JPH09180329A - Cassette loading/unloading device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent reduction in moving speed and impacts or the like applied to a carried article by opening/closing a pair of lugs of a robot hand by the pressing force of a spring and a force generated by an eject guide. SOLUTION: A robot hand 21 changes the direction of the pressing force F of a spring 23 connected to the end part 22A of the base side of a lug 22 by a fulcrum pin 24, moves the tip part 22B of the lug 22 in a closing direction A and holds a cartridge 3 by catching the side face thereof. The tip part 22B of the lug 22 holding the cartridge 3 is pushed to open left and right by eject guides 25 provided in the left and right positions of the front face of a recording and/or reproducing device 5 against the spring force F so as to release its holding. Thus, the holding/hold releasing is performed for the cartridge 3 without providing a driving source and a reduction in moving speed caused by weight increase is prevented. Further, impacts or damage applied to the cartridge 3 are reduced to the minimum when the holding is released.

Description

Detailed Description of the Invention

[0001]

[Table of Contents] The present invention will be described in the following order. TECHNICAL FIELD OF THE INVENTION Conventional Technology (FIGS. 8 to 10) Problems to be Solved by the Invention (FIGS. 11 to 13) Means for Solving the Problems Embodiments of the Invention (FIGS. 1 to 7) effect

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attachment / detachment device, for example, a recording and / or reproducing device (hereinafter referred to as VTR (Vide).
(hereinafter referred to as "Tape Recorder"), it is suitable for application to a cassette autochanger for exchanging a cartridge (hereinafter, simply referred to as "cartridge") that stores a recording medium composed of 8 mm tape.

[0003]

2. Description of the Related Art Conventionally, cassette auto-engines have been mainly used in broadcasting stations, etc.
The tape cartridge taken out from the tape recorder is VTR
Alternatively, it is configured to be conveyed to a storage portion and attached / detached via an attaching / detaching port. For example, desired cartridges are taken out from a plurality of storage shelves, held, and transported to the VTR. The carried cartridge is loaded into the VTR by attaching and detaching it through the attaching and detaching port. Further, the cartridge which has been recorded or reproduced with the data and discharged from the VTR is taken out and held and conveyed to the original storage rack, and is stored by being attached to and detached from the storage rack through the attaching / detaching port.

In FIG. 8, reference numeral 1 denotes a cassette auto-engine as a whole, and a cartridge hand 3 stored in a storage rack 2 is taken out and held by a robot hand 4 and conveyed to a VTR 5. The cartridge 3 that was transported
The VTR 5 is loaded into the VTR 5 by being attached and detached via the attachment / detachment port 5A provided on the front surface of the VTR 5. Further, the cassette auto-engine 1 takes out and holds the cartridge 3 discharged from the attachment / detachment port 5A of the VTR 5 by the robot hand 4 after recording or reproduction is completed, and holds it.
Transport to The carried cartridge 3 is detached from the storage shelf 2 via the attachment / detachment port and stored.

Further, as shown in FIG. 9, the robot hand 4
Holds a pair of left and right claws 6 which are opened and closed to pinch and hold the cartridge 3 to be conveyed. Here, V-shaped grooves 7 are formed on the left and right side surfaces 3A of the cartridge 3 respectively.
The robot hand 4 grips the cartridge 3 by fitting the tab 6 into the groove 7.

Further, as shown in FIG. 10, the robot hand 4 has a motor 8, a gear 9 and a cam 10, and the motor 8 is connected to the cam 10 via the gear 9. Further, the elliptical cam 10 is provided with a groove having a predetermined shape from the outer peripheral direction which is the longitudinal direction toward the center, and mechanically interacts with the claw 6 via the transmission shaft 6A fitted in the groove. It is connected. The driving force generated by the rotation of the motor 8 is transmitted to the cam 10 via the gear 9 to rotate the cam 10. The cam 10 is rotated by an applied driving force and moves the transmission shaft 6A fitted in the groove along the shape of the groove from the outer peripheral side to the center side and from the center side to the outer peripheral side. In this way, the driving force by the rotational movement of the motor 8 is converted by the cam 10 into the driving force for moving the transmission shaft 6A in the parallel direction.
The converted driving force is transmitted to the claw 6 via the transmission shaft 6A to open and close the claw 6. Thus, the robot hand 4 is driven by the driving force supplied from the motor 8 so that the claw 6 can move.
The cartridge 3 can be gripped by opening and closing.

[0007]

By the way, in the robot hand 4 having such a structure, the opening and closing of the claw 6 is driven by the driving force transmitted from the motor 8. However, since the claw 6 is opened and closed by using the motor 8 as a drive source in this way, the claw 6 cannot be opened and closed when the motor 8 fails, and the motor 8 is used to adjust the opening and closing speed of the claw 6. There is a problem of reliability such as that the rotation speed of the device must be controlled. There is also a problem that the moving speed of the robot hand 4 decreases due to the increase in weight due to the provision of the motor 8 and the gear 9 and the cam 10 for transmitting the driving force of the motor 8 to the claw 6.

In order to avoid such a problem, as shown in FIG. 11 in which parts corresponding to those in FIG. 9 are designated by the same reference numerals, the pawls 6 are opened and closed by a spring force and the cartridge 3 is opened.
A method of holding is conceivable. In the robot hand 11 shown in FIG. 11, compressed springs 12 are connected to the roots of the claws 6, respectively, and a spring force F is exerted in the direction of pushing the claws 6 outward in the longitudinal direction in which the springs 12 are continuous.
Has been energized. The robot hand 11 can close the tip of the claw 6 by converting the direction of the spring force F with the fulcrum pin 13, and the tip of the claw 6 can be closed at both ends in the width direction of the cartridge 3. It can be opened by pressing it against the corner. Thus, the robot hand 11 does not have to be provided with a drive source, and the tab 6
The cartridge 3 can be held by the spring force F biased by.

For example, as shown in FIG. 12, when the cartridge 3 is held, the robot hand 1 is attached to the cartridge 3.
Press 1. The tip end of the claw 6 that abuts against both end corners of the cartridge 3 when pressed is pushed open by advancing the robot hand 11 as it is. Then, when it comes to the position of the groove 7, the claw 6 fits into the groove 7 and holds the cartridge 3. While being held, the cartridge force 3 is gripped by the spring force F. In the case of this method, FIG.
As shown in FIG. 3, in order to release the holding of the cartridge 3 it is necessary to provide an L-shaped convex portion 14 on the transport destination, for example, the front side of the storage rack 2 (FIG. 8). At the time of storage, while hooking the cartridge 3 on the convex portion 14, the robot hand 1
The holding can be released by retracting 1.

However, a certain strong spring force F is required for the spring 12 in order to reliably grip the cartridge 3 during transportation, and therefore, when the cartridge 3 is pulled out from the tab 6 and the holding is released, There is a problem in that the cartridge 3 is scratched or damaged due to the friction generated at the contact portion with the cartridge 3.

The present invention has been made in consideration of the above points, and it is possible to improve the reliability, avoid a decrease in the moving speed, and further reduce the impact or damage on the conveyed object. Is to propose.

[0012]

In order to solve the problems, according to the present invention, there are provided a pair of holding means which are rotatably arranged about a predetermined position as a fulcrum and hold the cassette so as to sandwich the cassette at each one end. A first urging means for urging a force in a direction of sandwiching the cassette to each holding means,
A moving means for integrally moving each holding means and the first urging means in the insertion direction and the discharging direction of the cassette with respect to the cassette insertion / removal opening of the recording and / or reproducing apparatus is provided, and each holding means is associated with the moving means. The recording and / or reproducing apparatus is provided with an opening / closing means having a taper surface which is an inclined surface extending in the insertion direction of the cassette toward the outside of the recording and / or reproducing apparatus.

Further, in the present invention, a pair of holding means, which are rotatably arranged around a predetermined position as a fulcrum, hold the cassette so as to sandwich it at each one end, and a force in the direction of sandwiching the cassette between the holding means. And a first urging means for urging the urging means, and a rotative means having a convex portion at one end which is a rotative end and rotatably disposed about a predetermined position as a fulcrum. Each holding means is provided with a rotation restricting means for restricting the rotation of the holder out of a predetermined position and a second biasing means for applying a force in a direction of rotating the rotation means to the outside of the predetermined position. Further, a moving means for integrally moving the holding means and the first urging means in the insertion direction and the discharge direction of the cassette with respect to the storage rack is provided, and further, with inclined surfaces that spread outward in the storage rack in the insertion direction of the cassette. Tapered surface and convex Provided in the storage shelves respectively in correspondence with the convex portion provided on the one end of the opening and closing means rotating means having a groove width corresponding to.

When one end of each holding means holding the cassette is moved in the insertion direction of the cassette and the cassette held in the cassette insertion / removal opening is inserted, each holding means moves along the tapered surface pressed. As a result, the cassette is pushed open to release the holding of the cassette.

Further, when one end of each holding means holding the cassette is moved in the insertion direction of the cassette and the cassette is stored in the storage rack, the taper on which the convex portion provided at one end of the rotating means is pressed By restricting the rotation about the surface by the rotation restricting means, the holding means is moved along the tapered surface and pushed open to release the holding of the cassette, and the cassette is stored in the storage rack. Or, when the cassette is not held and the holding means in the closed state are moved in the inserting direction of the cassette to take out the cassette from the storage shelf, the convex portion provided at the one end of the rotating means is removed. The cassette is inserted into the groove of the opening / closing means, and one end of each holding means is pressed against the accommodated cassette so that the cassette is held by sandwiching the cassette.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings.

In FIG. 1 in which parts corresponding to those in FIG. 8 are designated by the same reference numerals, numeral 20 indicates a cassette autoentire as a whole, and a cartridge 3 made of 8 mm cassette tape stored in the storage rack 2 is attached to the robot. It is taken out and held by the hand 21 and conveyed to the VTR 5. The carried cartridge 3 is a VTR (Video Tape Recorder) 5
It is loaded into the VTR 5 by being attached / detached through the attachment / detachment port 5A provided on the front surface of the. In addition, the cassette auto recorder 20 is a VTR after recording or reproducing is completed.
The cartridge 3 discharged from the attachment / detachment port 5A of 5 is taken out by the robot hand 21 and held, and conveyed to the storage rack 2. The carried cartridge 3 is detached from the storage shelf 2 via the attachment / detachment port and stored.

Further, as shown in FIG. 2, the robot hand 2
1 is a pair of left and right claws 22 each having an arrow-shaped tip,
3 and connect this tab 22 to the fulcrum pin 2
4 are attached to the left and right positions of the main body. The spring 23 is connected to the claw 22 in a compressed state,
Spring force F that tends to extend in the longitudinal direction in which the spring 23 is continuous.
Are biased to the left and right claws 22, respectively. Claw 2 again
2 can rotate about a fulcrum pin 24 as a central axis.

In the robot hand 21, the direction of the spring force F urged by the spring 23 connected to the end 22A on the root side of the claw 22 is converted by the fulcrum pin 24 so that the claw 22 has an arrow shape. By moving the leading end portion 22B formed in the closing direction A that is the opposite direction to the direction of the spring force F, the side surface of the cartridge 3 can be sandwiched and gripped from the left and right. Here, on the side surface of the cartridge 3 is formed a V-shaped groove 7
(FIG. 9) is formed, and the claw 22 can hold the cartridge 3 more reliably by fitting the tip portion 22B into the groove 7. An eject guide 25 having a tapered surface is provided on the front surface of the VTR 5 at the left and right positions corresponding to the position of the claw 22. The robot hand 21 inserts the cartridge ledge 3 held in the attachment / detachment opening 5A of the VTR 5 and takes out and retains the cartridge ledge 3 discharged from the attachment / detachment opening 5A.

A fulcrum pin 27 and a sub-lever 28 having one end attached to the fulcrum pin 27 are provided near the tip 22B of the claw 22. The sub-lever 28 can rotate about the fulcrum pin 27.
Further, a convex portion 28A having a predetermined height is provided on the other end of the sub-lever 28, and a spring 29 having one fixed at a predetermined position of the claw 22 is connected to the convex portion 28A. A spring force is applied to the sub-lever 28 in a direction in which the spring 29 contracts, and the sub-lever 28 cannot rotate outside the predetermined position by the restriction pin 30 provided at the predetermined position on the rotation track. It is done like this.

As described above, the sub-lever 28 is always biased by the spring force in the outward opening direction and can rotate in the inward closing direction, but the regulating pin 30 is provided in the outward opening direction. Cannot rotate more than the current position. For example, when some external force is applied to the sub-lever 28 so that the sub-lever 28 is rotated more than the position where the restriction pin 30 is provided, the sub-lever 28 does not move further and the claw 22 itself moves in the direction to open outward. Become.

Further, as shown in FIG. 3, the cartridge 3
The storage rack 2 (FIG. 1) for storing the plurality of racks 31 is formed by stacking a plurality of racks 31. The rack 31 has a U-shaped support portion 32 having a thickness corresponding to the thickness of the cartridge 3.
Are arranged on the left and right. In addition, the claws 2 are provided on the side surface of the support portion 32.
A notch corresponding to the thickness of 2 is provided. Further, the support portion 32 is provided with an L-shaped eject guide 33 having a tapered surface at a position corresponding to the convex portion 28A provided at the tip portion 22B of the claw 22, that is, slightly above the cutout portion. There is. The robot hand 21 inserts the held cartridge 3 into the attachment / detachment port of the rack 31,
Further, the cartridge 3 is taken out from this attaching / detaching port and held.

In the above-described structure, the robot hand 21 provided in the cassette auto-engine 20 has only the forward and backward movements for attaching / detaching / removing the cartridge 3 to / from the VTR 5 or the rack 31 and only the spring force F by the spring 23 so that the cartridge cartridge 3 can operate. 3 can be gripped and released. That is, the tip portions 22B of the pair of claws 22 provided on the left and right of the robot hand 21 are respectively caused by the force biased by the spring 23 and the force generated by being pressed against the cartridge lip 3 or the eject guide 25. Then, the cartridge 3 can be gripped by opening and closing to the left and right. Specific gripping and releasing of the grip of the cartridge 3 by the robot hand 21 will be described below. Here, the VTR 5 has a front loading mechanism, ejects the cartridge 3 which has been recorded or reproduced, from the attachment / detachment port 5A to the ejection position 33, and also to the insertion detection position 34 which is a position behind the ejection position. The pushed cart carriage 3 is drawn into the apparatus.

For example, as shown in FIG. 4, when gripping the cartridge 3 discharged from the VTR 5, first, the robot hand 21 (FIG. 1) advances straight in a direction perpendicular to the VTR 5. Here, the claw 22 has an end portion 23 by a spring force F (FIG. 1) that is urged by a compressed spring 23 (FIG. 1).
A (FIG. 1) is pushed open, and the direction of the spring force F is converted via the fulcrum pin 24, so that the arrow-shaped tip portion 22B is closed.

When the robot hand 21 moves straight in this way, the tip portions 22B of the tabs 22 come into contact with the corners at the left and right ends of the cartridge 3 discharged to the discharge position 33 of the VTR 5. When the robot hand 21 is further advanced from this state, the tip portion 22B of the claw 22 is tapered, so that it is pushed to the left and right against the spring force F of the spring 23. When the tip portion 22B moves to the position of the V-shaped groove 7 of the cartridge 3 in the state where the tip portion 22B is pushed and spread in this manner, the tip portion 22B fits into the groove 7. In this way, the robot hand 21 with the tip 22B fitted in the groove 7 is
The cartridge hand 3 is taken out by the robot hand 21 by retracting. Thus, the robot hand 21 opens the tip 22B of the claw 22 left and right by pressing it against the corners at the left and right ends of the cartridge 3, and fits the tip 22B of the claw 22 into the groove 7 so that the VTR 5 moves away from the VTR 5. The discharged cartridge 3 can be gripped.

Further, as shown in FIG. 5, when the grasped cartridge 3 is inserted into the attachment / detachment port 5A of the VTR 5, first, the robot hand 21 (FIG. 1) moves straight in a direction perpendicular to the VTR 5. Since the robot hand 21 holds the cart ledge 3, the tab 22 is parallel to the side surface of the cart ledge 3. In this state, the robot hand 21 goes straight and pushes the cartridge 3 to a position slightly before the insertion detection position 34. At this time, the tip 22B of the claw 22 is in contact with the eject guide 25. When the robot hand 21 further advances straight, the cartridge 3 is pushed to the insertion detection position 34, and the tip 22B of the claw 22 fitted in the groove 7 moves along the taper surface of the eject guide 25 so that the spring is moved. It is pushed left and right against the force F. As a result, the grip of the cartridge 3 by the claw 22 is released. Cartridge 3
Is pushed to the insertion detection position 34, and
It is drawn into the device by the front loading mechanism of R5. Thus, the robot hand 21 inserts the cartridge 3 into the attachment / detachment port 5A while
By pressing B against the eject guide 25 to open it to the left and right, the tip portion 22B of the claw 22 can be removed from the groove 7 and the grip of the cartridge 3 can be released.

Further, as shown in FIG. 6, when gripping the cartridge 3 housed in the rack 31, first, the robot hand 21 (FIG. 1) moves straight in a direction perpendicular to the rack 31. Here, the claw 22 is in a state where the end portion 22A (FIG. 1) is pushed open by the spring force F (FIG. 1) urged by the compressed spring 23 (FIG. 1), and By converting the direction of the force F via the fulcrum pin 24, the arrow-shaped tip portion 22B is closed. When the robot hand 21 goes straight, the claw 2
The front end portions 22B of the two enter between the eject guides 33 provided on the left and right sides of the rack 31 and the side surfaces of the cartridge 3 and come into contact with the corners on both the left and right ends of the cartridge 3. Here, the sub lever 2 arranged near the tip 22B of the claw 22
The convex portion 28A is formed at the position where it comes into contact with the eject guide 33 at the rotating end of 8, and the tip portion 22 is thus formed.
When B enters between the eject guide 33 and the side surface of the cartridge rod 3, even if the sub-lever 28 comes into contact with the eject guide 33, it rotates inward and does not affect the movement of the claw 22.

When the robot hand 21 further advances in this state, the tip portion 22B of the claw 22 is spread to the left and right and fitted into the V-shaped groove 7 of the cartridge 3. In this way, the robot hand 2 with the tip 22B fitted in the groove 7
One retreats. Thus, the robot hand 21 is housed in the rack 31 by pressing it against the corners at the left and right ends of the cartridge 3 to open the tip 22B of the claw 22 left and right and fitting the tip 22B of the claw 22 into the groove 7. It is possible to grip the cartridge 3 that is being held.

As shown in FIG. 7, when the grasped cartridge 3 is inserted into the rack 31 for storage, the robot hand 21 (FIG. 1) first moves straight in a direction perpendicular to the rack 31. Since the robot hand 21 holds the cart ledge 3, the tab 22 is parallel to the side surface of the cart ledge 3. In such a state, the robot hand 21 moves straight, and the convex portion 28A provided at the rotating end of the sub lever 28 comes into contact with the eject guide 33. When the robot hand 21 goes straight ahead, the claw 2
The distal end portion 22B of the second member moves along the tapered surface of the eject guide 33 and is pushed and opened left and right. That is, the sub-lever 28 pressed against the eject guide 33 tries to rotate in order to move along the tapered surface of the eject guide 33, but cannot rotate outward due to the restriction pin 30. The claw 22 itself is spread outward. In this way, the rack 31 and the cartridge 3
In the state in which the claw 22 is stored, the claw 22 is completely opened left and right, and the fitting with the groove 7 is released. After this, the robot hand 21 retracts to complete the storage. Thus, the robot hand 21 opens the tip 22B of the claw 22 by inserting the cartridge 3 into the rack 31 and opening the tip 22B of the claw 22 left and right by pressing the sub-lever 28 against the eject guide 33. The grip of the cartridge 3 can be released by removing it from 7.

In this way, the robot hand 21 which holds the cartridge 3 by sandwiching it from the left and right with the pair of tabs 22.
Grasps and releases the grasping of the cartridge 3 with respect to the VTR 5 and the rack 31 by opening and closing the claw 22 only by the force generated by the forward or backward movement of the VTR 5 and the rack 31 and the spring force F biased by the spring 23. To do. That is, the robot hand 21 can open and close the claws 22 to grip the cartridge 3 without using a drive source, so that it is easy to reduce the number of parts and reduce the weight. Therefore, the provision of the drive source can prevent the weight from increasing and the moving speed from decreasing. Further, since no driving source is used, wiring can be realized with a simple structure, which can improve reliability. Further, by pressing the eject guides 25 and 33, the claw 22 is pushed and opened, and the cartridge 3 is moved to the VTR.
By loading the cartridge 5 and storing it in the rack 31, it is possible to minimize the impact and damage given to the cartridge 3 when the grip is released.

According to the above construction, the end portions 22 of the pair of claws 22 for holding the cartridge 3 by fitting and gripping the tip portions 22B in the shape of an arrow into the grooves 7, respectively.
A compressed spring 23 is connected to A, and a fulcrum pin 24 serving as a central axis of rotation of the claw 22 is provided on the claw 22.
Further, by providing the eject guide 25 at a position corresponding to the claw 22 of the VTR 5 for inserting / removing the cartridge 3, the eject guide 25 is used when the cartridge 3 is moved forward and backward to be inserted / removed in / from the VTR 5.
The claw 22 can be gripped and released by opening and closing the claw 22 left and right by the tapered surface of the claw and the left and right corners of the cartriage 3, and the claw 22 can be opened and closed without providing a drive source without damage. Can be detached and gripped.

In addition to the above-mentioned structure, the sub-lever 28 having the fulcrum pin 27 as the central axis and having the convex portion 28A at the rotation end, the spring 29 connecting the rotation end of the sub-lever 28 and the claw 22, and the sub-lever 28. Is provided on the claw 22 for restricting the outward rotation of the carriage 28, and the convex portion 28A is provided on the rack 31 for accommodating the cartridge 3.
When the cart guide 3 is moved forward and backward to insert and remove the cartridge 31 in the position corresponding to, the claws 22 are opened and closed by the left and right corners of the cartridge 3 and at the same time, The convex portion 28A is brought into contact with the tapered surface of the ecto-guide 33 and moved along the tapered surface to open and close the claws 22 left and right to grip and release the cartridge 3. The cartridge 22 can be attached and detached and held without damaging the claws 22 by opening and closing without providing a source.

In this way, the claw 22 can be opened and closed without providing a drive source so that the cartridge 3 can be attached and detached without being damaged, so that the reliability can be improved and the lowering of the moving speed can be avoided. In addition, an auto-engineer 2 having a robot hand 21 capable of further reducing the impact or damage given to the cartridge 3
0 can be realized.

In the above-described embodiment, the case where the pair of left and right claws 22 each having an arrow-shaped tip is used as the holding means has been described, but the present invention is not limited to this, and the tip has a predetermined tapered surface. In that case, for example, a claw having a semicircular or half-moon shaped tip may be provided.

In the above embodiment, the case where the compressed springs 23 are connected to the end portions 22A of the left and right claws 22 to apply the force is described. However, the present invention is not limited to this, for example, a fulcrum. An ordinary spring may be provided slightly forward of the pin 24, and the claw 22 may be opened and closed by urging the claw 22 with a spring force that causes the spring to contract. Further, instead of the spring, another elastic means may be provided.

Further, in the above embodiment, the VTR5
Although the case where the cartridge 3 is inserted and removed is described above, the present invention is not limited to this, and the present invention is not limited to this, and if it is a conveyed product having a groove on the surface for holding by the holding means, for example, an external recording device of a computer device. It may be applied to the case of inserting and removing the data cartridge.

[0037]

As described above, according to the present invention, a pair of holding means, which are rotatably arranged about a predetermined position as a fulcrum, hold the cassette so as to sandwich the cassette at each one end, and each holding means. The first urging means for urging a force in the direction of sandwiching the cassette, the holding means and the first urging means integrally in the insertion direction and the ejection direction of the cassette with respect to the cassette insertion / removal opening of the recording and / or reproducing apparatus. The recording and / or reproducing apparatus is provided with a moving means for moving, and an opening / closing means having a taper surface which is an inclined surface extending toward the outside of the recording and / or reproducing apparatus in the insertion direction of the cassette in correspondence with each holding means. When the cassette is held, the one end of each holding means holding the cassette is moved in the insertion direction of the cassette to insert the cassette held in the cassette insertion port.
By moving the holding means along the pressed tapered surface, the holding means can be pushed open to release the holding of the cassette.

Further, according to the present invention, a pair of holding means, which are rotatably arranged about a predetermined position as a fulcrum and hold the cassette so as to sandwich the cassette at one end, and a direction in which the cassette is sandwiched between the retaining means. First to energize
And a urging means for rotatably attaching the urging means, a rotative means having a convex portion at one end that is a rotative end, and rotatably arranged around a predetermined position as a fulcrum, and the rotative means is rotated outside the predetermined position Rotation restricting means for restricting movement and second biasing means for biasing each rotating means in a direction of rotating to a predetermined position are provided in each holding means, and the cassette for the storage shelf is A moving means for integrally moving the holding means and the first urging means in the insertion direction and the discharge direction is provided, and the tapered surface and the convex portion each of which is an inclined surface that expands in the insertion direction of the cassette toward the outside of the storage rack. The opening / closing means having a groove having a width corresponding to the above is provided on the storage shelf so as to correspond to the convex portions provided at the respective one ends of the rotating means, and the respective one ends of the respective holding means holding the cassette are inserted in the cassette insertion direction. Move to the storage shelf and store the cassette in the storage shelf. The rotation restricting means regulates that the convex portion provided at the one end of the means tends to rotate along the tapered surface, so that the holding means is moved along the tapered surface to push open the cassette. It is possible to store the cassette in the storage rack together with releasing the holding of, or by moving each one end of each holding means in the closed state without holding the cassette in the insertion direction of the cassette,
When the cassette is taken out from the storage shelf, the convex portion provided at one end of the rotating means is inserted into the groove of the opening / closing means, and each one end of each holding means is pressed against the stored cassette to spread the cassette. Can be held so as to be sandwiched.

Thus, the object to be conveyed can be detached and held by opening and closing the holding means without providing a drive source,
As a result, it is possible to realize a detachable device that can improve reliability, avoid a decrease in moving speed, and further reduce impact or damage given to a conveyed object.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an overall configuration of an auto engineer according to an embodiment.

FIG. 2 is a perspective view showing the shapes of a robot hand and a VTR according to an embodiment.

FIG. 3 is a perspective view showing the shapes of a robot hand and a rack according to an embodiment.

FIG. 4 is a plan view provided for explaining a state of gripping a cartridge that is discharged from a VTR.

FIG. 5 is a plan view provided for explaining a state in which a grasped cartridge is inserted into a VTR.

FIG. 6 is a plan view provided for explaining a state of gripping a cartridge stored in a rack.

FIG. 7 is a plan view provided for explaining a state in which the grasped cartridge is inserted into the rack.

FIG. 8 is a perspective view showing an overall configuration of a conventional auto chain.

FIG. 9 is a plan view showing a configuration of a conventional robot hand.

FIG. 10 is a perspective view showing an internal structure of a conventional robot hand.

FIG. 11 is a plan view showing an example of a method of holding a cartridge with a spring force.

FIG. 12 is a side view provided for explaining mounting of the cartridge ledge.

FIG. 13 is a side view provided for explaining the attachment and detachment of the cartridge.

[Explanation of symbols]

1, 20 …… Auto-engineer, 2 …… Storage rack, 3 ……
Cartridge, 3A ... side face, 4,11,21 ... robot hand, 5 ... VTR, 5A ... removal port, 6,22
...... Claw, 6A ...... Transmission shaft, 7 ...... Groove, 8 ...... Motor,
9 ... Gear, 10 ... Cam, 12, 23, 29 ... Spring, 13, 24, 27 ... Support pin, 14, 28A ...
Convex portion, 22A ... end portion, 22B ... tip portion, 25, 33
…… Eject guide, 28 …… Sub lever, 30 ……
Control pin, 31 ... Rack, 32 ... Support part, 33 ...
Ejection position, 34 ... Insertion detection position.

Claims (6)

[Claims] 1. An attachment / detachment device adapted to hold a cassette containing a recording medium so as to sandwich the cassette and to insert / remove the held cassette into / from a cassette insertion / removal opening of a recording and / or reproducing apparatus. A pair of holding means which are rotatably arranged about the fulcrum and hold the cassette so as to sandwich the cassette at each one end; and a force in the direction in which the retaining means sandwiches the cassette, respectively. The holding means and the first urging means are integrally moved in the inserting direction and the discharging direction of the cassette with respect to the cassette insertion / removal opening of the recording and / or reproducing apparatus. The moving means and the holding means are respectively provided in the recording and / or reproducing apparatus so as to correspond to the outer side of the recording and / or reproducing apparatus. And an opening / closing means having a tapered surface that is an inclined surface that spreads in the insertion direction of the cassette, wherein each one end of each holding means that holds the cassette is moved in the insertion direction of the cassette by the moving means. However, when the cassette is inserted into the cassette insertion / removal opening of the recording and / or reproducing apparatus, each of the holding means is pressed against the tapered surface of the opening / closing means and moves along the tapered surface to hold the holding. An attaching / detaching device, characterized in that the means is pushed open to release the holding of the cassette. 2. The attachment / detachment device according to claim 1, wherein the holding means positions and holds the cassette by fitting into a groove formed in the cassette in advance during manufacturing. 3. Each of said one ends of said holding means has a taper surface in contact with said cassette, and when said taper surface is pressed against said cassette by the forward movement of said moving means, 2. The cassette according to claim 1, wherein each of the holding means is pushed open by moving the one end along the tapered surface, and the cassette is sandwiched and held when the holding means is pushed and opened to a predetermined interval. Detachable device. 4. A cassette for storing a recording medium is held so as to be sandwiched, and the cassette held is stored in a storage rack, or the cassette stored in the storage rack is taken out and held. In the attachment / detachment device, a pair of holding means, which are rotatably arranged around a predetermined position as a fulcrum, hold the cassette so as to sandwich the cassette at each one end, and the holding means attach the cassette to the holding means. A first urging means for urging a force in the sandwiching direction and a convex portion at one end which is a rotating end are provided on the respective holding means so as to be rotatable around a predetermined position as a supporting point. Rotation means, rotation restriction means provided on each of the holding means and restricting rotation of the rotation means out of a predetermined position, and each rotation means includes each of the rotation means. Place A second urging means for urging a force in the direction of rotating out of the position, and the holding means and the first urging means integrated in the insertion direction and the ejection direction of the cassette with respect to the storage rack. Is provided on the storage shelf in correspondence with the convex means provided on each of the one ends of the rotating means, and spreads in the insertion direction of the cassette outward of the storage shelf. An opening / closing means having a taper surface formed of an inclined surface and a groove having a width corresponding to the convex portion, and each one end of each holding means holding the cassette is inserted in the insertion direction of the cassette by the moving means. And when the cassette is inserted into the storage shelf, the cassette is pressed against the taper surface of the opening / closing means and tries to rotate along the taper surface. Convex part up By moving the holding means along the tapered surface by controlling the rotation limiting means, the holding means is pushed open to release the holding of the cassette and the cassette is stored in the storage rack, or The one end of each holding means not holding the cassette is moved by the moving means in the insertion direction of the cassette, and when the cassette is taken out from the storage rack, the holding means is in the closed state. The convex portion provided at each one end portion of the rotating means is inserted into the groove of the opening / closing means, and each one end portion of each holding means is pressed against the cassette stored in the storage rack. The detaching device is characterized in that the cassette is held by being pushed open and sandwiching the cassette. 5. The attachment / detachment device according to claim 4, wherein said holding means positions and holds said cassette by fitting into a groove formed in said cassette in advance during manufacturing. 6. Each of said one ends of said holding means has a taper surface in contact with said cassette, and when said taper surface is pressed against said cassette by the forward movement of said moving means, 5. The cassette according to claim 4, wherein each of the holding means is pushed open by moving the one end along the tapered surface, and the cassette is sandwiched and held when the holding means is pushed open to a predetermined interval. Detachable device.