JP7222495B1 - ROTATING DIRECTION DETERMINATION DEVICE AND DETERMINATION METHOD - Google Patents

Abstract

A technique for preventing damage to a device due to reverse rotation of a motor. A rotation direction determination device includes a picker for taking in and out a recording medium from a storage unit, and a motor 1 for driving an accessor 2 for conveying the recording medium taken in and out by the picker to a drive device. and a plurality of flag members 5 for switching detection signals by moving in a direction intersecting the detection direction of the sensor 4 switched by the rotation of the transmission portion 3, and interlocking with the gear. and a control unit 7 for controlling the motor according to a signal supplied from the sensor 4. The flag member 5 is composed of a plurality of types with different dimensions in the direction of rotation. The order of arrangement differs between the one rotation direction and the opposite direction of the portion 3 . [Selection drawing] Fig. 1

Description

The present invention relates to a rotation direction determination device and determination method.

A medium containing a magnetic tape with data written in a cassette case is stored in a magazine, and the medium is taken in and out of the magazine by an accessor. Library devices for writing and reading data are used in data centers and the like.
The accessor used in this library apparatus includes a transport path arranged along the direction in which the magazines are arranged, a medium transport tray movable on the transport path, a motor for moving the medium transport tray, a magazine or a drive. and a picker for taking media in and out of the slot. In the accessor having such a configuration, a medium is transported between magazines or between a magazine and a drive by driving the moving motor and operating the picker.

In addition, the accessor counts the position and movement distance of the picker and detects the presence or absence of the medium based on the presence or absence of light shielding of the photosensor by an operator that operates in conjunction with the drive motor of the accessor. In some cases, a system is adopted in which the operation status of the accessor is grasped based on the information detected by the controller and the medium transport operation is controlled based on the status.

Patent Document 1 discloses a library device related to the present invention. The library device described in this patent document 1 discloses a configuration in which an error is reported when a cartridge type recording medium is not correctly gripped when the accessor attempts to take out the cartridge type recording medium.
Japanese Patent Application Laid-Open No. 2002-200003 discloses a configuration related to the detection of light shielding of a photointerrupter by a light shielding body that rotates together with a driving input gear.

JP-A-6-251475 JP 2018-173518 A

By the way, the stepping motor that drives the accessor is provided with a function of detecting step-out from the input pulse and the detected light shielding pulse. There is a problem that it is not possible to accurately determine the movement of the accessor in the reverse direction due to the reverse rotation of the stepping motor.

An object of the present invention is to prevent the accessor from moving in the opposite direction.

In order to solve the above problems, a rotation direction detecting device according to a first aspect of the present invention includes a picker for taking in and out a recording medium accommodated in a storage unit, and A motor that drives an accessor that conveys a medium to a drive device that reads and writes data on the recording medium, a transmission section that transmits driving force to the accessor in conjunction with the rotation of the motor, and switching is performed by rotation of the transmission section. A sensor, a plurality of flag members for switching the detection signal of the sensor by movement in a direction intersecting the detection direction of the sensor, a sensor operation part rotating in conjunction with the transmission part, and a signal supplied from the sensor a control unit for controlling the motor, wherein the plurality of flag members are composed of a plurality of types with mutually different dimensions in the direction of rotation, and the plurality of flag members with mutually different dimensions are one of the transmission units. The arrangement order is different between the rotating direction and the opposite direction.

A rotational direction detecting method according to a second aspect of the present invention includes a picker for taking in and out a recording medium accommodated in a storage unit, and transferring data from the recording medium taken in and out by the picker to the recording medium. A step of driving an accessor conveyed to a drive device for reading and writing by a motor, a step of moving a plurality of flag members in conjunction with the rotation of the motor, and a step of switching the output of the sensor by the movement of the flag member. and determining the direction of rotation of the motor from pulses generated by the switching operation, wherein the plurality of flag members are of a plurality of types having different dimensions in the direction in which the sensor is operated, and the motor The arrangement order of the different dimensions is different between movement in one direction and movement in the other direction due to the rotation of the .

According to the present invention, it is possible to prevent the accessor from moving in the opposite direction.

1 is a block diagram showing a minimum configuration example of a rotation direction determination device according to a minimum configuration example of the present invention; FIG. FIG. 4 is a process diagram showing a minimum configuration example of a moving method determination method according to the minimum configuration example of the present invention; 1 is a perspective view showing the overall appearance of an accessor provided with a rotation direction determining device according to an embodiment of the present invention; FIG. 4 is a top view of the accessor shown in FIG. 3; FIG. 4 is a side view of the accessor shown in FIG. 3; FIG. FIG. 4 is a perspective view of a stepping motor and gears of a comparative example; 7 is an enlarged view of the gear of FIG. 6; FIG. 1 is a perspective view of a gear used in a rotation direction determination device according to one embodiment; FIG. FIG. 9 is an explanatory diagram of the relationship between the gear in FIG. 8 and the arrangement of flags that are operators; FIG. 9 is a perspective view of the gear of FIG. 8 provided with an operating element of one embodiment; FIG. 11 is a schematic diagram showing the relationship between the gear in FIG. 10 and the arrangement of operators provided on the gear; 3 is a block diagram of a control unit of the rotation direction determination device of one embodiment; FIG. 2 is a circuit diagram of a logic circuit used in a reverse run detection circuit; FIG. 4 is a flow chart showing part of the processing performed by the control unit of the rotation direction determination device of one embodiment. FIG. 15 is a flow chart showing processing after step FOW in FIG. 14 and processing before step REV; FIG.

An example of the minimum configuration of the rotation direction detection device according to the present invention will be described with reference to FIG.
This rotation direction detection device includes a picker for taking in and out a recording medium contained in a storage unit, and an accessor for transporting the recording medium taken in and out by the picker to a drive device for reading and writing data on the recording medium. 2, a transmission unit 3 that transmits driving force to the accessor 2 in conjunction with the rotation of the motor 1, a sensor 4 that is switched by the rotation of the transmission unit 3, and a detection direction of the sensor 4. A plurality of flag members 5 that switch the detection signal of the sensor 4 by moving in a direction intersecting with the sensor operation unit 6 that rotates in conjunction with the transmission unit, and the motor is controlled by the signal supplied from the sensor 4. The plurality of flag members 5 are composed of a plurality of types with mutually different dimensions in the direction of rotation, and the plurality of flag members 5 with mutually different dimensions are one of the transmission parts 3. The arrangement order is different between the rotation direction and the opposite direction.

According to the above configuration, the order in which the flag member is detected by the sensor 4 differs depending on whether the transmission section rotates in one direction or in the opposite direction. can determine the direction of rotation.

A minimum configuration example of the rotation direction detection method according to the present invention will be described with reference to FIG.
The rotational direction detection method includes a picker for taking in and out a recording medium contained in a storage unit, and an accessor for transporting the recording medium taken in and out by the picker to a drive device for reading and writing data on the recording medium. A step SP1 of driving by a motor, a step SP2 of moving a plurality of flag members in conjunction with the rotation of the motor, a step SP3 of switching the output of the sensor by moving the flag member, and accompanying the switching operation. and a step SP4 of determining the rotation direction of the motor from the pulse generated by the rotation of the motor. It is characterized in that the order of arranging the different sizes is different between the movement in one direction and the movement in the other direction.

According to the above configuration, since the order in which the flag member is detected by the sensor differs depending on whether the transmission section rotates in one direction or in the opposite direction, the rotation direction is determined based on this order. can do.

(embodiment)
A configuration according to an embodiment of the present invention embodying FIGS. 1 and 2 will be described with reference to FIGS. 3 to 11. FIG.
3 to 5, an overview of the configuration of a library device including a transport direction determination device according to one embodiment will be described.
As shown in FIG. 3, this library apparatus has a magazine 12 for storing a plurality of media 11 each containing a magnetic tape in a cassette case, and for inserting and removing the plurality of stored media 1 into and out of the device at a time. An accessor 13 for taking in and out the medium 11 stored in the magazine 12 and conveying it, a picker 14 advancing/retreating on the accessor 13 to pull in or push out the medium 11, and supporting the load when the accessor 13 moves. A plurality of rollers 15, which are rotating pulleys, and a plurality of photosensors 16 (see FIG. 6 , 7), a drive 17 that takes in the medium 11 conveyed by the accessor 13 and reads and writes data, and a bottom chassis 18 that is a common base of a housing that accommodates these structures.

The library apparatus constructed as described above has an accessor 13 for transporting the medium 11 accommodated in the magazine 12, and the accessor 13 is driven by a stepping motor 20, the details of which are shown in FIG. are doing. An encoder sensor 21 whose details will be described later in FIG. The library device grasps the status of the accessor in operation based on the detected information, and controls the operation of conveying the medium based on the status.

A detailed configuration of the photosensor 16 used in the encoder sensor 21 will be described with reference to FIGS.
6 and 7 show a specific example of the transmissive photosensor 16 used as the encoder sensor 21. FIG. This transmissive photosensor 16 has a light-emitting portion 22 and a light-receiving portion 23, and has a structure in which the light-receiving portion 23 receives light emitted by the light-emitting portion 22 (indicated by an arrow L). That is, depending on whether or not the light emitted from the light emitting section 22 is received by the light receiving section 23, the light receiving section 23 outputs an ON or OFF signal.

As shown in FIGS. 7(a) and 7(b), the photosensor 16 has a light shielding body 25 as a sensor operation unit that moves integrally with the detection target 24 and passes between the light emitting unit 22 and the light receiving unit 23. are arranged as follows.
In the photosensor 16, when there is an object such as the light shielding body 25 between the light emitting part 22 and the light receiving part 23, the light emitted from the light emitting part 22 is reflected by the light shielding body 25 as shown in FIG. As a result, light does not reach the light receiving portion 23, and the output is turned off. As shown in (b), when the light emitted from the light-emitting portion 22 reaches the light-receiving portion 23, the light-receiving state is established and the output is turned on.

FIG. 8 shows a stepping motor 20 for driving the accessor 13, a mechanism for transmitting power from the stepping motor 20 to the accessor 13, and a mechanism for counting the movement distance of the accessor 13. FIG.
As shown in FIG. 9, the gear 30, which is a member corresponding to the detection target 24 in FIG. 7, has a flag group 31 composed of 12 flags 31a functioning as the light blocking member 25 in the same figure. The flags 31a are shielding bodies having the same width dimension and are arranged at equal intervals in the circumferential direction of the gear 30. As shown in FIG. The flag 31a is interlocked with the rotation of the gear 30 and moves in the rotational direction, thereby switching the photosensor between ON and OFF at a constant cycle. The rotation of the gear 30 is sequentially transmitted to the gear 32, the gear 33, and the gear 34 by the rotational drive of the stepping motor 20, so that the gear 30 rotates in conjunction with each other. pass in a direction that intersects with
Thus, in the library device, the motor control unit 42 calculates the moving distance based on the sensor signal output by the encoder sensor 21 repeating light reception and light shielding.

The library device of one embodiment is equipped with a step-out detection function for determining whether the stepping motor 20 has rotated by the number of pulses of the input step. That is, it monitors whether or not there is a change in the output of the sensor signal within a specified number of pulses while the stepping motor 20 is being driven, and if the output of the sensor signal does not change and the movement distance is not counted, step-out is detected. .
8 and 9 show a comparative example in which the flags 31a have the same width and are arranged at regular intervals, for the sake of convenience. Therefore, the encoder sensor 21 for counting the movement distance of the accessor 13 is single-phase for detecting a constant pulse, and the arrangement of the flags 31a is symmetrical between one rotation direction and the opposite rotation direction. .

That is, regardless of whether the accessor 13 moves forward or backward (approaching or separating from the drive 17), the same ON-OFF signal is output. As a result, since the step-out detection function monitors only changes in the sensor signal, it cannot detect the movement direction of the accessor. Furthermore, even if the accessor is moving in the wrong direction, the operation cannot be stopped, and by moving the medium 11 to the wrong position, the accessor 13 and the medium 11 may crash into the inside of the device. obtain.

10 and 11 show gear 30 with flag group 31A according to one embodiment of the present invention. This gear 30 is a member corresponding to the detection target 24 of FIG. 7, and includes a flag 31a shown in the comparative example of FIG. are arranged in a predetermined arrangement. These flags 30a and 30b have a function as a light blocking body 25. As shown in FIG.
That is, in the flag group 31A, as shown in FIG. 11A, the flags 31a and 31b are arranged in the advancing direction from left to right in the figure. That is, the flags 31b, 31b, 31a, 31b, 31a, 31a, 31b, 31b, 31a, 31b, 31a, 31b, 31b, . . . are arranged from the left in FIG. 11(a).
According to this arrangement, if the detection of 31a is expressed as "1" and the detection of 31b is expressed as "0", the order of rotation in the forward direction is 110100110100 . In this case, 001011001011 .

FIG. 12 is a functional block diagram of a controller that drives the accessor. The reverse running detection circuit 40 determines the flag length (ON or OFF signal output according to the width of the flags 31a and 31b) based on the detection signal of the light receiving section 23 constituting the encoder sensor 21, and detects the flag. Detect the order of passage. For example, the timing at which two wide flags 31b are detected in succession is used as a trigger, and the operating direction of the accessor 13 is detected at the timing at which the wide flags 31b pass thereafter. In the case of forward movement, the wide flag 31b passes after one conventional width flag 31a passes after the trigger is detected. In the case of backward travel, after the two flags 31a with the conventional width have passed after the trigger is detected, the flag 31b with the wide width passes.

The reverse run detection circuit 40 compares the operation direction detection signal of the accessor 13 with an operation control direction signal output based on a movement instruction from a CPU (Central Processing Unit) 43, and outputs a match/mismatch signal for motor control. Send to section 42 . If the operating directions do not match, the motor control unit 42 stops driving the stepping motor 20 . A step-out detection circuit 41 determines whether the signal supplied from the encoder sensor 21 matches or does not match the actual drive signal of the stepping motor 20. If the signal does not match, the phase of the drive pulse is adjusted or the stepping motor Stop 20.

FIG. 13 is a configuration example of a logic circuit for generating a reverse detection signal in the reverse detection circuit 40. As shown in FIG.
FIG. 13(a) shows a configuration example of a circuit that determines the length of the passed flag and generates a trigger signal at the timing when two wide flags are detected in succession.
The first counter 51 is preset with a prescribed number of clocks corresponding to the number of reverse running detection clocks within the output time of the encoder sensor when the wide flag width of the flag 31b is passed. The flag length is determined by comparing the number of rising times of the reverse run detection clock during the period and the specified number of times. In the case of , "1" is output from the output terminal B. The prescribed number of times is set by preparing a value corresponding to the motor rotation speed detected from the excitation current pattern of the stepping motor 20 .
The output of the output terminal A of the first counter 51 is input to the Data input terminal of the first flip-flop 52, and the output of the output terminal B is the CLR (data) of the first flip-flop 52. clear) is input to the input terminal. Therefore, the first flip-flop 52 is set to 1 and holds "1" each time the wide flag 31b passes, and is reset each time the narrow flag 31a passes.
When the output C of the first flip-flop 52 is input to the second counter 53, a signal instructing the start of rotation direction detection is output. It is cleared to "0" on condition that the output C of 52 is not "1".

FIG. 13(b) counts the number of flags that have passed after two trigger wide flags have passed in succession until the wide flag passes, and outputs a signal indicating the forward/backward decision result. 4 shows an example of circuit configuration.
When the start signal is input from the second counter 53, the second flip-flop 54 outputs the signal A output by the passage of the wide flag 31b to the third counter 55. FIG. The third counter 55 counts the passage of the wide flag 31b and supplies the counting result to the comparator 56. FIG.
The comparator 56 compares the input count value with the input operation direction signal (rotation direction command value with 1 for the forward direction and 0 for the reverse direction). , a reverse-running detection signal is output to the motor control unit 42, and processing such as stopping the stepping motor 20 is performed in the same manner as in the case of step-out.

The operation of the accessor of the rotational direction determination device configured as described above will be described together with the processing executed by the motor control unit 42 with reference to FIGS.
The flowchart of FIG. 14 is an example of the operation of an accessor in one embodiment.
In this operation, the passage order of the flags is detected by the reverse running detection function, and if the operation direction of the accessor is wrong, the operation of the accessor is stopped by the motor control unit.
SP101
When there is a command to insert or withdraw any of the media 11, the CPU 43 moves based on the position information of the position of the medium 11, the X coordinate direction (the direction in which the magazines are arranged), and the current position of the accessor 13. The amount (the number of pulses to be supplied as a command for the amount of rotation of the stepping motor 20) is calculated, and a movement pulse for moving the accessor 13 to the position of the target medium 11 is designated.
SP102
Next, the stepping motor 20 is driven according to the signal input from the CPU 43 by the motor control section 42 .
SP103
During driving of the motor, the output of the signal from the encoder sensor 21 is switched by the out-of-step detection function provided with the flags 31a and 31b, and it is confirmed whether the moving distance is counted based on this signal. If it is determined that the number has been counted, the process proceeds to SP104. If it is determined that the number has not been counted, the process proceeds to step FOW, and each step shown in FIG. 15 is executed.

SP104
Further, the operation direction instructed by the reverse running detection function is compared with the detected operation direction, and if they match, the process proceeds to step SP105, and if they do not match, the process proceeds to step SP106. This comparison of the operation directions is due to the difference in the detection order of the flags 31a and 31b after the wide flag 31b is continuously detected based on the arrangement of the flags 31a and 31b shown in FIG. 11(a).
SP106
If the operation directions do not match, the motor control unit 42 stops the accessor operation.
SP107
In order to attempt recovery by retrying, it is confirmed whether or not the accessor 13 has malfunctioned a certain number of times or less.
SP107
If the number of retries is equal to or less than the predetermined number, the operation of the accessor 13 is resumed. If the number of abnormalities in operation exceeds a certain number, the process is terminated.
If it is determined in step SP104 that the operation direction is correct, the process proceeds to step SP105.
SP105
Finally, the motor control unit 42 compares the X-coordinate movement distance of the accessor 13 with the number of movement pulses designated by the CPU 43 to confirm whether the designated position has been reached. If the specified position has not been reached, continue to drive the motor.

In step SP103, when it is determined that the number of pulses is not counted and the process proceeds to step FOW, the processing from step FOW in FIG. 15 is executed.
SP108
When step-out occurs, the motor control unit 42 outputs a step-out signal to the CPU 43 .
SP109
When the out-of-step signal is input, the origin detection operation is performed next.
SP110 SP111
During the origin detection operation, as in step SP103, the out-of-step detection function determines whether a predetermined number of pulses have been counted and the reverse run determination function determines whether the pulse arrangement is correct. If there is neither step-out nor reverse running, proceed to the next step SP112. If the number of pulses does not reach the predetermined number, the process proceeds to step 113 for retry judgment.
SP112
Check whether the motor controller has reached the origin of the specified position. If the origin has been reached, the process advances from step RET to step SP101 in FIG. 14 to redo the movement of the accessor to the position of the medium to be loaded or unloaded. If it has not reached the origin, the process returns to step SP109 to continue the origin detection operation unless it is determined in step SP115 that a time-out has occurred.
SP115
It is determined whether a time-out has occurred, and if a predetermined time has elapsed, the process ends abnormally.

Through the processing of the above steps, the motor control section 42 can stop the operation when the accessor 13 operates in the wrong direction. This control prevents the accessor 13 from moving in the wrong direction and terminating the operation at the wrong position, and also prevents the accessor 13 and the medium 11 from colliding into the interior of the apparatus.
Since this effect can be realized by using the encoder sensor 21 that counts the movement distance of the accessor 13 and two types of flags 31a and 31b with different widths, a new sensor and mounting space are required. There is no Furthermore, by changing the widths of the flags 31a and 31b, it is possible to determine whether the flags 31a and 31b are forward or reverse. can be realized by the same control as pulse counting (detection) in a pulse motor (using flags of the same width).

In the above embodiment, a light transmission type photosensor is used, but a reflection type photosensor that detects the light beam reflected by the flag, or a magnetic piece that rotates integrally with the gear (belt-shaped magnetic body) The present invention can also be applied to a system in which the pattern string) is used as a flag and this flag is detected by a magnetic sensor.
The gears provided with the flags are not limited to the gears illustrated in FIGS. 8 to 11, and may be other gears provided in the drive system from the stepping motor to the accessor.
The sensor operation unit including the flag member for operating the sensor is not limited to a separate member that rotates integrally with the gear provided in the rotation transmission system as in the one embodiment, and the teeth of the member that constitutes the gear. It may be a member that is additionally formed at a portion other than the formed portion.

As described above, one embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this one embodiment, and design changes and the like are included within the scope of the present invention. .

INDUSTRIAL APPLICABILITY The present invention can be used for a rotation direction determination device and determination method for a device driven by a motor.

1 Motor 2 Accessor 3 Transmission Part 4 Sensor 5 Flag Member 6 Sensor Operation Part 7 Control Part 11 Medium 12 Magazine 13 Accessor 14 Picker 15 Roller -
16 photo sensor 17 drive 18 bottom chassis 20 stepping motor 21 encoder sensor 22 light emitting unit 23 light receiving unit 24 detection target 25 light shield 30 gears 31a, 31b flags 31, 31A flag group 40 reverse run detection circuit 41 step out detection circuit 42 motor control Part 43 CPU
51 first counter 52 first flip-flop 53 second counter 54 second flip-flop 55 third counter 56 comparator

Claims (5)

a motor that drives an accessor that includes a picker for taking in and out a recording medium contained in a storage unit from the storage unit, and conveys the recording medium taken in and out by the picker to a drive device that reads and writes data to and from the recording medium;
a transmission unit that transmits driving force to the accessor in conjunction with rotation of the motor;
a sensor switched by rotation of the transmission part;
a sensor operation unit including a plurality of flag members for switching detection signals of the sensor by movement in a direction intersecting the detection direction of the sensor, and rotating in conjunction with the operation of the transmission unit;
a control unit that controls the motor according to a signal supplied from the sensor;
has
The plurality of flag members are composed of a plurality of types with different dimensions in the direction of rotation,
a plurality of flag members having different dimensions are arranged in different order between one rotation direction and the opposite direction of the transmission part;
The flag member comprises a first flag member and a second flag member having a larger dimension in the direction of rotation than the first flag member,
The control unit determines the direction of rotation of the accessor by the motor based on the detection result of the second flag member after the first flag member is continuously detected a predetermined number of times.
Rotation direction determination device. The transmission unit is a gear that rotates by transmitting rotation from the motor, and the sensor operation unit rotates integrally with the gear.
The rotation direction determination device according to claim 1. The sensor is a sensor that detects whether or not the emitted light beam is received,
The flag member that constitutes the sensor operation unit is a plate-shaped member that moves in a direction intersecting with the light beam incident on the sensor to block the light beam as the transmission unit moves. Composed of multiple types with different dimensions along the
The rotation direction determination device according to claim 1 or 2 . The plurality of flag members are arranged along the rotation direction of the gear that constitutes the transmission section,
The rotation direction determination device according to claim 3 . a step of driving, by a motor, an accessor comprising a picker for taking in and out a recording medium contained in a storage section, and conveying the recording medium taken in and out by the picker to a drive device for reading and writing data to and from the recording medium; ,
moving a plurality of flag members in conjunction with rotation of the motor;
a step of switching the output of the sensor by moving the flag member;
a step of determining the direction of rotation of the motor from a pulse generated along with the switching operation;
with
A plurality of flag members having different dimensions in the direction in which the sensor is operated are used. unlike
making the dimensions along the rotational direction of the plurality of flag members different from each other;
Determining the rotation direction based on the detection order of the plurality of flag members having different dimensions;
Rotation direction determination method.

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