainer 150 (step S250 in FIG. 5).

Subsequently, the lever 110 is no longer urged to the Y− side (step S260 in FIG. 5).

Subsequently, the lever 110 and the fixing portion 160 release the fixing of the movable object 200 (FIG. 3A, step S270 in FIG. 5).

As described above, the movable object moving device 300 in the present embodiment includes the lock mechanism 100. Then, the lock mechanism 100 locks the movable object 200 with respect to the fixing portion 160 that locks the movement of the movable object 200 to the Y-side at a predetermined fixed position, the retainer 150 urged from the X-side, and the retainer 150. Includes a lever 110 urged from the Y + side that is possible and unlockable. When the movable object 200 is not fixed by the lock mechanism 100, the movable object moving device 300 can unlock the lever 110 from the retainer 150 by moving the movable object 200. Then, the movable object moving device 300 is possible by urging the movable object 200 from the Y + side by the lever 110 and locking the movement of the movable object 200 from the fixing portion 160 to the Y− side at a predetermined fixed position. The animal 200 is fixed in the Y direction. Further, when the movable object 200 is fixed by the lock mechanism 100, the movable object moving device 300 can lock the lever 110 to the retainer 150 by moving the movable object 200. Then, the lock mechanism 100 releases the fixing of the movable object 200 in the Y direction by preventing the movable object 200 from being urged from the Y + side by the lever 110. Since the lock mechanism 100 is composed of parts having three simple shapes (fixing portion 160, retainer 150, and lever 110), miniaturization is easy. Further, since the lock mechanism 100 operates by locking and unlocking between the parts having three simple shapes when fixing or unlocking the movable object 200, the durability is high. Therefore, the movable object moving device 300 in the present embodiment has an effect that the locking mechanism of the movable object can be miniaturized and the durability can be improved.

The movable object moving device 300 may include another movable object that is fixed and released according to the fixation and release of the movable object 200.

Further, when the movable object moving device 300 fixes the movable object 200 or another movable object in the Y direction, the movable object 200 or another movable object may be fixed in the X direction or the Z direction as well.
(Second embodiment)
Next, a second embodiment of the present invention based on the first embodiment of the present invention will be described. The movable object moving device in the present embodiment includes another movable object that is fixed and released according to the fixing and defixing of the movable object. Further, the movable object moving device in the embodiment fixes the movable object and another movable object in the X direction or the Z direction as well.

The configuration in this embodiment will be described with reference to FIG. 1 again.

The movable object moving device 301 in the present embodiment includes a lock mechanism 101, a movable object 201, a movable object 251 and a control unit 311.

FIG. 6 is a plan view illustrating the configuration and operation of the movable object moving device according to the second embodiment of the present invention. Specifically, FIG. 6 shows an example of the configuration of the movable object moving device 301 and snapshots at each stage of operation.

The lock mechanism 101 includes a fixing portion 161, a lever 111, and a retainer 150.

The control unit 311 controls the movement of the movable object 201 and the movable object 251 in the X direction and the Y direction. The control unit 311 may also control the movement of the movable object 201 and the movable object 251 in the Z direction.

The lever 111 locks the movable object 201 from the Y + side, and the fixing portion 161 locks the movable object 201 at a predetermined fixed position, whereby the lock mechanism 101 fixes the movable object 201 in the Y direction.

The fixing portion 161 has a shape that immovably locks the movable object 201 in one or two directions orthogonal to the Y direction when the movable object 201 is locked on the Y− side. Here, the one direction is any one direction in the XZ plane, and in the example shown in FIG. 6, it is the X direction. Further, the two directions are arbitrary two directions different from each other in the XZ plane, for example, the X direction and the Z direction.

The movable object 201 has, for example, a locking end 231 on the Y− side. Then, the fixing portion 161 locks the locking end 231 on the Y− side. The fixing portion 161 has, for example, a shape that can be fitted to the unevenness on the surface of the locking end 231 on the surface that is locked to the locking end 231. For example, when the locking end 231 has the shape of a convex surface composed of two side surfaces of a triangular prism, the fixing portion 161 has a concave surface that can be fitted to the convex surface on the surface that is locked to the locking end 231. Alternatively, for example, when the locking end 231 has the shape of a convex surface formed on the side surface of a cone, the fixing portion 161 has a concave surface that can be fitted to the convex surface on the surface that is locked to the locking end 231. Alternatively, for example, when the locking end 231 has the shape of a convex surface composed of each side surface of the pyramid, the fixing portion 161 has a concave surface that can be fitted to the convex surface on the surface that is locked to the locking end 231. The unevenness may be reversed.

The lever 111 has a movement restraining mechanism 171. The movement restraint mechanism 171 restrains the movement of the movable object 251 with respect to the lever 111 on the Y + side when the lock mechanism 101 fixes the movable object 201. The movement restraint mechanism 171 also restrains the movement of the movable object 251 with respect to the lever 111 in the X direction or the Z direction when the lock mechanism 101 fixes the movable object 201.

The movable object 251 is locked to move to the Y− side at another predetermined fixed position. The movable object 251 is movable in the Y direction, except that the movement to the Y− side is locked at another predetermined fixed position. The movable object 251 can also move in the X direction or the Z direction. However, it is assumed that the movable object 251 can be moved to a position where it can be locked to the movement restraining mechanism 171 before the lock mechanism 101 fixes the movable object 201 in the Y direction.

For example, when the movable object 251 has the shape of a concave surface composed of two side surfaces of a triangular prism, the movement restraining mechanism 171 has a convex surface that can be fitted to the concave surface on the surface that is locked to the movable object 251. Alternatively, for example, when the movable object 251 has the shape of a concave surface formed from the side surface of the cone, the movement restraining mechanism 171 has a convex surface that can be fitted to the concave surface on the surface that engages with the movable object 251. Alternatively, for example, when the movable object 251 has the shape of a concave surface composed of each side surface of the pyramid, the movement restraining mechanism 171 has a convex surface that can be fitted to the concave surface on the surface that is locked to the movable object 251. The unevenness may be reversed.

Other configurations in the present embodiment are the same as those in the first embodiment of the present invention.

As described above, in the movable object moving device 301 in the present embodiment, when the fixing portion 161 locks the movable object 201 from the Y− side, the movable object 201 is immovably engaged in the X direction or the Z direction. Stop. That is, the movable object 201 is fixed in two directions (on one straight line) or three directions (one point). Therefore, the movable object moving device 301 in the present embodiment has an effect that the movable object 201 can be fixed more stably.

Further, in the movable object moving device 301, when the lever 111 locks the movable object 251 from the Y + side, the movable object 251 is locked so as not to be movable in the X direction or the Z direction. That is, the movable object 251 is fixed in two directions (on one straight line) or three directions (one point). Therefore, the movable object moving device 301 in the present embodiment has an effect that the movable object 251 can also be fixed. Further, the movable object moving device 301 in the present embodiment has an effect that the movable object 251 can be stably fixed on one straight line or at one point.
(Third embodiment)
Next, a third embodiment of the present invention based on the second embodiment of the present invention will be described. The movable object moving device in the present embodiment is a library device (hereinafter, simply referred to as “library”) such as a magnetic tape library device. In the movable object moving device in the present embodiment, the movable object is a picker and an accessor. Further, in the present embodiment, the configuration and operation of the movable object moving device (library) will be described in more detail.

The configuration in this embodiment will be described.

FIG. 7 is a perspective view showing an example of the configuration of the library 1 according to the third embodiment of the present invention.

The library 1 in this embodiment includes a magazine 3, a drive 2, an accessor 6, and a transport lock mechanism 9.

The magazine 3 includes a slot 4 for storing the cartridge 5. Here, the cartridge 5 is, for example, a magnetic tape cartridge.

The drive 2 reads / writes data to / from the cartridge 5.

The accessor 6 is a cartridge transfer robot mechanism that moves the cartridge 5 in the X direction. The accessor 6 needs to be in a fixed state (transport lock state) with respect to the library 1 when the library 1 is transported. The accessor 6 includes a picker base 7 and a picker 8.

The transport lock mechanism 9 will be described later.

FIG. 8 is a perspective view showing an example of the configuration of the accessor 6 and the transport lock mechanism 9 according to the third embodiment of the present invention.

The picker base 7 can move in the Z direction with respect to the accessor 6.

The picker 8 is a cartridge insertion / removal mechanism that can accommodate the cartridge 5, moves the accommodated cartridge 5 in the Y direction, and inserts / removes the cartridge 5 into the slot 4 or the drive 2. The picker 8 can move in the Y direction with respect to the picker base 7. The picker 8 needs to be in the transport locked state when the library 1 is transported. A picker arm 13 is attached to the picker 8.

The picker arm 13 is an arm for hooking the cartridge 5 and inserting and removing the cartridge 5 into the slot 4 or the drive 2. The picker arm 13 has, for example, a hook shape. The tip 131 of the picker arm 13 has, for example, a U-shape with the X− side as the bottom when viewed from the Z + side.

FIG. 9 is a perspective view showing an example of the configuration of the transport lock mechanism 9 according to the third embodiment of the present invention. In FIG. 9, the left side shows an overall perspective view of the transport lock mechanism 9, and the right side shows an exploded perspective view of a part of the parts of the transport lock mechanism 9. The picker arm 13 is also shown on the right side of FIG. 9 for convenience of explanation.

The transport lock mechanism 9 fixes and unlocks the picker 8 and the accessor 6 to the housing of the library 1. The transport lock mechanism 9 is installed near the X-side end of the library 1 and on the Y + side of the width of the accessor 6 so as to be movable within a predetermined range in the X-direction and the Y-direction with respect to the housing of the library 1. (See FIGS. 7 and 8). The transport lock mechanism 9 includes a shipping lock lever 14, a shipping lock retainer 15, a lock lever spring 17, and a retainer spring 19.

The shipping lock lever 14 can fix the accessor 6, the picker base 7, and the picker 8 to the transport lock state. The shipping lock lever 14 is restricted in a movable direction so as to move in a predetermined range in the Y direction with respect to the housing of the library 1. The shipping lock lever 14 has a shape in which the shipping lock retainer 15 is pushed out to the X− side by the tip 131 of the picker arm 13 and the shipping lock retainer 15 can be unlocked from the shipping lock lever 14. The shipping lock lever 14 includes, for example, a long plate 141, an end plate 142, an end plate 143, and an intermediate plate 144. The long plate 141 is a plate having a length in the Y direction and a short side in the X direction and perpendicular to the Z direction. The strip has a notch 145 on the X- side in the middle in the Y direction. The end plate 142 is a plate that stands upright from the long plate 141 to the Z + side on the Y− side. The end plate 143 is a plate that stands upright from the long plate 141 to the Z + side on the Y + side. The intermediate plate 144 is a plate that stands upright from the long plate 141 to the Z− side in the middle in the Y direction. Here, the width of the long plate 141 is made longer than the width of the U-shaped tip portion 131 of the picker arm 13, and the tip portion 131 is inserted between the end plate 142 and the end plate 143 by the tip portion 131. It is assumed that the shipping lock retainer 15 has a shape that can be extruded.

The shipping lock retainer 15 unlocks the shipping lock lever 14 when it is not locked to the shipping lock lever 14. The shipping lock retainer 15 is restricted in a movable direction so as to move within a predetermined range in the X direction with respect to the housing of the library 1. The shipping lock retainer 15 has a shape that can be pushed out to the X− side by the tip 131 of the picker arm 13 and unlocked from the shipping lock lever 14. The shipping lock retainer 15 is, for example, a rectangular plate 151 perpendicular to the Y direction. The thickness of the rectangular plate is thinner than the width of the notch 145. The rectangular plate 151 has a notch 152 on the X + side and the Z− side. The notch 152 of the rectangular plate 151 can be locked and unlocked (inserted / removed) from the X− side to the notch 145 of the shipping lock lever 14.

The lock lever spring 17 urges the shipping lock lever 14 to the Y− side. The lock lever spring 17 is fixed to the Y− side of the shipping lock lever 14 at one end and fixed to the housing of the library 1 at the other end. The lock lever spring 17 is fixed to the shipping lock lever 14 in, for example, the intermediate plate 144 of the shipping lock lever 14.

The retainer spring 19 urges the shipping lock retainer 15 to the X + side. The retainer spring 19 is fixed to the X− side of the shipping lock retainer 15 at one end and fixed to the housing of the library 1 at the other end. The retainer spring 19 is fixed to the shipping lock retainer 15 on the X-side side surface of the rectangular plate of the shipping lock retainer 15, for example.

The operation in this embodiment will be described.

10 to 17 are diagrams illustrating the operation of the library in the third embodiment of the present invention.

FIG. 18 is a flowchart showing a library locking operation according to the third embodiment of the present invention.

FIG. 19 is a flowchart showing an unlocking operation of the library according to the third embodiment of the present invention.

The flowcharts shown in FIGS. 18 and 19 and the following description are examples, and the processing order and the like may be changed, the processing may be returned, or the processing may be repeated depending on the desired processing.

When the soft power supply (not shown) in the library 1 is turned off, or when the library 1 goes into hibernation mode, the picker base 7 moves to the hard stop position on the Z− side (step S310 in FIG. 18).

FIG. 10 shows a state in which the accessor 6 receiving a movement instruction to a position (transport lock position) in the transport lock state from a control unit (not shown) included in the library 1 is moving to the transport lock position. Here, the transport lock position of the accessor 6 is a position further moved to the X- side from the front on the Y- side of the used area 22 at the time of cartridge delivery.

FIG. 11 shows the following states (step S320 in FIG. 18). First, as a result of the accessor 6 being further moved to the X- side, the picker arm 13 is completely moved to the position on the X- side from the used area 22 at the time of cartridge delivery. After that, as a result of the picker 8 moving to a position exceeding the transport lock position on the Y + side, the picker 8 moves to just before the X + side of the position where the transport lock mechanism 9 is operated.

In FIG. 12, as a result of the accessor 6 further moving to the X- side, the picker arm 13 installed in the picker 8 pushes the shipping lock retainer 15 to the X- side, and the shipping lock lever 14 is released from being fixed by the shipping lock retainer 15. Represents the state (step S330 in FIG. 18).
FIG. 13 shows a state (transport lock state) in which the shipping lock lever 14 that urges the picker arm 13 to the Y-side is also moved to the Y-side as a result of the picker 8 moving to the Y-side (step 18). S340).

In FIG. 14, the accessor 6 is restricted from moving to the X + side by contact with the shipping lock lever 14 and the accessor movement limiting region 20, and is restricted from moving to the X− side by contact with the housing of the library 1. Represents the state of the liver. Further, in FIG. 14, the picker base 7 is restricted from moving to the Z + side by the contact between the shipping lock lever 14 and the picker movement limiting region 21, and moves to the Z− side by the contact with the housing of the accessor 6. Represents a restricted state (first half of step S350 in FIG. 18).

FIG. 15 shows a state in which the shipping lock lever 14 is restricted from moving to the Y− side due to contact with the shipping lock retainer 15, and is restricted from moving to the Y + side due to the urging by the lock lever spring 17. As a result of the movement of the shipping lock lever 14 being restricted, the movement of the picker 8 locked to the shipping lock lever 14 via the picker arm 13 in the Y direction is also restricted (the latter half of step S350 in FIG. 18).

FIG. 16 shows that when the power supply (not shown) in the library 1 is turned on, or when the library 1 is released from the hibernation mode, the picker 8 moves to the Y + side and the shipping lock lever 14 moves to the Y + side. Represents the state of the library. As a result, the movement restriction of the accessor 6 and the picker base 7 by the shipping lock lever 14 is released (step S410 in FIG. 19).

In FIG. 17, as a result of the accessor 6 moving to the X + side, the locking of the picker arm 13 and the shipping lock lever 14 is released, and at the same time, the shipping lock retainer 15 is pushed by the retainer spring 19 and moves to the X + side. However, it represents a state in which the shipping lock lever 14 is fixed (steps S420 and S430 in FIG. 19).

The control unit (not shown) included in the library 1 performs an initialization operation for searching the origin in the movement of the picker 8 in the Y direction and the origin in the movement of the accessor 6 in the X direction (step S440 in FIG. 19).

As described above, the library 1 in the present embodiment includes the transport lock mechanism 9. The transport lock mechanism 9 includes an urged shipping lock retainer 15 and an urged shipping lock lever 14 that can be locked and unlocked with respect to the shipping lock retainer 15. When the picker arm 13 is not fixed by the transport lock mechanism 9, the library 1 can unlock the shipping lock lever 14 from the shipping lock retainer 15 by moving the picker arm 13. Then, the library 1 fixes the picker arm 13 by urging the picker arm 13 with the shipping lock lever 14. Further, when the picker arm 13 is fixed by the transport lock mechanism 9, the library 1 can lock the shipping lock lever 14 to the shipping lock retainer 15 by moving the picker arm 13. Then, the transport lock mechanism 9 releases the fixing of the picker arm 13 by preventing the picker arm 13 from being urged by the shipping lock lever 14. As the picker arm 13 is fixed or unfixed, the picker 8 and the accessor 6 connected to the picker arm 13 are fixed or unfixed. Since the transport lock mechanism 9 is composed of parts having two simple shapes (shipping lock lever 14 and shipping lock retainer 15), miniaturization is easy. Further, since the transport lock mechanism 9 operates by locking and unlocking between the parts having two simple shapes, the durability is high. Therefore, the library 1 in the present embodiment has an effect that the locking mechanism of the movable object can be miniaturized and the durability can be improved.

Further, in the library 1 of the present embodiment, the fixing and de-fixing of the picker 8 and the accessor 6 by the transport lock mechanism 9 is a normal operation (or a natural operation) for the picker 8 and the accessor 6 to convey the cartridge 5. It is realized by the extension). Therefore, the library 1 in the present embodiment has the effect that a dedicated mechanism for fixing and releasing by the transport lock mechanism 9 is unnecessary.

Further, in the library 1 of the present embodiment, the transport lock mechanism 9 is fixed to the housing of the library 1. The position of the picker 8 and the accessor 6 to pass when the transport lock is set and released is different from the position where the picker 8 and the accessor 6 pass when the cartridge 5 is conveyed. Therefore, the library 1 in the present embodiment has an effect that the number of operations of the transport lock mechanism 9 can be suppressed without increasing the size of the accessor 6.

FIG. 20 is a block diagram showing an example of a hardware configuration capable of realizing a movable object moving device in each embodiment of the present invention.

The movable object moving device 907 includes a storage device 902, a CPU (Central Processing Unit) 903, a keyboard 904, a monitor 905, and an I / O (Input / Output) device 908, which are connected by an internal bus 906. Has been done. The storage device 902 stores the operation program of the CPU 903 such as the control units 310 and 311. The CPU 903 controls the entire movable object moving device 907, executes an operation program stored in the storage device 902, and executes a program such as the control units 310 and 311 and transmits / receives data by the I / O device 908. The internal configuration of the movable object moving device 907 is an example. The movable object moving device 907 may have a device configuration for connecting the keyboard 904 and the monitor 905, if necessary.

The movable object moving device 907 in each embodiment of the present invention described above may be realized by a dedicated device, but the computer (information) other than the operation of the hardware in which the I / O device 908 executes communication with the outside. It can also be realized by a processing device). In each embodiment of the present invention, the I / O device 908 is, for example, an input / output unit with a mechanism (not shown) for moving a movable object 200, 201, a picker 8, and an accessor 6. In this case, the computer reads the software program stored in the storage device 902 into the CPU 903, and executes the read software program in the CPU 903. In the case of each of the above-described embodiments, the software program may be described so as to be able to realize the functions of the respective parts of the movable object moving devices 300 and 301 shown in FIG. However, it is assumed that each of these parts includes hardware as appropriate. In such a case, the software program (computer program) can be regarded as constituting the present invention. Further, a computer-readable storage medium containing the software program can be regarded as constituting the present invention.

The present invention has been exemplified above by way of each of the above-described embodiments and modifications thereof. However, the technical scope of the present invention is not limited to the scope described in each of the above-described embodiments and modifications thereof. It will be apparent to those skilled in the art that various changes or improvements can be made to such embodiments. In such cases, new embodiments with such modifications or improvements may also be included in the technical scope of the invention. And this is clear from the matters described in the claims.

INDUSTRIAL APPLICABILITY The present invention can be used in an application of protecting a movable part included in a device such as a tape library device from vibration, impact, or the like during transportation of the device.

1 Library 2 Drive 3 Magazine 4 Slot 5 Cartridge 6 Accessor 7 Picker Base 8 Picker 9 Transport Lock Mechanism 13 Picker Arm 131 Tip 14 Shipping Lock Lever 141 Long Plate 142 End Plate 143 End Plate 144 Intermediate Plate 145 Notch 15 Shipping Lock Retainer 151 Rectangular plate 152 Notch 17 Lock lever spring 19 Retainer spring 20 Accessor movement restriction area 21 Picker movement restriction area 22 Area used when delivering cartridges 100, 101 Lock mechanism 110, 111 Lever 120 Locking part 130 Bounce part 150 Retainer 160, 161 Fixed part 171 Movement restraint mechanism 200, 201, 251 Movable object 210 Main body part 220 Shaft part 231 Locking end 300, 301 Movable object moving device 310, 311 Control unit 410 1st preparation position 420 2nd preparation position 430 3rd preparation Position 902 Storage device 903 CPU
904 Keyboard 905 Monitor 906 Internal bus 907 Movable object moving device 908 I / O device

Claims (10)

A fixed portion that locks the movement of a movable object that is movable in a first direction and a second direction substantially orthogonal to the first direction to the negative side in the second direction at a predetermined fixed position.
A lever that can be locked to the movable object from the positive side in the second direction and is urged from the positive side in the second direction.
It is possible to lock the lever from the negative side in the first direction at a predetermined position in the second direction of the lever.
It is urged from the negative side in the first direction and
A locking mechanism comprising a retainer capable of releasing the lock on the lever by being moved to the negative side in the first direction by the movable object. The lever locks the movable object from the positive side in the second direction, and the fixing portion locks the movable object at the predetermined fixed position, whereby the movable object moves in the second direction. When fixed with respect to, the lever is in the second direction, and the first direction, except that the negative movement in the second direction is locked at another predetermined fixing position. The locking mechanism according to claim 1, wherein another movable object that is movable in the second direction is locked from the positive side in the second direction. The lock mechanism according to claim 2, wherein the lever has a movement deterrent mechanism for suppressing the movement of the other movable object in the first direction when the movable object is fixed. A claim that the movement restraining mechanism suppresses the movement of the other movable object in a third direction orthogonal to the first direction and the second direction when the movable object is fixed. The lock mechanism according to 3. The fixing portion has a shape that immovably locks the movable object in one or two directions orthogonal to the second direction when the movable object is locked on the negative side in the second direction. The locking mechanism according to any one of claims 1 to 4. A movable object that is movable in a first direction and a second direction that is substantially orthogonal to the first direction.
A fixed portion that locks the movement of the movable object to the negative side in the second direction at a predetermined fixed position, and a fixed portion.
A lever that can be locked to the movable object from the positive side in the second direction and is urged from the positive side in the second direction.
It can be locked from the negative side in the first direction at a predetermined position in the second direction of the lever.
It is urged from the negative side in the first direction and
A locking mechanism including a retainer capable of releasing the lock on the lever by being moved to the negative side in the first direction by the movable object, and the movable object in the first direction and the second direction. A movable object moving device provided with a control unit that controls movement with respect to a direction. The control unit
The movable object is moved to the first preparation position in the first direction in which the movable object can be moved to the second preparation position without colliding with the lock mechanism.
By moving the movable object in the first direction, the retainer is moved from the lever to the second preparation position in the second direction, which can be unlocked.
The movable object moving device according to claim 6, wherein the movable object is fixed to the lever and the fixing portion in the second direction by moving the movable object in the first direction. The control unit
By moving the movable object in the first direction, the movable object is moved to a third preparation position in the second direction in which the retainer can be locked to the lever.
6. Movable object moving device according to. A movable object that is movable in the first direction and a second direction that is substantially orthogonal to the first direction, and the movement of the movable object to the negative side in the second direction are locked at a predetermined fixed position. Fixed part and
A lever that can be locked to the movable object from the positive side in the second direction and is urged from the positive side in the second direction.
It can be locked from the negative side in the first direction at a predetermined position in the second direction of the lever.
It is urged from the negative side in the first direction and
A method for controlling a movable object moving device including a retainer that can release the lock on the lever by being moved to the negative side in the first direction by the movable object.
The movable object is moved to the first preparation position in the first direction in which the movable object can be moved to the second preparation position without colliding with the lock mechanism.
By moving the movable object in the first direction, the retainer is moved from the lever to the second preparation position where the lock can be released.
A method for controlling a movable object moving device that fixes a movable object to the lever and the fixing portion by moving the movable object in the first direction. A movable object that is movable in the first direction and a second direction that is substantially orthogonal to the first direction, and the movement of the movable object to the negative side in the second direction are locked at a predetermined fixed position. Fixed part and
A lever that can be locked to the movable object from the positive side in the second direction and is urged from the positive side in the second direction.
It can be locked from the negative side in the first direction at a predetermined position in the second direction of the lever.
It is urged from the negative side in the first direction and
A computer comprising a movable object moving device comprising a locking mechanism including a retainer capable of releasing the lock on the lever by being moved to the negative side in the first direction by the movable object.
The process of moving the movable object to the first preparation position in the first direction, in which the movable object can move to the second preparation position without colliding with the lock mechanism.
A process of moving the retainer from the lever to the second preparation position where the lock can be released by moving the movable object in the first direction.
A control program for a movable object moving device that executes a process of fixing the movable object to the lever and the fixing portion by moving the movable object in the first direction.

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