JPH0359844A - Mass storage disk file device - Google Patents

Abstract

PURPOSE:To suppress the vibration of a shift member at the time of stop as much as possible and to shorten time until the shift member completes shift by providing a vibration detecting sensor and a control part which changes a speed pattern in such a way that the speed fluctuation of the shift member comes to a minimum value in the final stop position of the shift member and stops the shift member. CONSTITUTION:The vibration detection sensor 58 detecting the vibration of the shift member 27 and the control part which detects speed vibration equivalent to a fluctuation quantity from the speed pattern which comes to reference while the shift member 27 shifts by the vibration detection sensor 58, obtains the period and phase of the vibration, changes the speed pattern so that the speed fluctuation of the shift member 27 comes to the minimum value in the final stop position of the shift member 27 and stops the shift member 27 are provided. Then, the vibration detection sensor 58 detects vibration while the shift member 27 shifts, and the driving speed pattern of the shift member 27 is changed by the signal, whereby the speed of the shift member 27 immediately before it stops is set to be a minimum so as to stop it. Thus, the vibration of the shift member 27 is small and the time required for shift can be shortened.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a large-capacity disk file device for loading and unloading cartridges stored in a stocker into and out of a recording/reproducing device.

"Prior Art" Fig. 4 is an overall perspective view showing an example of a conventional large-capacity disk file device, and Fig. 5 is a plan view of Fig. 4.
(3) is the cartridge (1) that is stored horizontally in the stocker (2) and aligned like a mouth.
A recording/playback device that tries to write ↑Wm of the disc in the
Stocker (2) is on top]]'! (=F is attached to the carved frame (5) as shown in the figure.

(6) is an insertion/removal mechanism for inserting/removing the car 1-ridge (1) from the stocker (2), and the rotatable C-frame-shaped body (A) is connected to a support member (7c) for reversing and a pair of It consists of C frame members (7a) and (7b), the open end of which faces the cartridge (1), and the closed end of which is reversibly attached to a lateral moving table (8) which is a moving member.

The lateral movement table (8>) is movably attached to a carriage (11), which is a moving member, in a cantilevered manner by a first slider (9>) and a first rail (10>).

In addition, the carriage (11) has two sets of second sliders (
12) and the second rail (13) attached to the column (13).
14) and is mounted so as to be movable up and down.

Below the column (13) is a lifting motor (15), which is a stepping motor that raises and lowers the carriage (11).
is attached, and the first pulley (16) provided at the end of the motor shaft and the first pulley (not shown) that rotates are connected to a pulley (not shown) that is rotatably attached to the upper part of the column (13).
The carriage (11) is connected to the belt (17) of the belt (17), and the carriage (11>) is raised and lowered. (
18) is a balancer provided to reduce the capacity of the lifting motor (15), and is attached to the first bell (37).

Stocker (2) and recording/playback device (3) have +V in two rows.
The purpose of this is to record and reproduce more information faster. Therefore, the insertion/removal mechanism (6) needs to move m. (19> is the lateral movement stepping motor for the lateral movement of the carriage (11)
A second pulley (21) is attached directly to one end of the motor shaft, and a third pulley (22) is rotatably attached to the other end of the carriage (11). (second moving bell) (23) and a horizontal moving table (8
) to move the horizontal movement table (8>) horizontally.

A main shaft (not shown) and a reversing gear (24) necessary for reversing the insertion/removal mechanism (6) are fixed to the center of the lateral movement table (8). Its main shaft is connected via a cross roller bearing to a closed end support member (
7c) is supported reversibly. In addition, the support member (7
A reversing motor (25), which is a stepping motor necessary for reversing, is attached to c), and a reversing motor (26) is attached to the end of the motor shaft and meshes with the reversing gear (24). That is, the reversing motor (25) revolves around the reversing gear (24) while rotating.

The gripping mechanism is provided on a moving body (27) that is a moving member,
A C-frame-shaped holder (7) and a back-and-forth movement motor (28), which is a stepping motor, are directly attached to the closed end side of the C-frame member (7a) forming the holder (7). A fourth pulley (29) installed on the shaft end of the moving motor (28) and a fifth pulley (30) rotatably attached to the open end of the C frame member (7a). A third belt (31) is wound around the belt (31).A support stand (32) provided at the bottom of the movable body (27) is connected to the belt (31).
7> is designed to move back and forth toward the stocker (2>. A slider (not shown) is attached to the support base (32>), and this slider is attached to the C frame member (7) of the holding body (7). 7b) attached to the rail (33
) to move along. <34> is the cart 1 installed on both sides of each column of the stocker (2), nib/l,
t, Fushi11. ＾-/9) The retaining spring (35) is a clamper motor, a link is connected to the motor shaft, and the link is connected to a clamper (36), which is a clamper motor. The clamper (36) is opened and closed by the swing of the motor (35).

Further, (53) and (54) are first and second lateral movement position detection sensors attached to the mounting plates (55) on both sides of the carriage (11). (53) and (54) are horizontal moving tables (8
) is detected, and the insertion/removal mechanism (6) and the left and right stockers (2) are set to face each other.

(56) is a front position detection sensor (57) that detects the front surface of the cartridge (1) attached to the moving body (27);
) is provided behind the stocker (2) and the cartridge (
1) A rear position detection sensor that detects the rear surface.

Also, as shown in the partially enlarged view of Fig. 6, (50) is a vertical position detection sensor that can move up and down along a scale (51) that has a plurality of notches ('52) formed on one side. .

″,kvI4 輛StopI ゆりめ pu S朋ψ2 Utei Tsune Aguchi 1
- The operation of taking out the second cartridge (1) from the stocker (4) and inserting it into the recording/reproducing device (3) will be explained. Remove the cartridge 1-ridge (1) and record/playback device (3).
) A command is given to this device to insert it into the device. As a result, a controller (not shown) built into this device applies pulses to the lifting motor (15) and the lateral movement motor (19) according to the speed pattern shown in FIG. The lifting motor (15) and the lateral movement motor (19) are stopped at time T, which means that at time T3, the first and second lateral movement axes are
This is because the lateral movement position detection sensors (53) and (54) were activated and detected the stop position, so the controller stopped outputting pulses. The controller itself has a speed pattern that continues up to T (dotted chain line after T3)
If an out-of-step section of the lateral movement motor (19) occurs and the first and second lateral movement position detection sensors (53) and (54) do not operate even after time T3. Since the controller continues to output pulses at the speed of U+in, the lateral movement axis continues to operate until the first and second lateral movement position detection sensors (53) and (54) are activated, and stops at the normal stop position. can do.

In addition, the same control as the horizontal movement axis is performed for the vertical axis, but in this case the position is detected by the vertical position detection sensor (50).
and the scale (51), so the (
The number of notches (52) corresponding to ffFF is counted by the controller during movement, and the signal from the lift position detection sensor (50) due to the notch (52) corresponding to the position of the target shelf is detected at the stop position. Signal. Other operations and controls are performed in the same manner as for the horizontal movement axis. Here, the total moving distance of each moving axis can be expressed by the following equation.

1/2 (TI-TO+72) ・(Umax-Umin
) + T:l ・UIllin startup and final constant speed 1
1 nin is 172 or less of the maximum starting speed of each moving axis stepping motor, and the final constant speed holding time (T
, -T2) is set to a time from about the period of the natural frequency of the vibration system constituted by the mass of each moving axis and the elasticity of the belt to about three times this period. That is,
If the period of the natural frequency of the above vibration system is T-, then Ts-7
2='h~3 Shimoda.

When the positioning of the elevating shaft and the lateral movement shaft is completed as described above, the insertion/removal mechanism (6) is located at a position facing the cartridge (1) in the stocker (2).

Next, the clamper motor (35) of the gripping mechanism provided on the movable body (27) is activated, and at the same time as the clamper (35) is opened, the forward and backward movement motor (28) is driven;
The hyper-moving body (27) advances toward the cartridge (1), detects the front of the cartridge (1>) with the front position detection sensor (56), and stops.How to drive the motor (28) for forward and backward movement at this time is the same as the horizontal movement axis, and the front position detection sensor (56) detects the stop position.After that, the clamper motor (35) is de-energized, and the spring spring in the clamper motor (35) (not shown)
The force causes the clamper (36> to close and engage with the locking portions (1a) provided on both sides of the cartridge (1), while also holding both front sides of the car 1 heritage (1).Next, The cartridge (1) is moved by reversing the forward/backward movement motor (28).
) to the position shown by the two-dot chain line in Figure 5. The driving method at this time is the same as the driving method of the forward/backward movement motor (28) in the forward direction, but the position detection sensor uses a sensor (not shown) fixed to the support member (7c). , detecting the position of the support stand (32).

Next, the lifting motor (15) and the lateral movement motor (19)
are driven in the same manner as described above, and the insertion/removal mechanism (6) is moved to the center position of the insertion opening of the recording/reproducing device (3).

During this movement, a command is given to select the front and back sides of the cartridge (1), and if necessary, the reversing motor (25) is driven in the same manner as the horizontal movement motor (19) to drive the volatilization machine i.
ll Rotate (6) 180°. When all the movements are completed, the forward and backward movement motor (28) is driven to insert the cartridge (1) into the recording/reproducing device (3), and the rear position detection sensor (57) in the recording/reproducing device (3) detects the position of the cartridge. (1) Detect the rear surface and stop moving forward. At the same time, the clamper motor (35) is energized, the clamper (36) opens, and the forward and backward movement motor (28)
The operation is completed by reversing the insertion/removal mechanism (6) and retracting the insertion/removal mechanism (6).

The operation of taking out the cartridge (1) from the stocker (2) and inserting it into the recording/reproducing device (3) has been explained above.
When the recording or reproducing device (3) completes recording or reproducing, a command is issued to return the cartridge (1) to its original position in the stocker (2). The operation at this time may be the reverse of the operation described above. However, the difference is that when inserting the cartridge (1) into the stocker (2), the stocker (
2) rear side translation detection sensor (57) installed at the rear of
detects the rear surface of the cartridge (1) and stops driving the forward/backward movement motor (28>).

[Problem to be solved by the invention] Since the conventional large-capacity disk file device is configured as described above, the movable members (8), (11), (
27), the final constant velocity must be maintained for a certain period of time in order to stabilize the vibration of the moving member (8), <11
>, (27) There was a problem in that it took a long time to complete the movement.

This invention was made in order to solve the above-mentioned problems, and it is designed to suppress vibrations when the movable member stops as much as possible and shorten the time required for the movable member to complete movement. )The porpose is to do.

1. Means for Solving Problems] A large-capacity disk file device according to the present invention includes a vibration detection sensor that is attached to a moving member and detects the vibration of the moving member, and a vibration detection sensor that detects the vibration of the moving member while the moving member is moving. 7g from the speed pattern: Detect the speed vibration corresponding to the valve train, find the period and phase of this vibration,
The control unit includes a control unit that changes the speed pattern and stops the moving member so that the speed fluctuation of the moving member becomes a minimum value at the final stop position of the moving member.

r rr = m] The method for stopping a moving member in the present invention is such that the speed of the moving member at the final stop position is set in a coordinate system fixed to the device, for example,
Since it is the minimum when viewed from the stocker fixed coordinate system, the impact when the movable member stops is small, and large vibrations do not occur in the movable member when it stops.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show an embodiment of the present invention, and the same or corresponding parts as in FIGS. 4 and 5 are designated by the same reference numerals, and the explanation thereof will be omitted.

In the figure, (58> is the holder (7) of the moving body (27)
It is a vibration detection sensor, for example,
Using an acceleration sensor as the sensor, a velocity signal can be obtained by integrating the acceleration signal. Also,
Processing of this speed signal and control of the moving body (27) are performed by the same control unit. This control section is not shown because it is built-in.

Next, the operation of the large capacity disk file device having the above configuration will be explained. Since the sequential operation of each moving axis is the same as in the conventional example, the explanation will be omitted.

The characteristic operation of the present invention lies in the stop control method of each moving axis. In particular, in this embodiment, a method for controlling the stop of the lifting shaft will be described.

The basic driving speed pattern of the lifting motor (15) is a trapezoidal speed pattern as shown in Figure 3, but the actual speed of the moving body (27) depends on the drive of the motor as shown in Figure 3. Based on the speed pattern, moving objects (27)
It is a waveform that includes the speed fluctuation of the vibration system made up of the mass of and the belt (17〉).This speed waveform ■
The signal is detected by a vibration system detection sensor (58). Therefore, the moving body (27) exhibits such speed fluctuations, and since the hyperactive distance 'f changes variously with respect to the vertical axis, the speed of the moving body (27) immediately before it stops also changes. That is, depending on whether the speed waveform (2) at this time is larger or smaller than the mold speed pattern, the speed of the moving body (27) will become larger even if it is shifted from the coordinate system fixed to the device, for example, the coordinate system fixed to the stocker. or become smaller. In addition, moving objects (27
) has a smaller speed just before it stops, the moving object (27
It is obvious that the impact force acting on > is small. Therefore, by reducing the speed of the movable body immediately before it stops as much as possible using the following 1lilJ 7311 method, the vibration at the stop H1 can be reduced.

First, the control section detects the period of vibration from the velocity waveform (2) while the moving body (27) is moving up and down, that is, from time O to T in FIG. Next, the phase of vibration is detected between times T1 and T, and the phase of vibration at time T2 is calculated. If this calculated phase, that is, the speed of the moving body (27), is not close to the minimum value, the speed of the moving body (27) will change while keeping the remaining movement amount (shaded area in Figure 3) constant at time T5. A speed pattern like the one shown in Figure 3 (double-dashed line) is calculated so as to reach the minimum value, and the speed is set at time T.

The driving speed pattern slope is changed at .

Similar sensors may be attached to control the horizontal movement axes and longitudinal movement axes other than the vertical movement axis, but since the movement distance of these axes is almost constant, the amount of vibration of each axis can be estimated in advance using the method described above. All you have to do is find it and give it a fixed speed pattern that satisfies the above, and its effect is smaller than that of an elevator shaft.

[Effects of the Invention] As explained above, according to the large-capacity disk file device of the present invention, the vibration detection sensor detects the vibration of the moving member during movement, and the driving speed pattern of the moving member is changed based on this signal. Since the speed of the movable body immediately before stopping is minimized, the vibration of the movable member when it stops is small, and the time required for movement can be shortened.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a large capacity disk file device according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, and FIG.
The figure is a schematic diagram showing the drive speed pattern of the moving body in Figure 1, Figure 4 is a perspective view showing an example of a conventional large-capacity disk file device, Figure 5 is a plan view of the same as Figure 4, and Figure 6 is a perspective view of the scale and elevation position detection sensor in Figure 5;
The figure is a schematic diagram showing a conventional driving speed pattern of a moving member. In the figure, (1) is a cartridge, (2) is a stocker, (3) is a recording/reproducing device, (8) is a horizontal moving table, and (11) is a recording/reproducing device.
) is the carriage, (15) is the lift motor, (19) is the lateral movement motor, (27) is the moving body, (28) is the longitudinal movement motor, (17), (23), and (31) are the belts. , (58) are vibration detection sensors. In each figure, the same reference numerals indicate the same or corresponding parts. Figure 1: Cartridge 2: Stocker 3: Pressure generator 11: Key &/, Switch 15: Rise'? -7 in a circle 17: Belt 19: Lateral movement sleeve 58: 凋J Rib 7 sensor 3 Figure Figure Figure Procedure Amendment 1゜Indication of incident Patent Application No. 194004 2゜4゜Name of the invention Relationship to the large-capacity disk file device amendment case Patent applicant address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Mitsubishi Electric Corporation Representative Spirit
Moriya Ki

Claims (1)

[Scope of Claims] A stocker that stores a plurality of cartridges each containing a disc capable of recording and reproducing information, and a stocker for pulling out the cartridges from the stocker and inserting them into a recording and reproducing device, or pulling out the cartridges from the recording and reproducing device. and a handling mechanism that moves the movable member by a driving force of a stepping motor transmitted through a pulley and a belt, the handling mechanism being attached to the movable member and moving the movable member. a vibration detection sensor that detects vibration of the moving member; and a vibration detection sensor that detects speed vibration corresponding to a variation from a reference speed pattern while the moving member is moving, and determines the period and phase of this vibration. 1. A large-capacity disk file device comprising: a control unit that stops the moving member by changing a speed pattern so that the speed fluctuation of the moving member becomes a minimum value at the final stop position of the moving member.