JPS61130106A - Cartridge autochanger - Google Patents

Abstract

PURPOSE:To improve efficiency of housing, simplify arrangement, and achieve reduction of size, by controlling a cartridge housing rack with use of rotation angle detector means for moving it in rotation and positioning it to a target position in the captioned autochanger for a microfilm system. CONSTITUTION:When a drum type cartridge housing rack 21 is turned normal direction (a) or reverse direction (b), position plates 321-328 traverse in succession exposure light of a second photointerrupter 31. Hereby, a control unit counts cartridge taking out of first through eighth rack trains 251-258, and successive facing as well as passing the conveying mechanism 40 thereof, and further retrieves a designated cartridge housing rack train and a rack stage, and stops its operation. An SL device 33 is actuated simultaneously with interruption of power supply to a motor M1, whereby the pin 35 is projected to engage with stopper slider plates 341-348 for permitting those plates to accurately be stopped and fixedly mounted on the respective rack trains 251-258. Hereby, efficiency of housing a cartridge can be improved together with miniaturization of the equipment and simplification of its structure.

Description

Detailed Description of the Invention A. Purpose of the Invention [Field of Industrial Application] The present invention relates to a cartridge autochanger (Cartri
ts Auto Changer), that is, the required cartridge 7 out of the many cartridges stored and stored in the storage section.
Search for -? I! The present invention relates to a device that automatically carries out the operation of transporting and loading a cartridge into a cartridge-loading type device using an HIu, and returning and transporting it back to its original location in a storage unit after use.

[Conventional technology]

For convenience, the explanation will be given using a microfilm system device as an example.

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

On the other hand, in order to utilize such microfilm efficiently, league-league printers etc. handle microfilm a! ! (hereinafter referred to as League TPt), various measures have been taken to improve llkl performance and auxiliary wall materials have been developed.

For example, in order to streamline the search for required frames in microfilms set in leagues, etc., an automatic required frame search mechanism is provided. For example, microfilm can be made into cartridges to simplify film sets for leagues and the like.

Furthermore, when a large number of microfilm cartridges (hereinafter abbreviated as cartridges) are owned, the task of searching and extracting the cartridges itself becomes a problem. In other words, it is cumbersome 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. A cartridge autochanger as described above has also been developed that automatically performs all operations from loading the cartridge into the league water pipe to returning it after use.

The cartridge autochanger (hereinafter abbreviated as CAC device) is mechanically 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 a designated specific cartridge from the storage section and inserts it into the cartridge of a league calculation machine. The apparatus is equipped with a conveyance mechanism section for taking out a cartridge, which transports and loads the cartridge into the inlet section and returns it to the storage section, and an apparatus operation control circuit section that includes a required cartridge designation means.

Also, the CAC device as mentioned above is a combination device that is separate from the league calculation machine and is used in conjunction with the large calculation machine.

A device such as a league calculation machine can be configured in the form of a device, etc.

[Leading problem that the invention attempts to solve]

(: ACrt! should preferably have the following mechanical configuration from the viewpoints of improving cartridge accommodation efficiency, simplifying the frame structure, and downsizing the entire device.

That is, the cartridge storage section is driven to rotate around the vertical axis,
Rotating n-body mechanism, J
! is configured as a moving shelf a4I.

The cartridge ejecting/transporting mechanism is arranged in parallel with the above-mentioned mechanism, and is configured as a mechanism including a cartridge hand mechanism which is driven to move upward and move downward along the vertically multi-stage cartridge storage nPi of the mechanism.

Then, the rotation arm controls the moving part vJ so that the six rows of target cartridges in one cartridge storage part are positioned facing the conveyance mechanism a for taking out the cartridges, and the cartridge hand mechanism (or the carriage supporting this mechanism) , hereinafter the same)) are driven upward and downward along the upper and lower shelves of the above-mentioned row to reach the target height It (target aCt).
In addition to the 吋王位, the home position, the ascent limit position,
(including the descending limit position m, etc.).

This is to precede the removal and conveyance operation of the target cartridge 9 from the designated shelf row-n stage of the cartridge storage section by the hand mechanism, the return double-feeding, the forward storage operation, and the holding operation.

In the case of such a configuration, the ffi of the one-rotation shelf is
Required: Place the #1 row part (t611M part where the target cartridge is present) in the correct position facing the Gartley/Jet removal/shipping structure [3] and stop. The rotation angle position performance of n bodies is t cost.

The required n rows of n bodies rotated are the cartridge.

Even if the detection means detects that the body has rotated for am* minutes and is facing the facing position, and the @ symbol immediately cuts off the rotation of one body, the n body is actually different from the one due to rotational inertia. Tokoroll! The column part is more or less over-rotated from the position directly facing the cartridge ejecting/conveying mechanism part and comes to a halt. Further, the amount of positional deviation increases as the n-body is rotated at a higher speed.

If the above misaligned basket is greater than the allowable amount, search for the target cartridge, '), N! Hold, take out, 7j! This causes a lack of accuracy and certainty in L, etc., and reduces the @distribubility of *W.

Is the big invention like the above? It is an object of the present invention to improve the reliability of the apparatus by ensuring sufficient accuracy of the rotation stop angle M of a rotating shelf relative to a cartridge take-out lateral transport mechanism when tI141IdLt- is taken.

2. Structure of the Invention [Means for Solving the Problem] The present invention provides a cartridge that is rotatably driven around an ffl axis and that is mainly composed of a single drum-shaped cartridge storage unit in which cartridge insertion storage units N are arranged in multiple stages F1. A storage structure A and 11 cartridge storage mechanisms are installed in the cartridge storage mechanism, which operate in conjunction with the mechanism to take out the storage cartridges in the same row and φ stage specified, transport them to the cartridge storage section of the cartridge loading type equipment, and return them to the original storage. and a cartridge take-out transport mechanism for transporting the cartridge back to the shelf, and the cartridge storage mechanism includes a rotating drive mechanism for the enclosure and a handle that detects a rotation angle accompanying the rotational drive of the R body. , means for controlling the rotational drive of the shelf body on and off so that the n-row portion in which the target cartridge exists is rotated to the cartridge ejection/transport mechanism in cooperation with the rotation angle detection means; Simultaneously with the off control of the shelf drive mechanism of the means, a locking operation is performed for the n body, and the n body is positioned so that the required row of columns is directly facing the conveyance mechanism when the cartridge 7 is taken out, and the n body is immobilized. The cartridge autochanger is characterized in that it has a positioning and stopping means for maintaining the cartridge in the same state.

[For production]

With the above configuration, the rotating shelf body is always positioned in a state where the required one row is directly facing the cartridge ejecting/transporting mechanism section by the positioning spring stop means ss every time a required cartridge is searched, and is held in an immovable state. .

Therefore, the accuracy of the rotation stop E angle M of one body is sufficient, and the reliability of the CAC device is improved.

〔Example〕

(1) Overall schematic configuration (f@l, Figure 2) GAG of this example
The device is constructed in the form of a Bedistal double-purpose device built into a Bedistal where the League arithmetic machine is installed.
The figure shows the CAC device A and the J! Fig. 2 is a perspective view of the outer maple of the League arithmetic machine B installed, and Fig. 2 is a plan view of the CAC device^.

Reference numeral 1 denotes an exterior case of the CAC device A, and inside thereof there is a rotating drum type cartridge storage #1 structure 20.1 which will be described later as a cartridge storage section. A cartridge ejection-W feeding mechanism 40 and the like are incorporated. Reference numeral 2 denotes a top plate of the exterior housing, 3 a cartridge entrance/exit opening in the top plate, 4 a projecting panel portion formed by extending forward beyond the top plate 2, and 5 an operation panel provided on the panel portion. , 1 as a source switch 6, a numeric keypad 7 as a means for specifying a required cartridge, a search start key 8. Cartridge return key9. Various indicators! It has a notice "nlO etc."

The league water conduit B is positioned and placed at a predetermined position on the top plate z of the CACkaA. 100 beams book book 41
This is the cartridge inlet/outlet (cartridge loading part) opened in the bottom plate of CAC device B. When this machine B, such as a league, is positioned at a predetermined position on the top surface IfR2 of CAC device A, 11, the top plate of CAC device IA is opened. The cartridge on the second side faces the entrance/exit 3, and the CACvtKI A and league book mB are in communication with each other via the port 3/100. Reference numeral 101 is a film frame enlargement projection screen on the front side of the league machine B. League Kansui 41B
The internal mechanisms (film drive!! III! structure, projection mechanism, etc.), operation panels, etc. are omitted from the diagram.

Then, use the numeric keypad 7 on the operation panel 5 to specify the number of the desired cartridge (number 111), press the search start key 8, and the CAC! When the W A is activated, the desired cartridge is searched for among the many cartridges stored in the drum #1 cartridge accommodation mechanism 20, and is held by the hand mechanism described later in the cartridge ejection/conveyance mechanism 40. The cartridge is taken out from the storage section and then transported upward to the entrance 3 of the top plate 2 of the device, where one person is inside the entrance 100 of the machine B, such as a league, etc. The cartridge is automatically installed in the cartridge loading section.

After using the above-mentioned installed cartridge in this machine B, such as a league, when the return key 9 is pressed, the installed cartridge is removed from the loading section by the downward [* feed S, pulled into the CAC device A, and then stored. m20 and transported back to its original location, C
AC device A remains on standby until the next required cartridge search.

(2) Cartridge storage 1120 (Fig. 3) 21 is a drum-shaped cartridge storage #l that can freely rotate around the vertical axis z2.
(hereinafter abbreviated as drum 1), and in this example, there are 8 rows at approximately 45° intervals along one circumference between the lower disk 23 and the disk 24, and each row has 11 steps above and below. Total 8B unit 1F12
6 is formed, and a microfilm cartridge C is inserted into each of the seven machines 26 in advance and stored therein. The work of storing this cartridge C in each machine 26 is carried out by using a part of the side wall plate of the device exterior casing l as a door plate 12 (Fig. 1-10) that can be opened and closed freely around the hinge part 11, and then opening the door the next day. It is done.

For convenience, FIG. 3 shows one row of the eight rows of drum #I21! Cartridge ejection/transport mechanism 4 to be described
The 1st column currently facing 0 is the 1st column 25. year,
Then clockwise sequentially from 2nd to 8th shelf rows 25□ to 25
8. Also, for each #126 on the top and bottom of each row, the lowest row is the first stage, and the rows above it are '$2 ~! There will be 11 stages.

Ml is a forward/reverse motor for rotationally driving the drums s and zi;
A gear 27 is fixed to the rotating shaft, and is meshed with a gear 28 formed on the outer edge of the upper disk 24 of the drum 1.Drum #121 is rotated by the normal rotation of the motor M1 to the fiber shaft 22I: It is rotated in the counterclockwise direction a at the center, and rotated in the clockwise direction by reverse rotation.

In the case of this example device, the rotation angle position of the drum Jl 121 where the t6th row 25 is located facing the cartridge ejection/conveyance mechanism 40 is determined as the home position (MP) rotation angle position at the time of initial setting, and its HP rotation angle The location depends on the equipment
It is detected by positioning the position plate 30 disposed on the upper surface of the drum shelf disc 24 in the optical path of the first photo interrupter 29 fixedly supported by the h member (not shown).

31 is a male two-foot interrupter fixedly supported on a stationary member of the device, and 321 to 32 are placed on the upper surface of the disk 24 on the drum shelf at positions corresponding to the 1st to 8th #1 rows 251 to 25s. The first to eighth position plates are respectively arranged, and these position plates are arranged on the same circumference with the pongee 22 as the center,
As the drum [21] rotates forward or backward, the light passes through the optical path of the @2 photo interrupter 31 in sequence. As a result, the first to eighth shelf rows 2 as the drum W21 rotates.
5. - 258 sequentially facing and passing through the cartridge ejecting/transporting mechanism 40 are detected by pulse counting (additional count when the drum 41121 is rotating in the normal direction, subtraction count when the drum 41121 is rotating in the reverse direction) by the control circuit.

When the number of the desired cartridge 7 is specified using the numeric keypad 7 of the operation panel 5, the control circuit calculates the #I rank and the column in which the cartridge 1 with the specified number exists.

Also, in relation to the current rotational angle position of the drum 1l121 with respect to the cartridge ejecting self-transfer mechanism 40, the drum n
The rotational drive direction of 21 is calculated and determined to be a direction (normal rotation drive a or reverse rotation drive) that allows the y4 inch column to be positioned facing the mechanism 40 with a small rotation angle.

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 forward or backward, and as soon as the calculation n column matches the above pulse count contents, the motor M1 is driven. rotation is stopped. With this, drum 4! I21 is a state in which the shelf row portion corresponding to the calculation shelf row is located facing the cartridge takeout/conveyance mechanism 40, that is, the position of the mechanism 40 is searched.

33 is a 5Lfi company (electromagnetic pulley) fixedly supported on a stationary member of the device; 34. - 34 are the first to eighth stopper body plates disposed on the upper surface of the drum column top disc 24 at positions corresponding to the first to eighth n rows 25+=256, and their adjusting plates are as follows. They are arranged in the same circle around the shaft 22, and as the drum #I21 rotates, the 5L
The position of IIR1133 is sequentially passed through. SL outfit 313
The pin 35 attached to the plunger is energized at the same time as the energization to the plunger Ml is turned off (within 0.1 to 1 second W & range after the energization to the motor Ml is turned off), and the plunger returns to work. However, when the power to the motor Ml is turned off, the SL unit W3
Taper notch 36 on the stopper body plate corresponding to position 3
! Insert into l. This prevents displacement of the required search shelf row with respect to the mechanism 40 due to inertial rotation of the drum [21, and ensures that the desired search shelf row is accurately positioned and facing the mechanism 40. When the drum #121 is rotated again, the power supply to the SL thread 33 is turned off and the above positioning port is closed.

is unraveled.

(3) Cartridge ejection/conveyance mechanism 40 (3rd to 5th
Figure) a) The base disk 41 is centered around a central support shaft (not shown) on the bottom side.

A base disk that can freely rotate horizontally, M2 is a forward/reverse motor for rotationally driving the base disk, 42 is a gear fixed to its rotating shaft, and a gear 43 is formed on the outer periphery of the base disk 41.
It meshes with the

The base disc 41 is normally a stopper projection 4 integral with the disc.
4 is in the rotational angular position shown by the solid line in FIG. 3 and in FIG. This is the back one 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-point sea bream line shown in Figure 3 (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 store 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 comes into contact with the first store bar pin 45, and is returned to the first rotation angle position again. It will be done. Also, the first stopper protrusion 44
The sensor 47 detects the contact with the store bar pin 45.

The signal stops the reverse rotation of the motor M2.

b) The first movable bodies 49, 49, 50 are 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, and 51 is the rail. Member 49
-49. A part of the disc fixedly supported by the upper end of the stem member 50 is cut out.

In addition, there is a rectangular opening 5 on the plate surface with the open side on the disc notch side.
This is a frame board in the form of a large frame plate.

Reference numeral 53 denotes a first moving body that is engaged with the vertical rail members 49, 49 via a rail bearing or the like so as to be able to move smoothly up and down in the vertical direction along the rail members.
It is a box-shaped first carriage with the front and top sides open.

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.
The upper pulley 257, which is mounted and held in the drive pulley 54.1, is connected to the drive pulley 54.1. The wire is suspended from the lower pulley 55 and the side 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 first carrier 53 is coupled, and the motor M3 is driven in normal rotation, so that the IT carrier and the upper pulley 53 are connected to the rail member 49.
・Go up along 49 (front a)! ! ! IWIIA is moved, and conversely, the motor M3 is driven in the reverse direction, thereby driving the motor M3 to move downward (backwards).

5B is a vertically long structure that is supported by vertical stem member 5G.
A moving position detection plate for the first carriage 53,
A drum n is attached along the longitudinal edge of one side of the detection plate along the sewing length.
21, 47s1 to 11th position M1 corresponding to each 1st position
．． :! gL-11th slits 51-511 are formed on the top and bottom, and a slit S (
HPJ Top: A slit S (ST) for detecting the end position of the ascent is formed in Ia. 59φ60 is 1 carry! The first and second foot toys/towels supported by the carrier 53 are attached to the vertical edge of one side of the detection plate 58 and the vertical edge of the other side as the first carrier 53 moves up and down, respectively. Move along the vertical edge.

At the time of initial setting, the first carriage 53 is on standby with the 27th r toe interrupter 60 detecting the slit S () IP) and the lower end side of the rail member R (FIG. 3, two-point frequent display position) as the home decision. are doing.

The first carriage 53 increases the diameter i due to normal rotation of the motor M3.
When the h drive is performed, the 171) incretor 59 changes the level corresponding to the level of the detection plate 5B) 51 #3.
11 are sequentially detected and the addition pulses are counted by the control circuit. On the other hand, when the motor M3 is driven to move downward by the reverse rotation, the subtraction pulses are counted.

Then, the contents of the pulse count and the calculation of both M circuits 81
The rotation of motor M3 is stopped when the first and second positions match. As a result, the first spear 53 is held in such a state that a hand mechanism section 76 mounted thereon, which will be described later, is stopped at a height position corresponding to the calculated fog level.

Also, the drum #! explained in section (2) above! 21 rotation angle M'm and the rail member 49 of the 11 carrier ridge 53 mentioned above.
・Around 49! iI movement control.

Among the many cartridges stored in the drum 621, which is the cartridge storage section, the target cart or ridge at the address (specific shelf row, specific stage) corresponding to the specified number is automatically searched, and the hand mechanism section for that cartridge is automatically searched. 76 are in a state of facing each other.

C) The raising/lowering plate 61 (Fig. 3114) is a horizontal shaft supported by a bearing so that it can rotate freely with respect to the foil l carriage 53, 62 is a fan-shaped gear fixed to one end of the horizontal shaft, and M4 is attached to the first carriage 53. A supported forward/reverse motor is attached, and 63 is a gear fixed to its rotating shaft, which meshes with the sector gear 6z described above.
4<Fig. 4), the above-mentioned horizontal shaft 6
This is an up/down plate with the T& end side fixed to 1.

The above-mentioned Wa up/down plate 64 normally has its tip side connected to the drum wI.
It is in a state of falling down almost horizontally with respect to the first carriage 53 on the A21 side and being held by a stopper (not shown). When the motor M4 is driven in the forward direction, the horizontal shaft 6 is rotated through the gear 63-31 type gear 62 and the horizontal shaft 61.
It is rotated around 1 in the upright direction. Stand up to a vertical position! When e+ is reached, the motor M4 comes into contact with a stopper (not shown) to prevent further rotation, and the rotation of the motor M4 is stopped, and the motor M4 is in its upright position. ! A (Figure 3, two dotted lines shown)
is @held. 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 moving bodies 65, 65 are a pair of rail members arranged in the front and back direction on the upper surface of the above-mentioned raising/lowering plate 64, and 66 is a rod that slides smoothly along the rail members! 1Irr function via a rail bearing or the like. A plate-shaped second spear serves 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 88
-69 is a pulley arranged inside each of the tip side and rear end side of one side wall of the raising/lowering plate 64, and 70 is a wire suspended from the above three pulleys 67, 68, and 69. A wire 70I 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 71 to the second carriage 66, and when the motor M5 is driven in the forward direction, the second carriage 66 is connected to the rail member 65. -85, the rail member is moved forward to the forward end point II (FIG. 4, solid line position) on the forward end side.

By being driven in the reverse direction, it is driven backward to the backward end position on the rear end side (the position indicated by the two-point steel line in the figure). The @2 carriage 6G is always on standby with a home position t approximately halfway between the above-mentioned WRa lock position and the backward end position.

72, 73, and 74 are respectively @ of the second carriage 66.
Photo-interrupter for detecting presence at each position of W-home position, 75-75
is the vk road end stopper.

e) The cartridge hand mechanism 76 (Fig. 4) is a cartridge hand mechanism mounted and supported by the above-mentioned second barrel and white 6, and includes a pair of left and right opening/closing hands 77-78. SL device 79, a passed through the SL device a! ! An end portion 80a of the plunger 80 that normally projects outward.

A connecting plate 81 that is quickly connected to the hand 78 on one side of the hand 7707B. The other end 80 of the advancing/retracting plunger 80
A photo interrupter 82 for detecting hand opening/closing arranged on the b side. Consists of #.

A pair of left and right opening/closing hands 77 and 7B are connected to a rack dt section 77m*78a formed by vertically opposing each other in parallel.
, and their rack teeth are common to each pinion 8.
3 and connect them to each other. Therefore, when one hand 78 is moved and driven in the opening direction/closing direction, the other hand 77 also moves to 111I! Move in the opening/closing direction M! ! &do.

When the current is applied to the SL device 79, the hand 78 is held in the open position M (shown by the two-dot chain line in FIG. 4) by the outward protrusion of the plunger end 80m on the side to which the connecting plate 81 is fixed. Accordingly, the other hand 77 is also held at the open position tC), and the left and right hands 77 and 78 are mutually held in the open position ffl. Further, by holding the other end 80b of the plunger 80 out of the optical path of the photointerrupter 82, it is detected that the hands 77 and 78 are currently in an open state.

SL! When an electric current is applied to al179, the plunger 80
The hand 7B is moved and held in the closed position W1 (FIG. 4, solid line position!) by the retracting action of the end m80a, and
! ID, the other hand 77 also moves to the closed position (same), and the left and right hands 77-78 are mutually held in a closed state. Further, the other end 80b of the plunger 80 is now held in a state 8 (shown by the left line in FIG. 4) so as to protrude into the optical path portion of the photointerrupter 82, thereby indicating that the hands 77 and 78 are currently in the closed state. Detected.

Reference numeral 85 denotes a push pin for cartridge empty detection which is always projected from the front plate 84 surface between the left and right hands 77 and 78. In order to grip the target cartridge of the retrieved drum na with the hand mechanism 76, the second carry, the hand mechanism 4476 (hands 77-78 are in an open state! 84 is cartridge C
The tip of the pin first contacts the rear surface of the cartridge C a little before contacting the rear surface, and the pin 85 is pushed and moved by the rear surface of the cartridge C by the subsequent forward movement of the hand machine @76, and the pin 85 is pushed and moved. This turns on a sensor (not shown) and detects the presence of the cartridge. On the other hand, when there is no cartridge, the pin 85 remains in the protruding shape 1 even when the hand a Tachibana 76 reaches the end point 7)? It is detected that the cartridge is not present because it does not turn on.

(4) Operation (@Fig. 6-7) a) Initial setting operation (Fig. 6, steps ■ to ■) Before the power is turned on, drum n21 is searched and used after f& in the previous use of IIt11, and after use, the drum is wrapped. The part of one row corresponding to the address of the cartridge returned to the original position 2 is stopped at a rotation angle facing the cartridge ejecting/transporting mechanism 40. Similarly, the first carriage 53 is stopped at a height position corresponding to the address of the cartridge. The base disk 41 is in the first rotation angle posture state, and the raising/lowering plate 6
4 is in a state of falling down, and the second carrier white 6, that is, the hand mechanism 76 is in the state of falling down. It is located at the home position □, which is approximately halfway between the position i and the retreat end position. The hands 77-78 are in the open state. When the power switch 6 is turned on, the drum $121 returns to the home position (IP) rotation angle position and the first barrel 53 returns to the RP position. Once the operation is performed (initial setting operation), the device enters the standby state, and a display to that effect is displayed.

b) Specify the required cartridge, input the agin of the required cartridge into the control circuit according to the same ■~ten year-7, and press the search key 8. In the control circuit, if there is a cartridge with the wt constant number, the drum The 1st row and the nth stage in n21 are calculated, and the rotation angle of the drum n21 explained in Sections (2) and (3)-b) and the forward movement (rise) of the first gear and the gear 53 are calculated. ) Movement control performs a search operation for the target cartridge, and the hand mechanism 7 moves toward the target cartridge.
6 becomes the inter-pair state. Rotation of drum n21 11jlil
The movement restriction of l1iIa of l, the first carrier, and j53 is executed simultaneously.

C) Grasping and ejecting the cartridge cra'+e~O) When the retrieval operation is completed, the motor M5 is driven forward and the second cartridge 66i1!1 hand III structure 76 is moved forward one step.
When the motor M5 reaches the forward end position, the Yt interrupter 72 detects that the motor M5 has reached the forward end position, and stops driving the motor M5.

At this point, the front plate 84 of the hand machine $76 has reached the rear end surface of the target cartridge, and the pin 85 is sufficiently pushed and moved by the rear end surface of the cartridge to detect the presence of the cartridge.

When the detection signal of the arrival of the second shaft 66 at the @1 end position is ANDed with the cartridge presence detection signal, the SL unit J179 is energized and the hand 77 is turned on.
-78 closes and the rear end of the target cartridge C is firmly gripped. The completion of gripping the cartridge is detected by the photointerrupter 82, and the detection signal causes the motor M5 to rotate in the reverse direction IIA to move the second cartridge 6
6 is driven to move backward, and the target cartridge is removed from the storage machine and moved.

d) Transporting and loading the cartridge to the loading section CFF1e~
@) The second carriage 66 is driven to move backward until it passes the MP position and reaches the backward end position. During the backward movement process of the carriage 66, the passage of the IIIP position is detected by the photointerrupter 74, and from the time of detection, the raising and lowering plate 64 is raised and rotated, and the base disc 41 is moved to the second @ rotation angle position I.
The rotation to , the first rotation, and the forward movement of the ji 53 are simultaneously performed in one line.

In this case, the cartridge is being held by the hands 77 and 78 and being pulled out and moved from the storage machine.

When Shiro 6 retreated to the HP position on the zth carry,
At that point, the above-mentioned raising/lowering plate 64ψ base disk 41-
Each rotation of the carriage 53 moves around each member 64 and 4 without interfering with the storage shelf of the cartridge or the cartridges of the adjacent storage machine, etc., even when the moving operation is started.
It has moved backward to a position where the rotation and contact movements associated with the operations No. 1 and 53 can be made without any hindrance.

Raise and fall plate 64 rises 1st time! By the l action, the second fist spear, Shiro 6, hand machine 4I7B, and the target cartridge C gripped by it are turned upward &: (Fig. 3, 2 points m
line).

First rotation angle position 1 of base disc 41 (1! 45 (a))
By changing the rotation from the second rotation angle position ml (FIG. 2(b)), the entire cartridge ejection/conveying mechanism 40 is rotated in the counterclockwise direction a, and finally, the hand mechanism 76 has two grips. The longitudinal direction of the tip wall of the cartridge C facing soil!
is oriented in the same direction as the longitudinal direction of the cartridge loading port 3-100 (Fig. 145(b)), and the hand mechanism 76 is directed upward! To W! The vertical central axis of the held cartridge almost coincides with the line connecting the center of rotation of the base disk 41 and the center of the cartridge loading port 3-100.

After the 2nd A-Yarifuji 66 left vk to the S consecutive end position, he immediately hit #i! Converted to mobile drive. This second
The forward one movement drive of the 4P spear 66 becomes an upward movement drive toward the cartridge loading port 3-100 when the raising/lowering plate 64 is changed to the upright position.

Thus, the forward (ascending) movement drive of the first car spear 53,
The above-mentioned forward 4m (ascent) movement of the second carriage 66 11!
! +, the hand mechanism 76 receives W! The held cartridge C facing upward is conveyed upward at high speed toward the loading port 3.100 at the superimposed front movement speed of both the first and W42 carriages 53-86, and is conveyed upward toward the loading port 3.lOO. Going in.

When the second photo interrupter 60 detects the end point detection pick-up 5 (ST), the first carry 53 is stopped from moving further forward. @2 Carriage 66 stops moving at the time signal of #1 movement driven to the previous 1 end point position. As a result, the target cartridge is fully loaded into the loading section of the league calculation fiB. 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 first stop is the movement of the second barrel, the front 6, and the first rear ridge 53! ! Since the l1wAgh mechanism is a tension wire type mechanism in the present apparatus, the cushioning properties of the wire system ease the charging stress and the charging is completed smoothly.

The front d! due to both the first and second carriages reaching their respective front end positions! (Rise) Due to movement stop,
The completion of loading the target cartridge into the loading section 3/100 is displayed on the display section, and the cartridge can be used by the machine B, such as the league.

e) Return transportation of used cartridges (Fig. 7).

Step 0-0) When the return key 9 is pressed (step 6), the motors M3 and M5 are driven in reverse, and the JR1 carriage 53 and the W42 carriage 66 are simultaneously driven to move backward (downward) in one line. As a result, the used cartridge held in the loading section while being held 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 respectively reversed wAf& by the signal, and the tilting plate 64 is rotated! ! 1 is driven, and the base disk 41 is returned to the first rotation angle position and is rotationally driven (the same [
KK]).

Finally, when the first carriage 53 descends to the position corresponding to the shelf level at which the target cartridge was taken out, the drive of the motor M3 is stopped based on the slit counter count by the photointerceptor 59, and the first carriage 53 is held at that position ( Same e＞
After the second carriage 66 moves backward to the backward end position, the motor M5 is switched to forward rotation and is driven forward (same @), and the tilting plate 64 returns to the tilted position and the motor M4 is driven. is stopped and held 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 Hayabusa spear 66 is driven forward to move the cartridge held by the hand mechanism 76 onto the drum shelf 2.
1, when the second carriage 66 reaches the forward end position (0)
, which is detected by the photointerceptor 72, and the signal cuts off the power to the SL@device 9 of the hand mechanism 76, and the hands 77 and 78 become open (as shown by the two-dot chain line in Fig. 4). When the grip on the cartridge is released (by the same company), wJ is also in a state where the cartridge is returned to its original storage IFIJI.

When the photointerrupter 82 detects that the cartridge is released, the motor M5 is driven in the reverse direction based on the @ number, and the second carriage 66, that is, the hand 7B in the open state, is moved backward J#.

When the photointerrupter 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 (same [phase]).
The push-in pin 85 for detecting the presence or absence of a cartridge returns to its protruding state by separating from the rear end surface of the cartridge due to the backward movement of the second carriage 66, and the sensor for detecting the presence or absence of a cartridge is turned off.

Arrival at the IP position of the above-mentioned second carry, Shiro 6.

When the drive of the motor M5 is stopped, a message indicating that the cartridge has been returned is displayed and the device enters a standby state (same as above).

After the cartridge return completion display is displayed, the next required cartridge number is input using the numeric keypad 7.
The process a returns to step @ (FIG. 6), and the next cartridge specified by the input can be searched.

The computation of the 6th row and stage of the cartridge number inputted next on the drum d21 is based on the address of the previous search cartridge, that is, where the H/D trumpet section 74 is located. It is calculated based on the kuretsu and dan rank of drum string 21, and its performance x
A search operation for the cartridge in the #1 column/level is executed.

On the other hand, after the cartridge return completion indication is displayed.

If the device 1A is left unattended because no input operation for specifying the next cartridge number is made until the predetermined timer time elapses, the device 8 will be automatically reset when the predetermined timer time elapses.
The main power supply of l1llA is switched off (same @),
1! II will be charged.

8) Warning display (8r14. Step e to [Co., Ltd.]) During the process of extracting the gripped cartridge from the cartridge in C) above, the photo interrupter 72 detects that the second carriage 66 has reached the front 1 end position. Even though there is (step■
), when the cartridge presence detection signal from the pin 85 is not output, the second cartridge 66 is moved backward to the liP position (step O), and the operations of steps 0 to 0 are 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 a cartridge is not detected in the end, the target cartridge must be stored, but at -1#l 81, the 8111 circuit determines that no cartridge is stored, and this fact is displayed on the display. (step [stock] / [stock]).

(5) Positioning and stopping control of the first moving body 53 (FIGS. 8 and 9) The first carriage 53, which is the i1 moving body, moves up or down along the vertical rail members 49-49 by the forward or reverse rotation of the motor M3. After being driven downward and reaching the target height pupil position, it is necessary to accurately position and stop at that position. In this example device, in order to increase the stopping position 11M1f, an OC motor is used as the motor M3, and the means for controlling it as follows is taken.

! FIG. 8 shows a drive control circuit for the OC motor, which is the motor M3. Reference numeral 90 denotes a changeover switch that is operated to change over v1 by the main control circuit. Switch 90 is contact aI *b1
When the voltage is changed to v1, the motor M3 is driven to rotate in the normal direction. When the contact is &b2, the motor M3 is short-circuited and the motor is stopped, and the motor M3 functions as an electric playback. When the contact &3.b3 is established, the motor M3 is driven in the reverse direction.

a) In the case of stopping the upward rotation, the first carriage 53 is driven upward by the forward rotation of the motor M3 (FIG. 9(a)), and the sensor means (photointerrupter) detects that the first carriage 53 has reached the desired height position S. 59
or 60. Slit 31-511 or S (HP)・
S (ST)).

The signal immediately causes the switch 90 to contact @z lIb
2 and the motor is stopped. However, man! The carrier 53 actually shifts to a position slightly higher than the target height R5 by α due to the inertia of the upward movement drive U, and comes to a stopped state.

Then, at the time when the motor stops, the switch 90 is turned on.
- Switched to b3, motor M3 is changed to reverse drive. As a result, the first meal spear 7/53 is moved downward aWIA, and when it descends for 6 minutes, the sensor means detects that it has reached the target height position S again. The @ symbol immediately causes switch 9o to contact &? - The motor is stopped by switching to b2. However, due to the inertia of this downward movement thlKthD, the first carriage 53 actually shifts slightly below the target height position S by β and comes to a halt.

Then, when the motor stops, switch 9G switches to contacts a+e.
bI, and the motor M3 is switched to normal rotation drive. As a result, the first carriage 53 is driven to move upward, and when it rises by β, the sensor means detects that it has reached the target height position S again. This signal immediately causes switch 9° to contact &! - The motor is stopped by switching to b2. In this case, the driving amount β of the upward movement of the first carriage 53 is small, and the upward force is weak due to the drive of the motor M3 during the normal rotation drive start-up period, so that the desired height of the fourteenth carriage 53 is determined by inertia. Rank j! In fact, no deviation in the ascending position from S occurs.

In other words, the first carrier 53 is ultimately the desired quality 11
Positioned and stopped M times at S.

b) In the case of down & I stop, the sensor means detects that the 14th spear radiator 53 is driven downward by the reverse W movement of the motor M3 (FIG. 9(b)) and reaches the target height 11S. When it is done,
In response to this signal, the switch 90 is immediately switched to contact &2.b2 to stop the motor. However, the $1 carriage 53 moves downward 111. Due to the inertia of I%fiD, the position actually shifts to a position slightly lower than the target height lIS by γ and comes to a stopped state.

Then, when the motor stops, the switch 90 closes the contact 111.
When v'J is detected at 1bI, the motor M3 is switched to normal rotation drive. As a result, the outer l carriage 53 is driven upward by U, and when it rises by γ, reaching the target height position S is again detected by the sensor means, and the signal immediately switches the switch 90 to the contact &2.b2 to start the motor. A stop is made. In this case, the upward movement drive force γ of the first gear and gear 53 is small, and the upward movement force is weak due to the first shift of the motor M3 during the normal rotation drive start-up period, so the upward movement force is weak.
As in the case of stopping the lift, the first carriage 53 does not actually deviate from the target height position S due to inertia.

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

(8) Cartridge storage! 20 and the take-out 11 conveyance mechanism 40 (Fig. 2) This example device! A is a rotary drum type cartridge storage #1 mechanism 20, which is a cartridge storage section, and the ejection/conveyance mechanism 40, and its p! Outer so that the line 2 connecting the central longitudinal axes of the mechanisms 20-40 is approximately in the diagonal direction of the outer rc casing on the plane of the outer #casing 1 of the device. It is an in-house employment within the li-cabin.

With this arrangement, there is a jq mechanism 20@40 inside the device outside 1.
can fit in with less dead space, and the planar shape is smaller, making it possible to construct an overall compact device 1A! Ru.

(7) Cartridge! IIHJ material (i'$l O~12
Figure) Drum ■ Cartridges C inserted and housed in each column of 21 in advance are drums! 1121 Rotating Wheel 1 - Shock when stopped, rotation process and centrifugal force, production of device A
Even if it is subjected to I-shake, etc., or even if the device A is photographed or tilted while being pushed or moved or transported, it may become partially protruded from the shelf, deviate from the direction, or be completely pulled out. All were fully inserted into each shelf without falling off! [
2! Must be kept contained at all times.

If the cartridge C is partially protruded from ll1gg or deviates in direction beyond the allowable limit, when the drum 121 is driven to rotate, the protruding part of the cartridge C will hit other mechanical parts, damaging the cartridge and the device mechanism. This may cause the hand mechanism to fail to grip the cartridge.
It causes imperfection 2, etc. Furthermore, if a cartridge is completely removed from one section 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 this embodiment, each cartridge Ct inserted into each n section of the drum l1121 is always stored! In order to maintain the storage condition 5, a cartridge pop-out movement regulating member 13 is disposed around the drum wall excluding the facing portion of the cartridge ejecting and transporting mechanism 40 so as to be close to the rotation locus of the rear end of the stored cartridge. It is.

The member 13 can be made of a metal plate, a transparent or opaque plastic plate, a wire mesh, a lattice structure, or the like.

The illustrated example is U, member 13 is 111th minute 13m and island 2
The second part 13& is fixedly supported on an immovable member such as the bottom of the device exterior casing, and the second part 13&
A portion 13b is the stay 1 on the inner surface scratch of the device exterior casing opening/closing door 12.
The mounting is supported via 4.14. When the door 12 is closed, the drum +
The necessary surrounding area of 1112 becomes the surrounding area. When @L2 is opened, the second M portion 13b moves together with the door 12, and the drum #I#1 row portion to which this portion corresponds becomes open, making it possible to replace the cartridge in the drum #121.

- Due to the presence of member 13 marked E, even if each storage cassette *a moves in the ejection direction due to rotational vibration of the drum $121, residual force, etc., the protruding side will hit the inner surface of member 13 and will not exceed the allowable limit. Jumping out movement is prevented.

They are arranged and held in each W part.

The vertical edges at both ends in the circumferential direction of the member 13, that is, the vertical edges of the opening that is sealed to the cart removal/conveying machine 4440 are bent edges 13. which are curved outward. -13. By doing so, even if the cartridge is obstructed in the ejection direction at the opening, the protruding end of the cartridge as the drum eye 21 rotates as described above at the bent edge 13. -13, it was naturally pushed to the back side of 1 and moved against the fence! Returned to Type III 1.

In addition, the member 13 has a curvature of 2 or more R1 and R as shown in the example in FIG.
The curvature R1 of the T4 material 13 is
The cartridge, which hit the inner surface of the part and was prevented from moving further, is pushed and moved toward the back of the chest by the inner surface of the member 13 whose curvature is l112iI21 as the drum #121 rotates, and is returned to its original correct alignment. It is also effective to configure it so that it reverts to .

(8) Other methods in which the cartridge C is inserted into and removed from the cartridge insertion part of the league calculation machine B in a horizontal position are as follows: No plate mechanism is required.

The attitude direction of the cartridge C gripped and taken out by the hand mechanism from the cartridge storage #'1 mechanism 20, or the attitude direction of the cartridge C further converted into a vertical orientation, is the attitude direction of the cartridge-population of the league water guide channel B. When it matches, there is no need for a cartridge rotation mechanism as in the g4 device shown in FIG.

According to the great invention as described above in Section 9 of Haimei, the rotation stop angle IM degree of the rotation of the cartridge housing section relative to the cartridge ejection/transport mechanism becomes sufficient, and the will improve.

[Brief explanation of drawings]

The drawing shows one embodiment of the great invention CAC device.
The figure shows the CAC device and the entire league calculation machine with Sasha on it! II oblique [Figure 11, Figure 2 is CACwtW
3 is a plan view of the drum shelf and the cartridge ejecting/conveying mechanism, FIG. 4 is a slope view of the tilting plate + 1 second carriage hand mechanism, and FIG. 5(a)-(
b) is a diagram showing the pace disc at the first rotation angle position and the 142nd rotation angle position, respectively, and FIG. 6 and FIG. 7 are operation flow diagrams of the apparatus. Figure 8 shows the 1st carrier lift ascending and descending II! Drive MW route diagram of DC motor for II, f! Figures 9 (head) and (b) are controls for stopping the first barrel from rising and stopping the movement from falling, respectively! 1 explanatory view, FIG. 10 is a plan view of a cartridge ejecting movement regulating member surrounding the drum, W411 is a slope view, and FIG. 12 is a plan view of another example of the cartridge ejecting movement ML:tA member. A is a CAC device, B is a league calculation machine, C is a cartridge, 20 is a rotating drum type cartridge storage naJ4.4o which is a cartridge storage section, 53 is a first cartridge, 66 is a second cartridge 7 ,7
6 is a hand mechanism, 77 and 78 are cartridge hands. Ko 4 Sango Prisoner $7 Figure 1 Shark IO Figure 1 2j13 (13b)

Claims (3)

[Claims] (1) A cartridge storage mechanism mainly consisting of a drum-shaped cartridge storage shelf that is rotatably driven around a vertical axis and has multiple cartridge storage shelves arranged around it; It has a cartridge ejecting and transporting mechanism that operates to take out the storage cartridges of a designated shelf row/level, transport them to the cartridge storage section of the cartridge loading type device, and transport them back to the original storage shelf section, The above-mentioned cartridge storage mechanism includes a mechanism for rotating the shelf body, and a means for detecting a rotation angle accompanying the rotational drive of the shelf body,
In cooperation with the rotation angle detection means, the rotational drive of the shelf body is turned on and off so that the part of the shelf row where the target cartridge is located is rotated to the cartridge removal and transport mechanism.
means for off-controlling; and a means for engaging the shelf body simultaneously with the off-control of the shelf drive mechanism of the means, so as to bring the shelf body into a state in which a required shelf row portion thereof is positioned directly facing the cartridge ejecting/conveying mechanism. A cartridge autochanger comprising: a positioning/stopping means for positioning and holding the cartridge in an immovable state; (2) The cartridge autochanger according to claim 1, wherein the shelf positioning/stopping means is engaged within one second from the time when the shelf drive mechanism is turned off. (3) The shelf positioning/stopping means is composed of a member formed with a tapered groove, which is provided relatively to the shelf side and the immovable member side, and a pin member that moves back and forth into the tapered groove of the member.
A cartridge autochanger according to claim 1.