JPH06168530A - Cartridge transfer device - Google Patents

Abstract

PURPOSE:To prevent degradation of a system concerned by detecting FWD sensor information, RVS sensor information and moreover an output pulse of an encoder for the purpose of detecting a position of a picker at the time of performing control of driving a picker motor. CONSTITUTION:When detection of an FWD sensor 11 is performed or a value of the encoder 7 reaches a prescribed value, a drive circuit 10 is set for a retreating direction and a current value by a control part 13. The picker motor 6 is driven by the drive circuit 10 in the specified direction and current value from the control part 13. By rotating the picker motor 6 in the reverse direction, a driving belt 5 is driven also in the reverse direction, and the picker 4 fixed to the driving belt 5 starts its retreating movement. Afterward, an RVS sensor 12 is monitored by the control part 13. When the RVS sensor 12 is not under detection, a comparator circuit 9 is monitored in its output by the control part 13 to confirm whether the output pulse of the encoder 7 reaches the prescribed value of not.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cartridge transfer device used in a magnetic tape device.

[0002]

2. Description of the Related Art A conventional cartridge transfer device will be described with reference to FIG. In the conventional example of FIG. 4, a picker 4 for moving the cartridge 1 stored in the cartridge storage cell 3 to the hand portion 2 for transferring the cartridge 1 and a drive belt 5 fixed to the picker 4 are used to move the picker 4 back and forth. A picker motor 6 for moving, a drive circuit 10 for driving the picker motor 6 at a desired rotation speed, and a forward (FWD) sensor 11 for detecting the forward position of the picker.
A reverse (RVS) sensor 12 for detecting the retracted position of the picker, a timer 14 for measuring the picker operation time,
It has a controller 13 that controls the drive circuit 10 by monitoring the output of the sensor signal and the timer 14.

Next, the operation of the conventional example will be described. Figure 5
3 is a flow chart showing the processing of the control unit when the cartridge 1 is taken out from the cartridge storage cell 3. When the cartridge 1 is taken out from the cartridge storage cell 3, the control unit 1
3, the timer 14 first sets a specified value, and the drive circuit 10 is designated with a forward direction and a current value. Drive circuit 1
0 drives the picker motor 6 in the direction and current value designated by the control unit 13 (step 301). After that, the control unit 13 monitors whether the FWD sensor 11 is being detected (step 302). Control unit 13 is FWD
When the sensor 11 has not detected, the timer 14 is monitored (step 303), and when the timeout has not occurred, the FWD sensor 11 is monitored again (step 302). If it has timed out, the internal flag of the control unit 13 is set as an error (step 304). When the FWD sensor 11 is detecting by monitoring, or when a time-out occurs, the control unit 13 specifies the backward direction and the current value to the drive circuit 10. Further, the drive circuit 10 drives the picker motor 6 in the direction and current value designated by the control unit 13 (step 305). After that, the control unit 13 monitors whether the detection of the RVS sensor 12 is performed (step 30).
6). The control unit 13 monitors the timer 14 when the RVS sensor 12 does not detect (step 307),
If it has not timed out again, RVS sensor 1
2 is monitored (step 306). If it has timed out, the internal flag of the control unit 13 is set (step 308). When the RVS sensor 12 is detecting it or when it is timed out, the control unit 13 instructs the drive circuit 10 to stop the picker motor 6. The drive circuit 10 stops the picker motor 6 as specified by the control unit 13 (step 30).
9). After that, the control unit 13 checks the internal flag and, if the flag is set, considers it to be abnormal, and if the flag is not set, ends the cartridge removal process normally (step 310). Also, when the cartridge 1 in the hand 2 is stored in the cartridge storage cell 3, the control unit 13 similarly processes the operation of the picker 4.

[0004]

As described above, in the conventional cartridge transfer device, the position of the picker is detected only when the picker motor is driven and controlled by the two sensor information, that is, the FWD sensor information and the RVS sensor information. Therefore, if an abnormality occurs in one of the sensors and it becomes undetectable, there is a drawback that the picker cannot be operated immediately and the system goes down.

In addition, since only the FWD sensor detection position and the RVS sensor detection position are fixed in the picker position detection, the picker position can be measured when the picker is located between the FWD sensor and the RVS sensor. It was difficult. Therefore, the speed control during the picker operation cannot be performed, and the picker operation speed can be performed only by the open loop control of a constant speed. Therefore, the contact speed between the cartridge and the picker is increased, and the cartridge that has been used for a long period of time is damaged by the impact generated at the time of contact with the picker. Further, if the picker operation speed is slowed down to reduce the impact force, there is a drawback that the operation time becomes long.

[0006]

DISCLOSURE OF THE INVENTION A cartridge transfer device of the present invention includes a hand part for transferring a cartridge, a picker for holding the cartridge and moving it from the cartridge storage cell to the hand part, and fixed to the picker. Picker motor that moves the picker back and forth through the driven belt, an encoder that outputs a pulse by the rotation of this picker motor, a counter that measures the pulse of this encoder, and a comparison circuit that compares the counter value with a predefined value. A drive circuit that drives the picker motor at a desired rotation speed, a forward (FWD) sensor that detects the picker forward position, a reverse (RVS) sensor that detects the backward position of the picker, and these sensor signals. Control for controlling the drive circuit by the output of the comparison circuit Is composed of a detects the picker position in both the sensor information and the encoder output pulse, characterized in that measuring the duplexed position detection.

[0007]

The present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an embodiment according to the present invention. 1, the same reference numerals as those in the conventional example of FIG. 4 have the same functions. This embodiment is configured by adding an encoder 7 that outputs a pulse by the rotation of the picker motor 6, a counter 8 that measures the pulse of the encoder 7, and a comparison circuit 9 that compares the value of the counter 8 with a predetermined value. To be done.

Next, the operation of this embodiment will be described.
FIG. 2 is a flow chart of processing of the control unit of this embodiment. When the cartridge 1 in the cartridge storage cell 3 is taken out into the hand 2, the control unit 13 first sets the forward direction and the current value in the drive circuit 10 (step 101). The drive circuit 10 drives the picker motor 6 in the direction and current value designated by the control unit 13. When the picker motor 6 starts to rotate, the encoder 7 also rotates in synchronization with the rotation of the motor, and the output pulse of the encoder 7 is added and measured by the counter 8. The number of pulses of the encoder 7 measured by the counter 8 is checked by the comparison circuit 9 whether it has reached a specified value, and when it reaches the specified value, the control unit 13 is notified. Further, the drive belt 5 is driven by the rotation of the picker motor 6, and the forward movement of the picker 4 fixed to the drive belt 5 is started. After that, the control unit 13 monitors the FWD sensor 11 (step 102). Control unit 13
When the FWD sensor 11 does not detect, the input of the comparison circuit 9 is monitored to confirm whether the output pulse of the encoder 7 has reached the specified value (step 103). At this time, if the output pulse of the encoder 7 has not reached the specified value, the FWD sensor 11 is monitored again (step 102). When the FWD sensor 11 detects or the value of the encoder 7 reaches the specified value, the control unit 13 sets the backward direction and the current value in the drive circuit 10 (step 104). The drive circuit 10 drives the picker motor 6 in the direction and current value designated by the control unit 13.
The picker motor 6 rotates in the direction opposite to the rotation direction up to now, and the encoder 7 also rotates in the opposite direction in synchronization with the motor. Encoder 7 output by rotating in the opposite direction
The pulse number of is subtracted and measured by the counter 8. The number of pulses of the encoder 7 measured by the counter 8 is checked by the comparison circuit 9 whether it has reached a specified value, and when it reaches the specified value, the control unit 13 is notified. The drive belt 5 is also driven in the opposite direction by the rotation of the picker motor 6 in the opposite direction, and the backward movement of the picker 4 fixed to the drive belt 5 is started. After that, the control unit 13 controls the RVS sensor 1
2 is monitored (step 105). Control unit 13 is RV
When the S sensor 12 does not detect, the input of the comparison circuit 9 is monitored, and it is confirmed whether the output pulse of the encoder 7 has reached the specified value (step 106). At this time, if the output pulse of the encoder 7 has not reached the specified value, the RVS sensor 12 is monitored again (step 1
05). When the RVS sensor 12 detects or the value of the encoder 7 reaches the specified value, the control unit 13 outputs a stop command of the picker motor 6 to the drive circuit 10 (step 107). The drive circuit 10 stops driving the picker motor 6 and stops the rotation of the picker motor 6.
The operation of the picker 4 ends when the rotation of the motor is stopped. Also, when the cartridge 1 in the hand 2 is stored in the cartridge storage cell 3, the control unit 13 similarly processes the operation of the picker 4.

Next, the operation of different processing will be described with reference to the flowchart of FIG. When the cartridge 1 in the cartridge storage cell 3 is taken out into the hand 2, the control unit 1
The process when the picker 3 operates the picker 4 is as follows.
Sets the forward direction and the current value in the drive circuit 10 (step 201). The drive circuit 10 drives the picker motor 6 in the direction and current value designated by the control unit 13. When the picker motor 6 starts to rotate, the encoder 7 also rotates in synchronization with the rotation of the motor, and the output pulse of the encoder 7 is added and measured by the counter 8. The number of pulses of the encoder 7 measured by the counter 8 is checked by the comparison circuit 9 whether it has reached a specified value, and when it reaches the specified value, the control unit 13 is notified. The drive belt 5 is driven by the rotation of the picker motor 6, and the drive belt 5
The forward movement of the picker 4 fixed to is started. As a point different from the last time, the control unit 13 monitors the input of the comparison circuit 9 and confirms whether the output pulse of the encoder 7 has reached the specified value of the deceleration point (step 202). When the number of output pulses of the encoder 7 reaches the specified value of the deceleration point, therefore, the deceleration instruction is given to the drive circuit 10 by the program which was not present before (step 2).
03). After that, the control unit 13 monitors the FWD sensor 11 (step 204). When the FWD sensor 11 does not detect, the control unit 13 monitors the input of the comparison circuit 9 and confirms whether the output pulse of the encoder 7 has reached the specified value (step 205). At this time, if the output pulse of the encoder 7 has not reached the specified value, F
The WD sensor 11 is monitored (step 204). FW
When the D sensor 11 detects or the value of the encoder 7 reaches the specified value, the control unit 13 causes the drive circuit 10
The backward direction and the current value are set to (step 206).
The drive circuit 10 drives the picker motor 6 in the direction and current value designated by the control unit 13. The picker motor 6 rotates in the direction opposite to the rotation direction up to now, and the encoder 7 also rotates in the opposite direction in synchronization with the motor. The number of pulses of the encoder 7 output by the rotation in the opposite direction is subtracted and measured by the counter 8. The number of pulses of the encoder 7 measured by the counter 8 is checked by the comparison circuit 9 whether it has reached a specified value, and when it reaches the specified value, the control unit 13 is notified. The drive belt 5 is also driven in the opposite direction by the rotation of the picker motor 6 in the opposite direction, and the backward movement of the picker 4 fixed to the drive belt 5 is started. After that, the control unit 13 monitors the RVS sensor 12 (step 207). When the RVS sensor 12 does not detect, the input of the comparison circuit 9 is monitored to confirm whether the output pulse of the encoder 7 has reached the specified value (step 208). At this time, if the output pulse of the encoder 7 has not reached the specified value, the RVS sensor 12 is monitored again (step 207). When the RVS sensor 12 detects or the value of the encoder 7 reaches the specified value, the control unit 13 causes the drive circuit 10 to select the picker motor 6
The stop command is output (step 209). The drive circuit 10 stops driving the picker motor 6 and stops the rotation of the picker motor 6. The operation of the picker 4 ends when the rotation of the motor is stopped.

[0010]

As described above, according to the present invention, when the picker motor is driven and controlled, the picker position is detected by dual monitoring by measuring the FWD sensor information, the RVS sensor information, and the encoder output pulse. ,
Even if one of the sensors becomes abnormal and becomes undetectable, the picker position can be monitored, and the system down from the inoperable state can be prevented.

Since the picker position is measured when the picker is located between the FWD sensor and the RVS sensor,
The speed control can be performed during the picker operation to reduce the picker operation speed before the cartridge comes into contact with the picker. Therefore, there is an effect of preventing damage to the cartridge due to an impact generated when the picker comes into contact with the picker, and the average value of the picker operating speed can be increased.
The operating time can be shortened.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a flow chart of processing of a control unit of the present embodiment.

FIG. 3 is a flow chart in which the processing of the control unit of the present embodiment is further improved.

FIG. 4 is a block diagram showing a conventional example.

FIG. 5 is a flowchart of processing for explaining a conventional example.

[Explanation of symbols]

 1 Cartridge 2 Hand 3 Cartridge Storage Cell 4 Picker 5 Driving Belt 6 Picker Motor 7 Encoder 8 Counter 9 Comparison Circuit 10 Drive Circuit 11 FWD Sensor 12 RVS Sensor 13 Controller 14 Timer

Claims (2)

[Claims] 1. A hand part for transferring a cartridge, a picker for holding a cartridge and moving it from a cartridge storage cell to the hand part, and a picker for moving the picker back and forth through a drive belt fixed to the picker. A picker motor, an encoder that outputs a pulse by the rotation of this picker motor, a counter that measures the pulse of this encoder, a comparison circuit that compares the counter value with a predefined value, and drives the picker motor at a desired rotation speed. Drive circuit, a forward (FWD) sensor that detects the picker forward position, a reverse (RVS) sensor that detects the picker retracted position, and the drive circuit is controlled by these sensor signals and the output of the comparison circuit. Control unit that controls the picker position and sensor information. Detected with both output pulses of the
A cartridge transfer device for detecting a duplicated position. 2. An operation procedure in which the control unit controls the drive circuit to decrease the rotation speed of the picker motor when the movement amount of the picker exceeds a predetermined value by the output of the comparison circuit. 2. The cartridge transfer device according to claim 1, wherein the picker decelerates from a specified position.