JPS61130105A - Cartridge autochanger - Google Patents

Abstract

PURPOSE:To reduce access time in the changer in the headline for the apparatuses in a microfilm system, by providing a cartridge insertion part at the position of a cartridge being elevated and effecting conveyance, insertion, pulling-out, and return of the cartridge with the aid of a hand mechanism capable of vertical movement. CONSTITUTION:When designation of a prescribed cartridge is input, a first cartridge 53 is moved by a control device and forced to face a target cartridge housing rack. Then, a cartridge C is gripped due to advancement of a second carriage 66 and closing operation of hands 77, 78. In succession, the second carriage 66 is forced to withdraw from the housing rack 21, and standing and turning movement of a standing and falling plate 64 as well as turning movement of a base disc 41 are conducted, whereby the cartridge C is oriented upwardly and parallelly to a cartridge insertion port. Then, the second carriage 66 is elevated, moved and inserted. The opposite operation is effected for taking out the cartridge. Hereby, access time can be reduced.

Description

Detailed Description of the Invention A1 Object of the Invention [Field of Industrial Application] The present invention is directed to a cartridge autochanger (C: artr).
idge Auto Changer), that is, it searches for and grasps the desired cartridge from among the large number of cartridges stored and stored in the storage section, transports and inserts it into the cartridge loading device, and returns it to its original location in the storage section after use. The present invention relates to a device that automatically performs a transport operation.

[Conventional technology]

For convenience, the description will be made using a microfilm system device as an example.

Microfilm is excellent as a large-capacity storage medium for IF materials such as documents and drawings (roll microfilm can store a large amount of information, for example, about 3000 frames in one roll), and is suitable for long-term storage of IF materials. It is widely used in many ways to save storage space.

On the other hand, in order to utilize such microfilm efficiently, various functional additions and the development of auxiliary equipment have been made to devices that handle microfilm (hereinafter referred to as League, etc.) such as League φ League printers.

For example, in order to streamline the search for required frames in microfilm set in leagues, etc., an automatic required frame search mechanism may be provided, or microfilms may be made into cartridges to simplify film setting for leagues, etc.

Furthermore, when a large number of microfilm cartridges (hereinafter abbreviated as cartridges) are in possession, the task of extracting the retrieval tube from the cartridges itself becomes a problem. In other words, it is troublesome to manually search for a cartridge that contains the required information among a large number of stored cartridges, and it also takes a lot of time. The above-mentioned cartridge autochanger has also been developed, which automatically performs all operations from transporting and loading cartridges into the machine, such as leagues, to transporting them back after use.

The cartridge autochanger (hereinafter abbreviated as CAC device) is roughly divided into two parts: a cartridge storage section that accommodates and stores a large number of cartridges, and a cartridge storage section that takes out designated specific cartridges from the storage section and loads them into the cart of this machine, such as leagues. The apparatus is equipped with a cartridge take-out Φ transport mechanism section that transports and loads the cartridge into the loading section and returns it to the storage section, and an apparatus operation control circuit section that includes a required cartridge designating means.

Also, the CAC device mentioned above is a combination device that is separate from the main unit, such as a league, and is used in conjunction with the main unit.

It can be configured in the form of a pedestal-duty device built into the pedestal on which this machine is placed, such as a league, or a built-in device built into this machine, such as a league.

[Problem that the invention seeks to solve]

By the way, conventional CAC devices have this problem.

(1) The access time is relatively long, that is, the time from the start of the device's operation based on the cartridge specification operation to the completion of loading the target cartridge, such as a league, into this machine, or conversely, the time from the machine side, such as a league of used cartridges, etc. It takes a relatively long time to complete returning the storage section to its original location.

(2) The device as a whole is quite large.

etc.

In the present invention, the device configuration is devised so that the access time can be shortened as much as possible, and the device can be made as compact as possible.

1. Structure of the Invention [Means for Solving Problems] The present invention uses a vertical movement mechanism to move the cartridge gripping and opening hand mechanism upwardly and downwardly along the vertical multi-stage cartridge storage rows of the cartridge storage section. The cartridge loading section of the cartridge loading type device is positioned in the raised position of the hand mechanism, and the hand mechanism is raised and stopped at the target height position along the vertical multi-stage cartridge storage shelf row by the lowering mechanism. At the same time, the cartridge is held and removed from the target shelf position, and the cartridge is returned to and released from the target shelf position, and the cartridge is loaded by the upward and downward movement of the hand mechanism by the vertical movement mechanism. Transport and loading to the department.

The gist of the present invention is to provide a cartridge autochanger characterized in that the cartridge is extracted from a loading section and transported back.

[For production]

By configuring as above.

a. Search process for target cartridge shelf level.

b. Return search process for used cartridges.

C1 Transport of the target cartridge to the loading section + 1 loading process.

d. The process of extracting and returning the used cartridge from the loading section. All of the above four processes are performed simply by controlling the cartridge hand mechanism to move up and down using the vertical movement mechanism, and the entire process is controlled. Simplified fist is made faster. Therefore, it is possible to shorten the overall access time of the device. In addition, the cartridge ejection/transport mechanism as a whole becomes simple and simple, and the overall size of the apparatus can be reduced.

〔Example〕

(+) Overall schematic configuration (Figures 1 and 2) The CAC device in this example is configured as a pedestal device that is built into a pedestal where the device is installed, such as a league.Figure 1 shows the GAG equipment. FIG. 2 is a plan view of the CAC device A. FIG. 2 is a plan view of the CAC device A.

Reference numeral 1 denotes an exterior casing of the GAG device A, in which a rotating drum type cartridge storage shelf structure 20, which will be described later, serving as a cartridge storage section, a cartridge removal and transport mechanism 40, and the like are incorporated. Reference numeral 2 denotes a top plate of the exterior casing, 3 a cartridge entrance/exit opening in the top plate, 4 a projecting panel portion formed by extending the top plate 2 forward, and 5 an operation panel provided on the panel portion. , power switch 6, numeric keypad 7 as a means of specifying the required cartridge, search start key 8, cartridge return key 9, various indicators and warnings! l
It has O etc.

The league machine B is positioned and placed at a predetermined position on the top plate 2 of the CAC device A. 100 beams-da calculation tree 41B
This is a cartridge inlet/outlet (cartridge loading part) opened in the bottom plate of the CAC device ff1A.
The CAC device A and the league calculation board JIB are in communication with each other via the port 3/100, facing the cartridge entrance/exit 3 on the top plate z side of the CAC@lA. 101
is the film frame enlargement projection screen on the front side of the league machine B. The internal mechanisms (film drive mechanism, projection mechanism, etc.), operation panel, etc. of the league calculation tree 41B are omitted from the diagram.

Then, specify the number (address) of the desired cartridge using the numeric keypad 7 of the operation si5 and press the search start key 8.CAC? A is activated, and a desired cartridge is searched among the many cartridges stored and stored in the one-rotation drum type cartridge storage shelf mechanism 20, and is gripped and stored by a hand mechanism of the cartridge ejection/transport mechanism 40, which will be described later. The target cartridge is then lifted and conveyed to the entrance/exit 3 of the top plate 2 of the apparatus, and from that day 3 it enters the cartridge entrance/exit 100 of the league, etc. machine B, and the target cartridge is inserted into the cartridge loading section of the league, etc. machine B. It will automatically become attached. After using the above-mentioned installed cartridge in the leader calculation machine B, when the return key 9 is pressed, the installed cartridge is removed from the loading section by descending conveyance and drawn into the GAG device A, and then transferred to the storage section 20. The GAC device A is returned to its original location, and the GAC device A enters a standby state until the next search for the required cartridge.

(2) Cartridge storage section 20 (Fig. 3) 21 is vertical axis 2
This is a drum-shaped cartridge storage shelf (hereinafter abbreviated as drum shelf) that can rotate freely around the lower disc 2.
3 and the upper disk 24, there are formed 8 rows of unit shelves 26 at approximately 45'' intervals along one circumference, each row having 11 steps above and below, for a total of 88 unit shelves 26. The microfilm cartridge C is inserted and stored in advance. The work of storing this cartridge C in each column 26 is performed on the device exterior fI.
A part of the side wall plate of ll is used as a door plate 12 (FIG. 1 φlO) which can be freely opened and closed around the hinge part 11, and the door is opened tomorrow.

For the above eight shelf rows of the drum shelf 21, for convenience, the third
In the figure, a cartridge ejection/transport mechanism 40, which will be described later, is shown.
The shelf row currently facing the first shelf row 25. Then, in clockwise order, the second to eighth shelf rows 252 to 258
shall be. Further, in each of the upper and lower n26 of each column row, the lowest shelf is the first stage, and the second to 11th stages are sequentially arranged above it.

Ml is a forward/reverse motor for rotationally driving the drum 41121, and 27 is a gear fixed to its rotating shaft, which meshes with a gear 28 formed on the outer circumferential edge of the upper disc 24 of the drum shelf. Due to the rolling drive, the drum shelf 21 is aligned with the vertical axis 2.
It is rotated in the counterclockwise direction a about 2, and rotated in the clockwise direction by reverse rotation.

In the case of the drum shelf 21 of this embodiment, the rotation angle position where the first shelf row 251 is positioned facing the cartridge ejection Φ transport mechanism 40 is determined as the home position (IP) rotation angle position at the time of initial setting, and its HP rotation At the corner position, @1 photo interrupter 2 is fixedly supported by a stationary member (not shown) of the device.
Detection is made by positioning the position plate 30 disposed on the upper surface of the drum shelf disc 24 in the optical path section 9 .

31 is a second photo interrupter fixedly supported by a stationary member of the device; 32. . . . . . . . . . . . . . . . . . . . . . . . . . . - 258, respectively, and these position plates are arranged on the same circumference centered on the shaft 22, and the normal rotation of the drum #121 a or reverse direction, the light passes through the optical path section of the second photo interrupter 31 one after another. As a result, as the drum shelf 21 rotates, i@l-8th shelf row 25. ~251I cartridge ejection/transport mechanism 40
The control circuit sequentially faces and passes through the pulse count (
When the drum shelf 21 rotates in the normal direction a, an addition count is performed, and when the drum shelf 21 rotates in the reverse direction, a subtraction count is performed.

When the number of a desired cartridge is specified using the numeric keypad 7 of the operation panel 5, the control circuit calculates the shelf row, shelf stage, and position in which the cartridge with the specified number exists.

In addition, in relation to the current rotational angle position of the drum #lI21 with respect to the cartridge ejecting fist conveying mechanism 40, the rotational drive direction of the drum shelf 21 allows the operation shelf array to be positioned facing the mechanism 40 with a small rotational angle. Direction (forward rotation drive a
or the reversing unit ghb).

Next, when the search start key 8 is pressed, the motor M1 is driven in the forward or reverse direction to cause the drum shelf 21 to rotate in the forward or reverse direction, and as soon as the calculated shelf row and the pulse count contents match, the motor M1 is driven. rotation is stopped. As a result, the drum shelf 21 is in a state where the shelf row portion corresponding to the calculation shelf row is located facing the cartridge ejecting/transporting mechanism 40.
In other words, the position of the mechanism 40 is searched.

33 is an SL device (electromagnetic solenoid plunger) fixedly supported by a stationary member of the device; 34. 34B are the first to eighth shelf rows 25. The first to eighth stopper pieces are arranged at positions corresponding to 258, respectively, and these ceramic plates are arranged on the same circumference with @22 as the center, and as the drum [21 rotates, The position of the SL device 33 that does not exist is sequentially passed through. The SL device 33 is energized at the same time as the energization to the motor M1 is turned off (within a range of 0.1-1 seconds after the energization to the motor Ml is turned off), the plunger moves backward, and the bottle 35 attached to the plunger is energized. but,
It fits into the tapered notch of the stopper body plate corresponding to the position of the milk device 33 when the power to the motor Ml is turned off. This is due to the inertial rotation of the drum W21. Misalignment of the desired search shelf row with respect to the mechanism 40 is prevented, and a state in which the desired search shelf row is accurately positioned and faces the mechanism 40 is ensured. When re-rotating drum n21, SL device 3
3 is turned off and the positioning lock described above is released.

(3) Cartridge ejection/conveyance mechanism 40 (Figs. 3 to 5) a) The base disk 41 is a base disk that can freely rotate around the central support shaft (not shown) on the lower side, and M2 is The forward and reverse rotation motor 42 for rotationally driving the base disk is a gear fixed to its rotating shaft, and meshes with a gear 43 formed on the outer peripheral edge of the base disk 41.

The base disc 41 is normally provided with a stopper protrusion 4 integral with the disc.
4 is in the rotational angular position shown in FIG. 5(a), as shown by the solid line in FIG. This is defined as the first rotation angle position.

In this position, the base disk 41 is rotationally driven in the counterclockwise direction a by driving the motor M2 in the normal rotation direction, and the base disk 41 is rotated in the counterclockwise direction a.
When rotated about 5", the two-dot chain line in Figure 3 and Figure 5 (b
), the stopper protrusion 44 connects to the second stopper pin 46.
Further rotation of the base disc 41 is prevented by contacting the base disc 41 . Also, the second stopper pin 46 of the stopper protrusion 44
The contact with the motor M2 is detected by a sensor 48 such as a microswitch, and the normal rotation of the motor M2 is stopped based on the detection signal. This rotation angle position of the base disk 41 is
Rotation angle position.

At this position, by driving the motor M2 in the reverse direction, the base disc 41 is rotated counterclockwise until the stopper protrusion 44 abuts the first stopper pin 45, and returns to the first rotation angle position. be returned. Also, the first stopper protrusion 44
The contact with the stopper pin 45 is detected by the sensor 47.

The signal stops the reverse rotation of the motor M2.

b) The first movable body 49-49.50 includes a pair of vertical rail members, each of which has its base firmly fixed on the upper surface of the base disk 41, and a vertical square step member; 51 is the rail. Member 49
-49, a form in which a portion of a disc is fixedly supported at the upper end of the stem member 50, and a large rectangular opening 52 is formed on the board surface with the open side on the disc notch side. This is the frame board.

53 is a first moving body that is engaged with the above-mentioned vertical rail members 49 through a rail bearing so as to be able to smoothly slide vertically along the rail members, and has an open front and upper surface. This is a box-shaped first carriage.

M3 is a forward/reverse motor fixedly supported by the base disc 41;
54 is a drive pulley fixed to the rotating shaft, 55 is a lower pulley attached to and held by the base disc 41, and 56 is a frame plate 5.
1 is the upper pulley mounted and held, 57 is the drive pulley 54, the lower pulley 55. The wires are stretched around three parts of the upper pulley 56, and the wire 5 is attached to the drive pulley 54.
7 is wrapped several times and hung. and lower pulley 55
A part of the wire between the upper pulley 56 and the upper pulley 56 is coupled to the first carriage 53, and when the motor M3 is driven in normal rotation, the first carriage 53 is moved to the rail member 49.
49 to move upward (forward), and conversely motor M
3 is driven in the reverse direction to move downward (backwards).

Reference numeral 58 denotes a vertically elongated member mounted and supported by the vertical stem member 50.
A moving position detection plate for the first carriage 53,
On one vertical edge of the detection plate, a drum [
21 at positions corresponding to the 1st to 11th various step positions.
- An eleventh sleeve 5l-311 is formed on the upper and lower sides, and a first carrier 53 is formed on the lower end side of the other vertical edge.
slit for detecting the home position of
), and on the upper end side there is a slit S' for detecting the end position of the ascent.
(ST) is formed. Reference numerals 59 and 60 designate first and second photo ink actuators mounted and supported by the first carriage 53, and as the first carriage 53 moves up and down, the vertical edge on one side and the other side of the detection plate 5B are connected to each other. Move along the longitudinal edge of the side.

At the time of initial setting, the first carriage 53 waits as its home position at the position on the lower end side of the rail member (indicated by the two-dot chain line in Fig. 3), where the 27th automatic interrupter 60 detects the slit S (HP). .

When the first carriage 53 is driven upward by the normal rotation of the motor M3, the first photo interrupter 5
SL-511 (slit corresponding to the shelf level of the detection plate 58 by 9)
are sequentially detected and the control circuit counts the addition pulses. Conversely, when the motor M3 is driven to move downward by reverse rotation, subtractive pulses are counted.

The rotation of the motor M3 is then stopped when the content of the pulse count matches the calculation shelf level of the control circuit. As a result, the first carriage 53 is maintained such that a hand mechanism section 76 mounted thereon, which will be described later, is stopped at a height position corresponding to the calculation shelf level.

That is, the rotation angle control of the drum shelf 21 explained in the above section (2), and the rail members 49 and 4 of the first carriage 53 described below.
9, the target cartridge at the address (specific shelf row, specific stage) corresponding to the designated number is automatically searched among the large number of cartridges stored in the drum shelf 21, which is the cartridge storage section. The hand mechanism section 76 is now facing the cartridge.

C) The raising/lowering plate 61 (Figs. 3 and 4) is a horizontal shaft that is rotatably supported by a bearing on the first carriage 53, 62 is a fan-shaped gear fixed to one end of the horizontal shaft, and M4 is the first carriage. A forward/reverse rotation motor is mounted and supported at 53, and a gear 63 is fixed to its rotating shaft, meshing with the fan-shaped gear 62 described above. 64(
FIG. 4) shows a tilting plate disposed within the first carriage 53 with its rear end fixed to the horizontal shaft 61 mentioned above.

The above-mentioned raising/lowering plate 64 normally has its tip end facing toward the drum shelf 2.
It is in a tilted posture in which it is tilted to one side and fallen down almost horizontally with respect to the first carriage 53, and is held by a stopper (not shown). When the motor M4 is driven to rotate normally, the gear 63 is rotated in the upright direction about the horizontal shaft 61 via the fan-shaped gear 62 and the horizontal shaft 61. When it stands up and rotates until it reaches the vertical position, it comes into contact with a stopper (not shown) to prevent further rotation, and the rotation of motor M4 is stopped, and the upright position (@Figure 3, 2 points) (shown with chain lines) is retained.

Further, in this state, the motor M4 is driven in the reverse direction to return to the initial state of the fallen posture, and the rotation of the motor M4 is stopped and maintained in that state.

d) The second movable body 65-65 is a pair of rail members disposed in the front-rear direction on the upper surface of the above-mentioned raising/lowering plate 64, and 66 is a pair of rail members that can smoothly slide along the rail members. They were engaged via rail bearings, etc. This is a plate-shaped second carriage as a second moving body.

M5 is a forward/reverse motor fixedly supported on the lower surface of the tilting plate 64, 67 is a drive pulley fixed to its rotating shaft, and 68
・69 is a pulley arranged inside each of the tip side and the rear end side of one side wall of the tilting plate 64, and 70 is a wire suspended and stretched around the above three pulleys 67, 68, and 69. A wire 70 is wound around the drive pulley 67 several times and suspended.

A part of the wire between the front end pulley 68 and the rear end pulley 69 is coupled to the second carriage 66, and when the motor M5 is driven in normal rotation, the second carriage 66 is connected to the rail member. 65, 65 to the forward end position (FIG. 4, solid line) of the rail member, and is driven in the reverse direction, the rear end of the rail member is moved forward to the backward end position It (FIG. 4, the water level indicated by the two-dot chain line). ll). The second carriage 66 is normally on standby at a home position approximately halfway between the forward end position and the backward end position.

72, 73, and 74 are photointerrupters 75 and 75 for detecting the presence of the second carriage 66 at the forward end position, the backward end position, and the home position, respectively;
is the retraction end point stopper.

e) The cartridge hand mechanism 76 (FIG. 4) includes a cartridge hand mechanism tearer mounted and supported by the second carriage 66, and a pair of left and right opening/closing hands 77, 78. SL device 79, and an end portion 80a of a reciprocating plunger 80 that passes through the SL device and normally protrudes outward.

A connecting plate 81 which integrally connects the hands 78 on one side of the hands 77-78. The other end 80 of the advancing/retracting plunger 80
It consists of a photointerrupter 82 for detecting hand opening/closing disposed on the b side, and the like.

The pair of left and right opening/closing hands 77 and 78 have rack formation portions 77a and 78a formed in parallel and vertically opposed, respectively, and the rack teeth of these portions are connected to a common pinion 83.
They are connected to each other by sandwiching them. Therefore, when one hand 78 is driven to move in the opening direction and self-closing direction, the other hand 77 also moves in conjunction with the opening direction and self-closing direction.

When the SL device 79 is not energized, the hand 78 is held in the open position (indicated by the two-dot chain line in FIG. 4) by the outward protrusion of the plunger end 80a on the side to which the connecting plate 81 is fixed, and The other node 77 is also held at the open position (itC), and the left and right nodes 77 and 78 are held open from each other. Also, by holding the other end 80b of the plunger 80 out of the optical path of the photointerrupter 82, it is detected that the hand 77078 is currently in an open state.

When the SL device 179 is energized, the hand 78 is moved and held in the closed position (FIG. 4, solid line position It) by the retracting VJ action of the end 80a of the plunger 80, and in conjunction with this, the other I\nd 77 Move to the closed position itC (same),
The left and right hands 77 and 78 are mutually held in a closed state. Also, the other end 80b of the plunger 80 is now in a state where it has entered the optical path section of the photointerrupter 82 (FIG. 4, shown by a solid line).
It is detected that the hands 77-78 are currently closed.

Reference numeral 85 denotes a push-in bottle for detecting the presence or absence of a cartridge, which is always projected from the front plate 84 between the left and right hands 77 and 78. The second carriage 66, that is, the hand mechanism 76 (hunts 77 and 78 are in the H state) is moved forward in order to grip the searched target cartridge on the drum shelf side with the hand mechanism 76.
A little before the forward end point is reached and the front plate 84 comes into contact with the rear surface of the cartridge C, the pin tip first touches the cartridge C.
The bottle 85 is pushed and moved by the rear surface of the cartridge C by the subsequent movement of the hand mechanism 76.
As the bottle 85 is pushed and moved, a sensor (not shown) is turned on and the presence of the cartridge is detected. On the other hand -
When there is no cartridge, the bin 85 remains in the protruding state and the senna does not turn on even when the hand mechanism 76 reaches the forward end point, so it is detected that no cartridge is present.

(4) Operation (Fig. 6, Order 7) a) Initial setting operation (Fig. 6, steps The shelf row portion corresponding to the address of the cartridge returned to its original position is stopped at a rotation angle facing the cartridge ejecting/transporting mechanism 40. Similarly, the first carriage 753 is stopped at a height position corresponding to the address of the cartridge. Base disc 41
is in the first rotational angle posture, the tilting plate 64 is in the tilting posture, and the second carriage 66, that is, the hand mechanism 7
6 is located at a home position approximately halfway between the forward end position and the backward end position on the raising/lowering plate 64.

Hands 77-78 are in an open state.

When the power switch 6 is turned on, the operations of returning the drum shelf 21 to the home position (HP) rotation angle position and returning the first carriage 53 to the HP position are performed (initial setting operation), and the apparatus enters the standby state. , a message to that effect is displayed.

b) Designation of required cartridge, search operation (same ■ to ■) Input the number of the required cartridge 2 to the control circuit using the numeric keypad 7, press the search key 8, and check if the cartridge with the specified number exists in the control circuit. The shelf row and shelf level of the shelves 21 are calculated, and the rotation control of the drum shelf 21 explained in (2) and (3)-b) and the first carriage 5 are performed.
A search operation for the target cartridge is performed by the forward (ascent) movement control in step 3, and the hand mechanism 76 is brought into a state opposite to the target cartridge. The rotation control of the drum J121 and the forward movement control of the first carriage 53 are executed simultaneously.

C) Cartridge grip φ Removal [stock] ~ [stock])
When the search operation is completed, the motor M5 is driven to rotate in the forward direction.
The carriage 668 and the hand mechanism 76 are driven to move forward, and when the photo-interrupter 72 detects that the carriage 668 has reached the forward end position, the drive of the motor M5 is stopped. At this point, the front plate 84 of the hand mechanism 76 has reached the rear end surface of the target cartridge, and the bin 85 is sufficiently pushed and moved by the rear end surface of the cartridge, so that the presence of the cartridge is detected.

When the above-mentioned reaching detection signal of the second carriage 66 at the forward end position and the cartridge presence detection signal are ANDed, the SL device t79 is energized and the hand 770 is
78 closes, and the rear end of the target cartridge C is firmly gripped. The end of gripping this cartridge is 72
) is detected by the interrupter 82, and the detection signal drives the motor M5 in the reverse direction, drives the second carriage 6 to move backward, and the target cartridge is removed from the storage shelf and moved.

d) Transporting and loading the cartridge to the loading section (same 9 ~ @
) The second carrier front wheel 6 is driven to move backward until it passes the HP position and reaches the backward end position. During the backward movement process of the carriage 66, the passage of the HP position is detected by the photointerrupter 74, and from the time of detection, the raising/lowering plate 64 is raised and rotated, the base disc 41 is rotated to the second rotation angle position, and the The carriage 53 is moved forward simultaneously.

In this case, when the second carriage 66 retreats to the HP position, the cartridge that is being pulled out and moved from the storage shelf while being gripped by the hands 77 and 78 becomes Even when each rotation or movement of the 1-carriage 53 is started, the rotation accompanying the operation of each of the above-mentioned members 64-41 and 53 can be carried out without causing any interference with the storage shelf of that cartridge or the cartridges in the adjacent storage shelves. It has moved backwards to a position where it can move and move without hindrance.

As a result of the upright/rotational movement of the up/down plate 64, the second carriage 66, the hand mechanism 76, and the target cartridge C held therein are turned upward (as shown by the two-dot chain line in FIG. 3).

The entire cartridge ejecting/conveying mechanism 40 is rotated by turning the base disk 41 from the first rotation angle position (FIG. 5(a)) to the second rotation angle position W1 (FIG. 5(b)). clockwise a
Finally, the longitudinal direction of the tip wall of the upward cartridge C held by the hand mechanism 76 becomes the same as the longitudinal direction of the cartridge loading port 3.lOO (Fig. 5). (b)) Also, the vertical center axis of the cartridge held upward by the hand mechanism 76 is the rotation center of the base disk 41 and the cartridge loading port 3.
It will be in a state where it almost coincides with the line connecting the centers of 100.

After the second carriage 66 moves backward to the backward end position,
It is immediately switched to forward movement drive. This forward movement drive of the second carriage 6 is performed by converting the raising/lowering plate 64 to the upright position, thereby opening the cartridge loading port 3.lOO.
It becomes an upward movement drive towards.

The front a (ascent) movement drive of the first carriage 53,
Due to the above-mentioned front 'a (upward) movement drive of the second cartridge 66, the upwardly facing cartridge C held by the hand mechanism 76 is moved toward the loading port 3. It is transported upwardly at high speed at a forward movement speed that is superimposed on that of , and enters the charging port 3.lOO.

5 The first carriage 53 is connected to the second photo interrupter 6.
0 detects the ascent end position detection pickpocket 7) S (ST), further forward movement is stopped. When the second carriage 766 is driven forward to the forward end position, its movement is stopped. As a result, the target cartridge is fully loaded into the loading section of the league arithmetic QB.

When the cartridge is fully loaded, the front end surface of the cartridge hits and is received by the stopper on the side of the loading section. In this case, the received impact force is alleviated by the cushioning properties of the wire system, since the drive mechanism for moving the second carriage 66 and the first carriage 53 is a tension wire type mechanism in the case of this device, and the charging shock is reduced. The charging process is completed smoothly.

When both the first and second carriages reach their respective forward end positions and stop their forward (ascending) movement, the completion of loading the target cartridge into the loading section 3/100 is displayed on the display, and the league calculation The installed cartridge 7 can now be used by machine B.

e) Return transportation of the used cartridge (FIG. 7, STAPE O-@) When the return key 9 is pressed (step O), the motor M3 and the motor M5 are driven in the reverse direction, respectively, and the first cartridge 53 and the second cartridge are 66 are simultaneously driven to move backward (downward). As a result, the used cartridge loaded and held in the loading section while being gripped by the hand mechanism 76 is extracted and transported (o).

When the tip of the cartridge is pulled out below the loading port 3,
This is detected by a sensor (not shown), and the motor M4 and motor M2 are driven in reverse by the signal, the tilting plate 64 is tilted and rotated, and the base disc 4 is moved to the first rotation angle position. Return rotation is driven (same @).

Finally, when the @1 carrier 53 descends to the position corresponding to the shelf level when the target cartridge was taken out, the drive of the motor M3 is stopped based on the slit counter count by the photo interrupter 59, and it is held at that position ( times[
phase]), after the second carriage 66 moves backward to the backward end position, the motor M5 is switched to forward rotation drive and is driven forward (S), the tilting plate 64 returns to the tilted position, and the motor M4 The drive and work are stopped and maintained in that state. The base disc 41 returns to the first rotation angle position, the driving of the motor M2 is stopped, and the base disc 41 is maintained in that state.

As a result, the second carriage 66 is driven to move forward, and the cartridge gripped by the hand mechanism 76 is moved to the drum #[
When the second cartridge 66 reaches the forward end position (o), it is detected by the photo-interrupter 72.
In response to this signal, the power supply to the SL device 79 of the hand mechanism 76 is cut off, and the hands 77 and 78 are in the open state (Fig. 4,
The two-point steel wire indicator B) is reached, and the grip on the cartridge is released (see above), that is, the cartridge is returned to its original storage shelf.

When the release of grip on the cartridge is detected by the photointerrupter 82, the motor M5 is driven in the reverse direction based on the signal, and the second carriage 66, that is, the hand mechanism 76 in the open state moves backward.

When the photo-interrupter 74 detects that the HP position has been reached, the drive of the motor M5 is stopped, and the second carriage 66 is held at that position (lIy+[
phase]), the push-in bin 85 for cartridge presence/absence detection returns to the protruding state by separating from the rear end surface of the cartridge due to the backward movement of the second carriage 66, and the cartridge presence/absence detection sensor is turned off.

When the 12t spear 7 gear 66 reaches the [P position and the drive of the motor M5 is stopped, a cartridge return completion indication is displayed and the apparatus A enters the standby state (o).

After the cartridge return completion display is displayed, when the number of the next required cartridge is input using the keypad 7,
The operation returns to step (2) (FIG. 6), and the next cartridge specified by the input can be searched.

The calculation of the shelf row Φ stage position of the drum shelf 21 for the cartridge number inputted in the above method calculates the address of the previously searched cartridge, that is, the shelf row and stage position of the drum shelf 21 that the hand mechanism section 74 is currently waiting for. The calculation is performed based on the reference, and the search operation for the cartridge at the position of -1 it in the calculation shelf row is executed.

On the other hand, if the next cartridge number is not specified and input operation is not performed until the predetermined timer time elapses after the cartridge return completion display is displayed, and the device A is left unattended, the automatic At the same time, the main power supply of the device wA is switched off (same @) to save power.

g) Warning display (Fig. 6, Steps 3 to 3) During the process of gripping and extracting the cartridge in C) above, the 7-way interrupter 72 detects that the second carriage 66 has reached the forward end position. If the cartridge presence detection signal from the bin 85 is not output even though the cartridge presence is detected (step o), the second carriage 66 is moved backward to the HP position (step swamp), and the step The operation is repeated a predetermined number of times, for example, 2 to 3 times. If the presence of a cartridge is detected during this repetition, the process moves to step O. However, if the presence of the cartridge is not detected in the end, the control circuit determines that no cartridge is stored on the shelf where the target cartridge should be stored, and this fact is displayed on the display (step ]fist@).

(5) Positioning and stopping control of the first moving body 53 (Figs. 8 and 9) The first carriage 53, which is the first moving body, moves up and down along the vertical rail members 49 and 49 by driving the motor M3 in forward or reverse rotation. Or, when it is driven downward and reaches the desired height step position, it needs to be accurately positioned and stopped at that position. In this example device, in order to improve the accuracy of its stopping position, a DC motor is used as the motor M3, and the means for controlling it as follows is taken.

Figure 'IJJ8 shows a drive control circuit for the DC motor, which is the motor M3. Reference numeral 90 denotes a changeover switch operated by the main control circuit. Switch 90 is contact a111
When the switch is switched to bl, the motor M3 is driven in the forward direction. The ends of the contacts a2 and b2 short-circuit the motor M3 and stop the motor, and the motor M3 also functions as an electric brake (4m generator).When the contacts a3 and b3 are connected, the motor M3 is driven in the reverse direction. .

a) In the case of a rising stop, the first carriage 53 is driven upward by the normal rotation drive of the motor M3 (FIG. 9(a)) to reach the target height 1.
The sensor means (photo interrupter 59
or 60. Slit 31~Sll or S (HP)
-S (St)).

The signal immediately causes the switch 90 to connect contacts a2 and b2.
The motor is stopped. However, due to the inertia of the upward movement drive U, the ts1 carriage 53 actually shifts to a position slightly higher than the target height IIS by α and comes to a halt.

Then, when the motor stops, the switch 90 closes the contact a3.
b3, and the motor M3 is switched to reverse drive. As a result, the first IP spear 53 is driven to move downward, and when it descends by α, the sensor means detects that it has reached the target height position S again. The signal immediately switches the switch 90 to contact a2eb2 to stop the motor. However, due to the inertia of this downward movement drive, the first carriage 53 actually shifts slightly below the target height WS by β and comes to a stopped state.

Then, when the motor stops, the switch 90 closes contact a1.
-b, and the motor M3 is switched to normal rotation drive. As a result, the N41 carriage 53 is moved up by the upward movement drive U.
When the height rises by β, the sensor means returns to the desired height l! The arrival at S is detected. This signal immediately switches the switch 90 to contacts a2 and b2 to stop the motor. In this case, the upward movement drive amount β of the first carriage 53 is small, and the upward force is weak due to the drive during the normal rotation drive rising period of the motor M3.
In reality, the upward position of the first carriage 53 does not deviate from the target height IS due to inertia.

That is, the first carriage 53 finally reaches the target height position S.
It is accurately positioned and stopped.

b) In the case of descending stop When the sensor means detects that the first carriage 53 is driven downward D (FIG. 9(b)) by the reverse drive of the motor M3 and has reached the target height position S. In response to this signal, the switch 90 is immediately switched to contacts a2 and b2 to stop the motor. However, the first carriage 53 is actually at the desired height due to the inertia of the downward movement drive!
It shifts to a position slightly lower than lS by γ and comes to a stopped state.

Then, when the motor stops, the switch 90 closes contact a, @
The motor M3 is switched to normal rotation drive by switching to b1. As a result, the tJ41 carriage 53 is moved upward by the upward movement drive U.
When the height rises by γ, the sensor means again detects that the target height position S has been reached, and the signal immediately switches the switch 90 to contacts a2 and b2, thereby stopping the motor. In this case, the upward movement driving amount γ of the first carry gear 53 is small, and the upward force is weak due to the drive in the normal rotation drive rising period of the motor M3.
), the upward movement of the first carriage 53 from the target height lIS due to inertia does not actually occur.

That is, the first carriage 53 is finally positioned and stopped at the target height position S with high accuracy.

(8) Mutual arrangement of the cartridge storage section 20 and the self-extracting mechanism 40! (Fig. 2) The device 1A of this example includes a rotary drum type cartridge storage shelf structure 20 serving as a cartridge storage section, and a take-out/m transport mechanism 4.
0 is arranged and built into the exterior casing 1 so that the edge connecting the center longitudinal axes of both mechanisms 20-40 is approximately diagonal to the exterior casing 1 in the plane of the device exterior casing 1. be.

With this arrangement, both mechanisms 20@40
can be accommodated with less dead space, the planar shape is also smaller, and the overall device 1A can be made smaller.

(7) Cartridge alignment member (Figures 1O to 12) Cartridges C inserted and housed in the 6 shelves of the drum shelf 21 in advance
Even if the drum #121 is subjected to shocks when it starts or stops rotating, vibrations and centrifugal force during the rotation process, the operating force of device A, etc., and device A does not vibrate or tilt when the device is pushed, moved, or transported. Even if the #1 part is partially protruded, the direction is not shifted, or it is completely unplugged and falls, it is always kept in a well-aligned storage state where it is fully inserted into each shelf. I need to hang out.

If the cartridge C is partially protruded from the shelf beyond the allowable limit or is misdirected, the protruding part of the cartridge may hit other mechanical parts when the drum [21 is driven to rotate, damaging the cartridge or the device mechanism. This may cause the hand mechanism to fail or incompletely grip the cartridge. Furthermore, if a cartridge is completely removed from the shelf and falls, not only will it be impossible to remove and transport the cartridge, but the dropped cartridge may become caught in the device mechanism, causing damage to the cartridge and device mechanism. .

Therefore, in order to always keep the cartridges C inserted into and housed in each shelf of the drum shelf 21 in an arranged and housed state, the apparatus of this embodiment has a structure around the drum shelf excluding the facing part of the cartridge ejecting/transporting mechanism 40. A cartridge ejection movement regulating member 13 is disposed close to the rear end rotation locus.

The member 13 can be made of a metal plate, a transparent or opaque plastic plate, a wire mesh, a grid structure, etc.

In the illustrated example, the member 13 is divided into two parts, a first part 13a and a second part 13b.
b is a stay 14, 14 on the inner side of the device exterior casing opening/closing door 12.
Mounting is via support. When door 12 is closed, the first
The necessary peripheral portion of the drum @L2 is in a state of flexure between the portion 13m and the second portion 13b. When the WS 12 is opened, the WS 2 portion 13b moves together with s12, and the drum rack rack row portion to which this portion corresponds becomes open, allowing cartridges to be replaced on the drum rack 21, etc.

Due to the presence of the member 13, even if the storage cassette I on each shelf moves in the extraction direction due to rotational vibration of the drum 121, centrifugal force, etc., the protruding side hits the inner surface of the member 13 and the case moves beyond the allowable amount. It is prevented from happening and is kept in place on each shelf.

The longitudinal edges at both ends of the member 13 in the circumferential direction, that is, the longitudinal edges of the opening for the cartridge ejection/transport mechanism 40 are bent edges 13. which are curved outward.・13. By doing so, even if the cartridge moves in the opposite direction at the opening, the protruding end of the cartridge will be bent at the above-mentioned bent edge 13. as the drum shelf 21 rotates.・It hit 13 and was naturally pushed to the back of the shelf and moved against the shelf! ! returned to equipped state.

In addition, the member 13 has a curvature of 2 or more R1 and R as shown in the example in FIG.
The inner peripheral surface shape is a combination of 2 and 1, and the cartridge, which has hit the inner surface of the curvature R of the member 13 and is prevented from further movement, is removed as the drum shelf 21 rotates. Push the inner surface to the back of the shelf and move it to the original correct position! ! ! It is also effective to configure it so that it returns to the original state.

(8) In addition, in the case of a method in which the cartridge C is loaded and unloaded in a horizontal position in the cartridge insertion part of the league water guide aB, a tilting plate is used to convert the cartridge C into a vertical position as in the illustrated example device. No mechanism required.

The attitude direction of the cartridge C gripped and taken out from the cartridge storage shelf mechanism 20 by the I\end mechanism, or the attitude direction of the cartridge C converted to a vertical orientation, is the attitude direction of the cartridge C of the league water guiding lance B, and the attitude direction of the cartridge C is directly inserted into the cartridge insertion opening of the league water guiding lance B. When the posture direction matches, there is no need for a cartridge rotation mechanism as in the illustrated device.

C. Effects of the Invention As described above, according to the configuration of the present invention, the access time is short, the overall mechanical configuration is #II simple, and the CAG* is small.
l can be obtained.

[Brief explanation of the drawing]

The drawing shows one embodiment of the CAC device of the present invention. R
Figure 1 is a sloped view of the overall appearance of the league Kasagi machine that has been installed (JGIIt and SO(7)), Figure 2 is a plan view of the CAC device, and Figure 3 is the drum shelf and cartridge removal.・Slanted view of the transport mechanism, Figure 4 is a sloped view of the raising/lowering plate, second carrier lift, and hand mechanism, Figure 5 (
In a) and (b), the base disk is at the first rotation angle position and M
Figure 6 shows the state at the S2 rotation angle position, Figure 7 shows the operation flow of the device, and Figure 8 shows the state in which the first carriage is raised and
Drive control circuit diagram of the lowering drive DC motor, Fig. 9(a)
・(b) is an explanatory diagram of the control for stopping the first carriage from rising and stopping, respectively, FIG. 1θ is a plan view of the cartridge ejection movement regulating member surrounding the drum shelf, FIG.
FIG. 2 is a plan view of another example of the cartridge ejection movement regulating member. A is a CAC device, B is a league Kasagi machine, C is a cartridge, 20 is a rotating drum type cartridge storage shelf mechanism which is a cartridge storage section, 40 is a cartridge ejection/transport mechanism, 53 is a first cartridge, 66 is a second cartridge, 7G
is a hand mechanism, and 77φ78 is a cartridge hand. K 4 Figure 7 I Oth

Claims (1)

[Claims] (1) A hand mechanism for gripping and releasing a cartridge is moved up and down by a vertical movement mechanism along the rows of upper and lower cartridge storage shelves in the cartridge storage section, and a cartridge is inserted into the raised position of the hand mechanism. The cartridge loading section of the device is positioned, and the hand mechanism is raised and stopped at the target height position along the vertical multi-level cartridge storage shelf row using the vertical movement mechanism, and the process of grasping and removing the cartridge at the target shelf level is performed. In addition to carrying out the process of returning and opening the cartridge to the shelf position, the vertical movement mechanism moves the hand mechanism upward and downward to transport and insert the cartridge into the loading section, and to remove and transport the cartridge from the loading section. A cartridge autochanger characterized by: