Cartridge transferring robot for library apparatus, and library apparatus

A cartridge transferring robot which is capable of providing multiple functions to a hand mechanism to allow the direct insertion/extraction of a cartridge between a deck and the hand mechanism. The cartridge transferring robot according to the present invention has a hand mechanism comprising a pair of upper and lower hand members attached to a hand base to be slidable vertically, a spring for biasing the hand members in a direction of closing directions of gripping the cartridge, a pair of upper and lower cam followers attached to the hand members, a cam disposed between the cam followers for adjusting the separation between the cam followers to cause the hand members to take opening and closing actions against the biasing force of the spring, and a motor for rotationally driving the cam. This invention is applicable to a library apparatus storing a large number of cartridges such as magnetic tape cartridges and optical disk cartridges.

BACKGROUND OF THE INVENTION 
1) Field of the Invention 
The present invention relates to a cartridge transferring robot for use in 
a library apparatus which stores a large number of cartridges such as 
magnetic tape cartridges and optical disk cartridges, with the cartridge 
transferring robot taking the charge of the conveyance of the cartridges 
among a storage rack, a cartridge entry/exit station and a deck unit 
within the library apparatus, and further relates to a library apparatus 
including that cartridge transferring robot. 
2) Description of the Related Art 
In general, a library apparatus functions as a large-capacity external 
storage memory, and a storage rack in its locker stores several thousands 
of cartridges each accommodating, for example, a magnetic tape as a 
storage medium, and access such as write/read of recording/recorded data 
is automatically done in relation to the storage medium within each of the 
cartridges. 
Furthermore, in addition to the aforesaid storage rack (storage unit) for 
storing the cartridges, the library apparatus is equipped with a station 
[for example, a CAS (Cartridge Access Station), a DEE (Direct Entry/Exit), 
and an FES (Forced Exit Station)] for carrying out the entry of the 
cartridges from the external into the apparatus or vice versa, a plurality 
of magnetic tape decks (which will be referred hereinafter to as decks) 
for conducting access such as write/read of recording/recorded data with 
respect to a storage medium (magnetic tape) within a cartridge, and a 
cartridge transferring robot [automatic transferring robot; which will be 
referred hereinafter to as an accessor (ACC)] for performing the 
conveyance of the cartridges among the storage rack, the cartridge 
entry/exit station and the decks. 
In the case of such a library apparatus, on receiving an access demand to 
one cartridge from a host unit or the like, the accessor moves to the 
storage rack to search the directing cartridge and then transfers that 
cartridge up to the deck in a state of gripping or holding it through the 
use of a hand mechanism, thereby putting it into that deck. Whereupon, the 
deck processes the storage medium (magnetic tape) within the cartridge. 
The cartridge discharged from the deck after the completion of the 
processing is regripped by the hand mechanism of the accessor and 
transferred up to the storage rack by that accessor to be stored in a 
given location. 
Each of the prior decks is provided with a cartridge delivering and 
receiving mechanism dedicated thereto, and an accessor inserts a cartridge 
into the cartridge delivering and receiving mechnaism which in turn, 
actually inserts or loads the same cartridge into the deck. Further, a 
cartridge discharged from the deck is handed over through the cartridge 
delivering and receiving mechanism to the accessor. 
In connection with the recent increase in volume of information in computer 
systems, the fully automatized library apparatus as mentioned above has 
appeared as a means for storing information in a state of freely allowing 
the recording/reproduction without the need for the use of an operator, 
which permits the storage of a large number of cartridges. Whereas, such a 
library apparatus has been put on the market targeting high end users, and 
hence, is considerably costly. However, the market for the library 
apparatus tends to extend toward the middle/low end users in the future, 
and therefore, the development of a multi-function, low-cost and compact 
library apparatus for the middle/low end users is of a pressing need, and 
it is strongly desired to realize such a library apparatus. 
SUMMARY OF THE INVENTION 
The present invention has been developed with a view to eliminating these 
problems, and it is therefore an object of the present invention to 
provide a cartridge transferring robot for a library apparatus which is 
capable of directly conducting the insertion/extraction or entry/exit of a 
cartridge between a deck and a hand mechanism in a manner of giving 
multiple functions to the hand mechanism, thus realizing the size and cost 
reduction of the library apparatus, and further to provide a library 
apparatus having this cartridge transferring robot. 
(1) For this purpose, in accordance with the present invention, in a 
library apparatus including a storage rack for storing cartridges each 
accommodating a storage medium, a cartridge entry/exit station for the 
entry/exit of the cartridge, and a deck for carrying out access to the 
storage medium within the cartridge, a cartridge transferring robot for 
use in the library apparatus is composed of a picker section including a 
hand mechanism for gripping the cartridge for insertion and extraction of 
the cartridge at cartridge conveyance within the library apparatus and a 
moving mechanism for moving the picker section up to a given position, the 
hand mechanism comprising a pair of upper and lower hand members made to 
vertically come into contact with the cartridge to grip the cartridge, a 
hand base to which the pair of upper and lower hand members are fitted to 
be vertically slidable, a biasing mechanism for biasing the pair of upper 
and lower hand members in closing directions of gripping the cartridge, a 
pair of upper and lower cam followers fitted to the pair of upper and 
lower hand members, respectively, a cam interposed between the pair of 
upper and lower cam followers for adjusting the separation between these 
cam followers to make the pair of upper and lower hand members take 
opening and closing actions while counteracting the biasing force of the 
biasing mechanism, and a drive mechanism for rotationally driving the cam. 
Also, in accordance with this invention, a library apparatus comprises a 
storage rack for storing cartridges each accommodating a storage medium, a 
cartridge entry/exit station for the entry/exit of the cartridge, a deck 
for carrying out access to the storage medium within the cartridge, and a 
cartridge transferring robot including a picker section having a hand 
mechanism for gripping the cartridge for the insertion/extraction of the 
cartridge and a moving mechanism for moving the picker section to a given 
position to transfer the cartridge among the storage rack, the cartridge 
entry/exit station and the deck, wherein the hand mechanism of the 
cartridge transferring robot is composed of a pair of upper and lower hand 
members driven to vertically come into contact with the cartridge to grip 
the cartridge, a hand base to which the pair of upper and lower hand 
members are fitted to be vertically slidable, a biasing mechanism for 
biasing the pair of upper and lower hand members in closing directions of 
gripping the cartridge, a pair of upper and lower cam followers fitted to 
the pair of upper and lower hand members, respectively, a cam interposed 
between the pair of upper and lower cam followers for adjusting the 
separation between these cam followers to make the pair of upper and lower 
hand members take opening and closing actions while counteracting the 
biasing force of the biasing mechanism, and a drive mechanism for 
rotationally driving the cam. 
In the above-described cartridge transferring robot for a library apparatus 
and the above-mentioned library apparatus, the cam is rotationally driven 
by the drive mechanism to adjust the separation between the pair of upper 
and lower cam followers, so that the pair of upper and lower hand members 
are driven to assume opening and closing actions while being subjected to 
the adjustment of the separation therebetween. That is, when the 
separation between the pair of upper and lower cam followers is enlarged 
by the cam, the pair of upper and lower hand members come into the open 
condition. For gripping the cartridge through the hand mechanism, after 
the hand mechanism (picker section) is moved in a state where the hand 
members are in this open condition so that the cartridge is put 
therebetween, the cam is rotationally driven by the drive mechanism. 
Whereupon, the pair of upper and lower hand members come into contact with 
the cartridge from the above and below in response to the biasing force of 
a spring(s), thereby gripping the cartridge. 
(1-1) In this case, it is also appropriate that the cam is formed to have a 
cartridge gripping section for adjusting the separation between the pair 
of upper and lower cam followers to make the pair of upper and lower hand 
members take the closed condition due to the biasing force by the biasing 
mechanism. The cam also includes two or more hand opening sections for 
adjusting the separation between the pair of upper and lower cam followers 
to cause the pair of upper and lower hand members to take conditions with 
different separations against the biasing force by the biasing mechanism. 
The the drive mechanism rotationally drives the cam so that one of the 
cartridge gripping section and the two or more hand opening sections is 
located between the pair of upper and lower cam followers. 
With the above-mentioned arrangement, in a state where the cartridge 
gripping section is placed between the pair of upper and lower cam 
followers by the drive mechanism, the pair of upper and lower hand members 
receive the biasing force of the biasing mechanism to come into contact 
with the cartridge from the above and below, thereby accomplishing the 
gripped cartridge. 
On the other hand, when the hand opening sections are situated between the 
pair of upper and lower cam followers by the drive mechanism, the pair of 
upper and lower hand members are operated to open to make different 
separations therebetween depending on the respective hand opening 
sections. Accordingly, it is possible to change the separation between the 
hand members in accordance with the thickness of the cartridge, and hence 
to introduce various types of cartridges with different thicknesses to be 
gripped by the hand members. 
(1-2) it is also appropriate that the cam is formed to have a cartridge 
gripping section with a buffer function for making the pair of upper and 
lower hand members take the closed condition due to the biasing force by 
the biasing mechanism in a state where a gap is defined between the cam 
and each of the cam followers. The cam also includes a hand opening 
section for adjusting the separation between the pair of upper and lower 
cam followers to cause the pair of upper and lower hand members to take 
the open condition against the biasing force by the biasing mechanism. The 
drive mechanism rotationally drives the cam so that one of the cartridge 
gripping section with the buffer function and the hand opening section is 
placed between the pair of upper and lower followers. 
With this structure, in a state where the cartridge gripping section with 
the buffer function is located between the pair of upper and lower cam 
followers by the drive mechanism, since the gap is defined between the cam 
and the cam follower, the pair of upper and lower hand members moves 
vertically by a quantity corresponding to that gap (looseness) in a state 
of gripping the cartridge, and that gap functions as a buffer. That is, 
even if a positional slippage somewhat occurs between an insertion opening 
of the deck and the cartridge gripped by the hand mechanism, the 
positional slippage is absorbable by the vertical movements corresponding 
to the gap (looseness), which allows the cartridge to be surely inserted 
into the deck while utilizing the gap as a buffer. 
(1-3) Furthermore, it is also possible that the cam is made to have, as a 
lock section, a lock groove allowed to engage with the lower cam follower 
to fix the pair of upper and lower hand members to the hand base in a 
state of gripping the cartridge, and is rotationally driven by the drive 
mechanism so that one of the cartridge gripping section with the buffer 
function, the hand opening section and the lock section is disposed 
between the pair of upper and lower cam followers. 
Whereupon, in a state where the lock section is disposed between the pair 
of upper and lower cam followers by the drive mechanism, the lower cam 
follower is fitted in the lock groove so that the pair of upper and lower 
hand members are fixed to the hand base in a state of gripping the 
cartridge. 
(1-4) Still further, the cam can be formed to have, as a lift-up section, a 
lift-up groove allowed to engage with the lower cam follower to forcibly 
lift up the pair of upper and lower hand members in a state of gripping 
the cartridge, and rotationally driven by the drive mechanism so that one 
of the cartridge gripping section with the buffer function, the hand 
opening section, the lock section and the lift-up section is placed 
between the pair of upper and lower cam followers. 
Thus, when the lift-up section is placed between the pair of upper and 
lower cam followers by the drive mechanism, the lower cam follower is 
fitted in the lift-up groove to forcedly lift up the pair of upper and 
lower hand members in a state of gripping the cartridge. 
(1-5) Moreover, the biasing mechanism can be made up of a first spring 
interposed between the lower hand member and the hand base for upwardly 
biasing the lower hand member, and a second spring placed between the 
upper hand member and the hand base for downwardly biasing the upper hand 
member. 
With this structure, when the cartridge gripping section with the buffer 
function is placed between the pair of upper and lower cam followers by 
the drive mechanism to define a gap between the cam and the cam follower, 
through the biasing forces of the first and second springs, the cartridge 
gripped by the hand mechanism is retainable at a substantially central 
portion in the vertical movement range due to the aforesaid gap 
(looseness). 
(2) On the other hand, in accordance with this invention, a cartridge 
transferring robot for a library apparatus which is the same as that 
mentioned above is equipped with a picker section having a hand mechanism 
for gripping a cartridge for the insertion/extraction of the cartridge and 
for transferring the cartridge within the library apparatus. It is further 
equipped with a moving mechanism for moving the picker section to a given 
position, wherein the hand mechanism includes a mounter mechanism for 
applying a pressing force to the cartridge to insert the cartridge into 
the deck. The mounter mechanism comprises a mounter arm provided to be 
movable in a direction of coming into contact with an end surface of the 
cartridge to push the cartridge into the deck, a pinion geared with a rack 
formed on the mounter arm, and a rotational drive mechanism for rotating 
the pinion to move the mounter arm in the aforesaid direction. 
Furthermore, in a library apparatus according to this invention, a hand 
mechanism of a cartridge transferring robot to be used therein is provided 
with a mounter mechanism for applying a pressing force to a cartridge to 
insert the cartridge into a deck. This mounter mechanism comprises a 
mounter arm provided to be movable in a direction of coming into contact 
with an end surface of the cartridge to push the cartridge into the deck, 
a pinion geared with a rack formed on the mounter arm, and a rotational 
drive mechanism for rotating the pinion to move the mounter arm in the 
aforesaid direction. 
In the foregoing cartridge transferring robot for a library apparatus and 
the aforesaid library apparatus according to this invention, in inserting 
the cartridge into the deck, the cartridge is conveyed through the hand 
mechanism up to the cartridge insertion opening of the deck, and after the 
hand mechanism is driven to open, the pinion is rotationally driven by the 
rotational drive mechanism to move the mounter arm through the pinion and 
the rack geared with this pinion in the direction of pushing the 
cartridge. Thus, the cartridge is inserted into the depth of the deck 
while being pressed by the mounter arm. 
(2-1) The mounter mechanism can also be equipped with a buffer mechanism 
for, in case that a pressing force exceeding a given load works on the 
cartridge, absorbing the extra or overplus pressing force. In this case, 
the buffer mechanism can be constructed by placing a resin-made bearing or 
a resin-made spacer between the pinion and a drive shaft on the rotational 
drive mechanism side. 
With the above-mentioned structures, if a pressing force above a given load 
is applied onto the cartridge, the buffer mechanism absorbs the extra 
pressing force. For instance, slip takes place through the resin bearing 
or the resin spacer between the pinion and the drive shaft on the 
rotational drive mechanism side, and the frictional force produced at that 
time absorbs the extra pressing force, which can prevent an excessive 
pressing force from being applied onto the cartridge. 
(2-2) In addition, a bush can be provided to supporting the mounter arm so 
that the mounter arm is movable in the direction of pushing the cartridge 
into the deck, with this bush being constructed as an oil retaining bush. 
Further, the mounter arm can have a looseness controlling groove made 
along the aforesaid direction and can be equipped with a looseness 
controlling metallic member which is made to engage with the looseness 
controlling groove to guide the mounter arm. Whereupon, smooth 
direct-advancing movements of the mounter arm become possible. Further, 
employing the oil retaining bush ensures smoother linear movements of the 
mounter arm. 
(3) Moreover, in accordance with this invention, a cartridge transferring 
robot for a library apparatus which is the same as that mentioned above is 
equipped with a picker section having a hand mechanism for gripping a 
cartridge for the insertion/extraction of the cartridge and for 
transferring the cartridge within the library apparatus and further 
equipped with a moving mechanism for moving the picker section to a given 
position, and is characterized in that a first sensor is provided to 
detect that a cartridge is put in between a pair of upper and lower hand 
members constituting the hand mechanism and further a second sensor is 
provided to detect that an end surface of the cartridge reaches a given 
position after the first sensor detects that the cartridge is put 
therebetween. 
Furthermore, a library apparatus according to this invention is 
characterized in that a cartridge transferring robot to be used therein is 
provided with a first sensor for detecting that a cartridge is put in 
between a pair of upper and lower hand members constituting the hand 
mechanism and a second sensor for detecting that an end surface of the 
cartridge reaches a given position after the first sensor detects that the 
cartridge is put therebetween. 
In the foregoing cartridge transferring robot for a library apparatus and 
the aforesaid library apparatus according to this invention, in a state 
where the detection result by the first sensor shows that the cartridge 
exists between the pair of upper and lower hand members, the second sensor 
can sensitively detect the fact that the end surface of the cartridge 
arrives at the given position. 
The cartridge transferring robot for a library apparatus and the library 
apparatus according to this invention can provide the following effects 
and advantages. 
1) The cam is rotationally driven by the drive mechanism to adjust the 
separation between the pair of upper and lower cam followers, so that the 
pair of upper and lower hand members are driven to take opening and 
closing actions while the separation therebetween is adjusted. 
Accordingly, it is possible to create the opening and closing mechanism 
for the hand members with an extremely simple and compact arrangement, 
which contributes to the size and cost reduction of the library apparatus. 
In addition, since the hand members are capable of gripping various types 
of cartridges having different thickness, a library apparatus is 
realizable which stores a plurality of types of cartridges existing by 
mixture. 
2) In a manner that the buffer function given cartridge gripping section of 
the cam is located between the pair of upper and lower cam followers, even 
if a positional slippage takes place somewhat between the cartridge 
insertion opening of the deck and the cartridge gripped by the hand 
mechanism, that positional slippage is absorbed by the vertical movements 
corresponding to the gap defined between the cam follower and the cam. 
That is, by using that gap as a buffer, it is possible to surely insert 
the cartridge into the deck, with the result that there is no need to 
provide a cartridge delivering and receiving mechanism at every deck, 
which allows the size and cost reduction of the library apparatus. 
3) In case where a demand is made to slightly lift up the cartridge in a 
state of gripping the cartridge by the pair of upper and lower hand 
members, the lock section of the cam is placed between the pair of upper 
and lower cam followers, so that the pair of upper and lower hand members 
can be fixed to the hand base while gripping the cartridge, with the 
result that it is possible to inhibit the hand mechanism from vertically 
moving due to the looseness, and hence to certainly lift up the cartridge. 
4) When a demand is made to slightly lift up the cartridge while gripping 
the cartridge by the pair of upper and lower hand members as mentioned 
above, the lift-up section of the cam is placed between the pair of upper 
and lower cam followers, so that the pair of upper and lower hand members 
are forced to rise in a state of gripping the cartridge, with the result 
that it is possible to certainly perform the operations such as releasing 
from the engaging condition between the cartridge and the lock member in 
the storage rack. 
5) Now that, due to the biasing forces of the first and second springs, the 
cartridge gripped by the hand mechanism is held at the substantially 
central portion in the vertical movement range resulting from the gap 
(looseness), the absorption of the positional slippage is surely and 
effectively achievable at the insertion of the cartridge into the deck. 
6) Now that the cartridge is pressed by the mounter arm of the mounter 
mechanism in a given direction when being inserted into the deck, the 
insertion into the depth of the deck is surely achievable. Accordingly, 
the necessity for the cartridge delivering and receiving mechanism to be 
provided at every deck is eliminable, thus contributing to the size and 
cost reduction of the library apparatus. 
7) In the case where an excessive pressing force works on the cartridge at 
the pushing operation by the mounter mechanism, the extra pressing force 
is absorbed by the buffer mechanism (the frictional force due to the slip 
of a resin bearing or resin spacer), thereby preventing the excessive 
pressing force from being applied onto the cartridge. Therefore, even if 
an excessive load works on the cartridge, it is possible to protect not 
only the cartridge and the peripheral portions, but also the mounter 
mechanism and the drive system therefor. 
8) Owing to using the bush (oil retaining bush) or the looseness 
controlling groove/the looseness controlling metallic member, the 
direct-advancing movements of the mounter arm can be smoothly made to 
prevent the mounter arm from being unsteady, with the result that the 
occurrences of troubles are certainly avoidable, for example, the sensor 
flag and the sensor attached to the mounter mechanism are prevented from 
interfering with each other. 
9) Since the second sensor can sensitively detect that the end surface of 
the cartridge reaches a given position on the condition that the detection 
result by the first sensor shows that the cartridge exists between the 
pair of upper and lower hand members, the hand mechanism can certainly 
catch the cartridge discharged from the deck, which permits the 
elimination of the need for installing a cartridge delivering and 
receiving mechanism at every deck, thus contributing the size and cost 
reduction of the library apparatus. 
10) As described above, by providing multiple functions to the hand 
mechanism, the insertion/extraction of the cartridge is directly 
achievable between the deck and the hand mechanism without the need for 
placing a cartridge delivering and receiving mechanism therebetween, which 
allows the size and cost reduction of the library apparatus, and which 
realizes a library apparatus in which a plurality of types of cartridges 
exist by mixture.

DESCRIPTION OF THE PREFERRED EMBODIMENTS 
An embodiment of the present invention will be described hereinbelow with 
reference to the drawings. 
[1] Description of Entire Arrangement of Library Apparatus 
FIG. 2 is a perspective view illustratively showing the entire construction 
of a library apparatus to which this embodiment is applicable. As shown in 
FIG. 2, a library apparatus 1 to which this embodiment is applicable 
stores a large number of magnetic tape cartridges 10 (see FIGS. 9 and 10; 
cartridges each accommodating a magnetic tape as a storage medium) and 
conducts access such as write/read of recording/recorded data in relation 
to each of the magnetic tape cartridge 10. 
The library apparatus 1 is composed of, for example, left and right 
accessor units (which will be referred hereinafter to as LAU, RAU, 
respectively) 2, 3, a cartridge storage unit (which will be referred 
hereinafter to as a CSU) 4, a tape drive mount unit (which will be 
referred hereinafter to as a TMU) 5, and an accessor extend unit (which 
will be referred hereinafter to as an AEU) 6, which are in a connected 
relation to each other. Also included in the apparatus 1 are cartridge 
transferring robots (automatic conveying robot; which will be referred 
hereinafter to as accessors) 7 which are located on the left and right 
sides, respectively, and which move within these units 2 to 6 to transfer 
the cartridge 10. 
The LAU 2 and RAU 3 function as garages for the accessors 7, respectively, 
and on the front side of the RAU 3 (the external space side, that is, the 
side where the operator operates the apparatus) there are provided a pair 
of upper and lower cartridge entry/exit stations [each of which will be 
referred hereinafter to as a CAS (Cartridge Access Station)] 11, 11 for 
carrying out the entry or exit of the cartridge into or from the library 
apparatus 1 and a cartridge forced exit station (FES) 13 for forcedly 
discharging a defective cartridge to the external. In addition, another 
FES 13 is placed on the front side of LAU 2. 
The CSU 4 stores a large number of cartridges 10, and in the embodiments of 
this invention, five cartridge direct entry/exit stations (each of which 
will be referred hereinafter to as a DEE) 12 are set on the upper side and 
five DEEs 12 on the lower side, ten in total. In each of the DEEs 12, a 
magazine (not shown) storing a plurality of cartridges 10 is set in order 
to permit the simultaneous entry or exit of the plurality of cartridges 10 
into or from the library apparatus 1. 
Furthermore, a storage rack (not shown) having a large number of cells for 
storing a large number of cartridges is placed on an inner wall surface of 
each of the LAU 2, RAU 3 and CSU 4, and the cartridge 10 from the CAS 11 
or the DEE 12 is stored in a given cell of the storage rack through the 
use of the accessor 7. 
The TMU 5 has a plurality of (6 in FIG. 2) magnetic tape decks (which will 
be referred hereinafter to as decks) 5a, and each of the decks 5a conducts 
the write/read processing of recording/recorded data onto/from a magnetic 
tape within the cartridge 10 transferred by each of the accessors 7. 
The AEU 6 includes a power source (not shown) for supply of an operating 
power to each of the accessors 7 and a controller (not shown) for control 
of the accessors 7. 
These units 2 to 6 are in a coupled relation to each other and disposed in 
a state where their rear surfaces (the sides opposite to the 
above-mentioned front side) are brought into contact with a wall surface 
or the like, and organize the library apparatus 1. Further, formed in the 
library apparatus 1 is an operating space (accessor passage) 9 for the 
accessors 7 which penetrates the units 2 to 6, and placed on the bottom 
surface of this operating space 9 is a rail (X rail) 8 for guiding the 
respective accessors 7, which allows each of the accessors 7 to move 
within the operating space 9. 
In addition to a hand mechanism 7d (see FIGS. 15 to 44C) for holding the 
cartridge 10 to perform the insertion/extraction thereof, each of the 
accessors 7 involves a carriage 7b movable in the horizontal directions 
along the X rail 8 for moving a hand assembly 7a including this hand 
mechanism 7d up to a given position and a vertical column 7c for 
vertically guiding the hand assembly 7a on the carriage 7b, which 
constitute a moving mechanism. This invention relates to this accessor 7, 
and a structure and operation thereof will be described herein later with 
reference to FIGS. 1 and 3 to 44C. 
In the library apparatus 1 thus constructed, the cartridge 10 from the CAS 
11 or the DEE 12 is gripped and taken out by the hand mechanism 7d of the 
accessor 7 and is inserted into and stored in a given cell of the storage 
rack after being carried through the operating space 9 by the accessor 7. 
Furthermore, of a large number of cartridges 10 stored in the respective 
cells of the storage rack, a cartridge(s) 10 specified by a host unit is 
gripped and pulled out by the hand mechanism 7d of the accessor 7 and then 
transferred by the accessor 7 through the operating space 9 to the deck 5a 
of the TMU 5 to be inserted thereinto. 
In the deck 5a, after the recording/reproduction processing on/from the 
magnetic tape housed in the cartridge 10, the cartridge 10 staying within 
the deck 5a is discharged therefrom and gripped and taken out by the hand 
mechanism 7d of the accessor 7 and subsequently inserted into and stored 
in a given cell of the storage rack by the accessor 7 after passing 
through the operating space 9. 
Incidentally, for discharging the cartridge(s) 10 stored in the storage 
rack to the exterior of the library apparatus 1, the cartridge 10 to be 
discharged is gripped by the hand mechanism 7d of the accessor 7 to be 
taken out from the storage rack and then transferred through the operating 
space 9 to the CAS 11 or the DEE 12 by the accessor 7 to be inserted into 
a given position (cell) of the CAS 11 or the DEE 12. 
[2] Description of Entire Arrangement of Accessor 
FIG. 3 is a front elevational view showing the accessor 7 in the 
embodiments of this invention. As shown in FIG. 3, the accessor 7 is, as 
mentioned before, composed of the hand assembly 7a including the hand 
mechanism 7d, the carriage 7b and the vertical column 7c. 
The hand assembly 7a is constructed in such a manner as to place a picker 
section 7g including the hand mechanism 7d through a tilt base 7f on a 
supporting base 7e. The detailed structure thereof will be described 
herein later. 
The supporting base 7e making up the hand assembly 7a is attached to the 
vertical column 7c to be allowed to slide up and down while being guided 
by a guide rail 7h fixed vertically along the vertical column 7c. In 
addition, the supporting base 7e is coupled to a belt (not shown; a belt 
wound around a pair of pulleys built in upper and lower locations of the 
vertical column 7c). When this belt is rotationally driven by an elevating 
drive motor 7i, the supporting base 7e, that is, the whole hand assembly 
7a, is vertically shifted to be positioned at a given height. 
The carriage 7b is integrally connected to a lower end side of the vertical 
column 7c and is made to travel along the X rail 8 while supporting the 
vertical column 7c. Onto the front and rear sides of this carriage 7b, 
there are pivotally fitted two sets (two pairs) of traveling rollers 7j, 
7j each set of which are situated to vertically sandwich the X rail 8 
therebetween to be rotatable in accordance with the traveling of the 
carriage 7b. 
Furthermore, the X rail 8 is equipped with a traveling drive rack (not 
shown) made to extend in its longitudinal directions. In addition, the 
carriage 7b is provided with a pinion (not shown) rotationally driven by a 
traveling drive motor 7k. 
Still further, a top rail 14 is laid in an upper section of the operating 
space 9 of the accessor 7 to extend in parallel to the X rail 8. In 
addition, on the upper end side of the vertical column 7c, there are 
pivotally fitted two sets (two pairs) of guide rollers 7m, 7m which are 
situated on the front and rear sides to horizontally sandwich the top rail 
14 therebetween to be rotatable in accordance with the traveling of the 
carriage 7b. 
Thus, when the traveling drive motor 7k rotationally drives the pinion, the 
accessor 7 is wholly moved along the X rail 8 while the pinion and the 
traveling drive rack gear with each other. Further, when the elevating 
drive 7i revolves the aforesaid belt, the hand assembly 7a is wholly moved 
up and down along the vertical column 7c. Consequently, the hand assembly 
7a (the picker section 7g including the hand mechanism 7d) is shifted up 
to a given position within a plane including the X rail 8 and the vertical 
column 7c and positioned thereat. 
[3] Description of Hand Assembly 
FIGS. 4 and 5 are front elevational and plan views showing the hand 
assembly 7a of the accessor 7 in this embodiment. As shown in FIGS. 4 and 
5, in that hand assembly 7a, the hand mechanism 7d is mounted on the 
picker section 7g (a picker base 30) to be movable in the forward and 
backward directions, and as will be described herein later with reference 
to FIGS. 6 to 10, the hand mechanism 7d is driven by a servo motor 31 and 
a timing belt 32 to slide in the forward and backward directions (the 
left- and right-hand directions in FIG. 5) along an LM guide 33. 
The picker section 7g (picker base 30) is swingably fitted to the tilt base 
7f and is swingingly driven around a supporting shaft (rotary shaft) 30a 
through a swinging drive mechanism 16 comprising a tilt motor 26, a plate 
cam 27 and a guide roller 28 located on the supporting base 7e side and a 
cam follower 29 situated on the picker section 7g side. A tilt mechanism 
15 comprising the aforesaid tilt base 7f and swinging drive mechanism 16 
will be described in detail later with reference to FIGS. 11 to 14. 
Furthermore, the tilt base 7f is fitted with respect to the supporting base 
7e to be revolvable, and driven through a revolving drive motor 20, a 
pulleys 20a, 21 and a timing belt 22 to revolve around its vertical shaft. 
More specifically, the revolving drive motor 20 is fixedly secured to the 
supporting base 7e side in a state where a driven shaft 20b is disposed 
vertically, and the pulley 20a fitted over the driven shaft 20b is 
rotationally driven around its vertical shaft. Further, the tilt base 7f 
is supported by the supporting base 7e to be revolvable around its 
vertical shaft, and the pulley 21 is fitted to the tilt base 7f to be 
coaxial with its revolving shaft. In addition, the timing belt 22 is wound 
around the pulleys 20a and 21. 
Accordingly, in a manner that the revolving drive motor 20 rotationally 
drives the pulley 20a, the rotational drive force of the motor 20 is 
transmitted through the timing belt 22 and the pulley 21 to the tilt base 
7f which in turn, is driven to be revolved around its vertical shaft 
together with the picker section 7g and the hand mechanism 7d. 
Moreover, provided below the pulley 21 is a cable casing 23, and further 
fitted below it is a disc 24 with a slit for rotational position detection 
which rotates integrally with the pulley 21 and the tilt base 7f. 
In the cable casing 23, a cable (not shown) for transmission and reception 
of various signals and a power supply between the supporting base 7e side 
and the tilt base 7f side is put spirally with respect to its revolving 
shaft to be revolvable therein. 
The disc 24 with the slit is disposed to pass through the position of a 
photosensor 25 fixed on the supporting base 7e side, so that the 
photosensor 25 can detect the slit (not shown) of the disc 24, which 
allows the detection of the revolved position of the tilt base 7f, i.e., 
the direction of the picker section 7g (hand mechanism 7d). 
As shown in FIGS. 4 and 5, in addition to the aforesaid picker base 30, 
servo motor 31, timing belt 32 and LM guide 33, the picker section 7g is 
equipped with a cartridge discrimination actuator 36 comprising a pair of 
left- and right-hand guide members 35a, 35b, a roller 36a, an arm 36b, a 
coil spring 36c, a flag 36d and a rotary shaft 36e, and further provided 
with a photosensor 37, and a claw (locking member) 38 swingable around a 
rotary shaft 38a and biased by a spring 38b. The detailed description 
thereof will be made herein later with reference to FIGS. 6 to 10. 
In addition, as shown in FIGS. 4 and 5, the hand mechanism 7d is provided 
with a mounter mechanism 50 comprising a pair of upper and lower hand 
members 40a, 40b, a hand base 41, springs 42, a pair of upper and lower 
cam followers 43a, 43b, a cam 44, a hand opening and closing drive motor 
45, linear ways 46, a mounter arm 51 with a rack 51a, a pinion 52 and a 
mounter arm drive motor 53, and further equipped with a CIP/CSP unit 70. 
This hand mechanism 7d partially constitutes the feature of this 
invention, and will be described herein later in detail with reference to 
FIGS. 1 and 15 to 44C. 
[4] Description of Picker Section 
FIGS. 6 to 10 are illustrations of the picker section 7g of the accessor 7 
according to this embodiment, and of these drawings, FIG. 6 is a front 
elevational view of the picker section 7g, FIG. 7 is a plan view thereof, 
FIG. 8 is a side elevational view thereof, and FIGS. 9 and 10 are 
respectively plan and side elevational views showing the advanced 
condition of the hand mechanism 7d of the picker section 7g. In these 
illustrations, the reference numerals being the same as those in the above 
description represent the same or substantially same parts. 
As shown in FIGS. 6 to 8, the hand mechanism 7d is mounted in the picker 
section 7g to be movable in the forward and backward directions, and is 
driven by the servo motor 31 and the timing belt 32 to slide in the 
forward and backward directions (left- and right-hand directions in FIG. 
8) along the LM guide 33. 
More specifically, the hand base 41 of the hand mechanism 7d is connected 
with the timing belt 32, and as shown in FIGS. 6, 7, 9 and 10, the timing 
belt 32 is wound around the pulleys 32a, 32b disposed on the front and 
rear sides of the picker base 30 and the pulley 31a connected to a drive 
shaft (not shown) of the servo motor 31, and guided with a guide roller 
32c. 
Accordingly, when the timing belt 32 is revolved by the servo motor 31, the 
hand base 41, that is, the whole hand mechanism 7d, is moved in the 
backward or forward direction to take either the retracted condition 
(retreated position) shown in FIGS. 6 to 8 or the cartridge 10 delivering 
and receiving condition (advanced position) shown in FIGS. 9 and 10. 
Incidentally, to the rear end portion of the picker base 30, there is 
fitted a picker home sensor (photosensor) 34 which detects that the hand 
mechanism 7d is retracted up to the home position (retreated position). 
On the other hand, in this embodiment, for treating a plurality of types of 
cartridges 10 within the library apparatus 1, a type identifying mechanism 
is placed in the picker section 7g to identify or discriminate the type of 
the cartridge 10 held in the picker section 7g in a state of being gripped 
by the hand mechanism 7d, and as will be described later, the type 
identifying mechanism is made up of an actuator 36 and a photosensor 37. 
Furthermore, the picker section 7g is provided with a pair of left- and 
right-hand guide members 35a, 35b, which are for guiding the cartridge 10 
to be led into the picker section 7g in a state of being gripped by the 
hand mechanism 7d while holding the same cartridge 10 from both sides. The 
separation between these paired left and right guide members 35a, 35b is 
set to be slightly larger than the largest of a plurality of types of 
cartridges 10. 
Furthermore, in this embodiment, the type identifying mechanism is composed 
of an actuator 36 made to move in accordance with the irregularity 
(variation in height) of one side surface of the cartridge 10 held in the 
picker section 7g, a photosensor 37 serving as a detection section for 
detecting the quantity of movements of this actuator 36, and an 
identifying section (not shown; a control CPU for taking the charge of 
control of the operation of the accessor 7) for identifying the type of 
the cartridge 10 on the basis of the movement quantity of the actuator 36 
detected by the photosensor 37. 
In this embodiment, the actuator 36 is located on one guide member 35a side 
and is, as mentioned before, composed of the roller 36a, the arm 36b, the 
coil spring 36c, the flag 36d and the rotary shaft 36e. 
In this case, the roller 36a is disposed to protrude from the guide member 
35a toward the cartridge side, and is made to rotate around a shaft 
perpendicular to the traveling plane of the cartridge 20 while coming into 
contact with one side surface of the cartridge 10. The arm 36b pivotally 
supports the roller 36a, and is fitted to the picker section 7g to be 
swingable around the rotary shaft 36e normal to the traveling plane of the 
cartridge 10 to swing in accordance with the irregularity of one side 
surface of the cartridge 10. The coil spring 36c is for biasing the arm 
36b to press the roller 36a against the one side surface of the cartridge 
10. The flag 36d is made to project from the arm 36b, and shifts in 
accordance with the swinging action of the arm 36b. 
Furthermore, the photosensor 37 undergoes the light-interception by this 
flag 36d depending upon the movement of the flag 36d, and the aforesaid 
identifying section identifies the type of the cartridge 10 on the basis 
of the information about the light-interception from the photosensor 37. 
In this embodiment, the accessor 7 has a diagnostic function to diagnose 
the dimensional accuracy of the accessor 7 by conducting the insertion and 
extraction of a diagnostic cartridge (not shown) into/from a diagnostic 
cell (not shown) placed at a given position within the library apparatus 
1. The type identifying mechanism comprising the actuator 36, the 
photosensor 37 and the identifying section can identify, as one of a 
plurality of types of cartridges 10, a diagnostic cartridge on the basis 
of the irregularity of one side surface of the diagnostic cartridge (that 
is, the information about the light-interception from the photosensor 37). 
Still further, in this embodiment, the operation of the accessor 7 is 
controlled so that the hand mechanism 7d regrips the cartridge 10 in a 
state where the cartridge 10 is introduced into the picker section 7g. At 
the cartridge 10 regripping operation by the hand mechanism 7d, the 
actuator 36 receives the biasing force of the coil spring 36c to press the 
other side surface of the cartridge 10 against the other guide member 35b, 
which finally serves as a positioning mechanism to always maintain the 
constant position of the other side surface of the cartridge 10 within the 
picker section 7g. 
At this time, in the cartridge 10 regripping operation, for the purpose of 
preventing the cartridge 10 once released from the hand mechanism 7d from 
breaking out of the picker section 7g, the claw (locking member) 38 is 
placed on the guide member 35b side. 
This claw 38 is disposed to protrude from the guide member 35b toward the 
cartridge side, and is swingable around a rotary shaft 38a and biased by 
an adequate force due to a spring 38b so that it is put out of the way by 
the cartridge 10 itself at the cartridge 10 inserting and extracting 
operations by the hand mechanism 7d while taking the locking condition 
with the cartridge 10 at the cartridge 10 regripping operation by the hand 
mechanism 7d. 
In this embodiment, since the picker section 7g of the accessor 7 includes 
the type identifying mechanism, the actuator 36 acting as a positioning 
mechanism and the break-out (jump-out) preventing claw 38 as mentioned 
above, the following effects are attainable. 
Various types of cartridges 10 are led into the picker section 7g while 
being guided by the pair of left- and right-hand guide members 35a, 35b. 
Further, the actuator 36 moves (taking the opening and closing actions) in 
accordance with the irregularity (external dimension) of one side surface 
of the cartridge 10 introduced into the picker section 7g. Further, 
utilizing the fact that the movement quantity of the actuator 36 varies 
depending upon the external dimension of the cartridge 10 (the type of the 
cartridge 10), the identification of the type of the cartridge 10 becomes 
possible. 
More specifically, when the cartridge 10 is taken in the interior of the 
picker section 7g by the hand mechanism 7d, the roller 36a rotates to 
allow the movement of the cartridge 10 while coming into contact with one 
side surface of the cartridge 10 owing to the biasing force of the coil 
spring 36c, thus making the arm 36b swing around the rotary shaft 36e in 
accordance with the irregularity of the one side surface thereof. In 
synchronism with the swinging action of the arm 36b, the flag 36d moves, 
so that the photosensor 37 detects the movement quantity of this flag 36d 
as the light-interception information, with the identifying section (not 
shown) identifying the type of the cartridge 10 on the basis of the 
light-interception information from the photosensor 37. 
In this way, the identification of the type of the cartridge 10 held in the 
picker section 7g is possible, and therefore, the processing (conveyance 
and insertion of cartridges to/into the storage rack or the deck 5a, and 
other operations) corresponding to the identification result is certainly 
feasible, and since a plurality of types of cartridges 10 can 
simultaneously be handed within one library apparatus 1, the certain 
conveyance of the plurality of types of cartridges 10 is possible, thus 
providing a more useful apparatus to the users and further meeting a 
variety of needs from the users. 
Furthermore, the hand mechanism 7d regips the cartridge 10 in a state where 
the cartridge 10 is introduced into the picker section 7g, and at this 
time, the roller 36a coming into contact with one side surface of the 
cartridge 10 receives the biasing force of the coil spring 36c through the 
arm 36b to always press the other side surface of the cartridge 10 against 
the guide member 35b regardless of its type. 
Whereupon, even in the case of treating various types of cartridges 10, in 
the picker section 7g, the cartridge 10 can always be reset to a given 
position (reference position) where the other side surface of the 
cartridge 10 is placed into contact with the guide member 35b. 
Accordingly, since it is possible to position the cartridge 10 (reset the 
cartridge 10 to the reference position) concurrently with identifying the 
type of the cartridge 10 within the accessor 7, the cartridge 10 can 
easily be inserted into the storage rack or the deck 5a in accordance with 
its type. 
Furthermore, when the cartridge 10 is regripped by the hand mechanism 7d as 
mentioned above, in case that the cartridge 10 is shifted toward the 
exterior of the picker section 7g, the cartridge 10 is locked by the claw 
38 to be prevented from falling out of the picker section 7g. 
More specifically, since an appropriate biasing force due to the spring 38b 
works on the claw 38, at the insertion and extraction of the cartridge 10 
by moving the hand mechanism 7d by the servo motor 31 and the timing belt 
32 in the forward and backward directions, the claw 38 receives the drive 
force due to the servo motor 31 from the cartridge 10 to be put out of the 
way against the biasing force of the spring 38b, thus not limiting the 
insertion and extraction operations of the cartridge 10. The biasing force 
of the spring 38b, by contrast, inhibits the claw 38 from being put out of 
the way depending upon only the self-weight of the cartridge 10, and 
hence, the cartridge 10 is usually kept in the locked condition with the 
claw 38. 
Thus, when positioning the cartridge 10 (resetting the cartridge 10 to the 
reference position) within the accessor 7, even if the hand mechanism 7d 
releases the cartridge 10, the break-out preventing claw 38 works to 
always maintain the state in which the cartridge 10 is surely held in the 
picker section 7g, and hence, the cartridge 10 is prevented from breaking 
out of the picker section 7g due to the vibrations and the abnormal 
actions of the accessor 7 itself, with the result that the library 
apparatus 1 is operable with a high reliability. 
Still further, in this embodiment, the accessor 7 is capable of identifying 
not only the cartridge 10 accommodating a storage medium such as a 
magnetic tape but also a diagnostic cartridge, and in cases where the hand 
mechanism 7d grips the diagnostic cartridge, the corresponding operation 
becomes possible. 
Whereupon, for diagnosing or checking whether or not the dimension of the 
accessor 7 itself is out of order, even using a special-purpose cartridge 
for diagnosis, it is possible to recognize that the cartridge used is for 
the purpose of the diagnosis, and therefore, the diagnosing operation for 
the accessor 7 itself is smoothly and surely feasible. 
At the switching from the diagnosis to the normal operation, even if the 
hand mechanism 7d is in the state of gripping the diagnostic cartridge, 
because of the recognition thereof, it is possible to prevent the 
undesirable operation that the apparatus 1 gets into the normal action 
while the hand mechanism 7d grips the diagnostic cartridge. 
[5] Description of Tilt Mechanism 
In this embodiment, since the angles of insertion/discharge of the 
cartridge 10 are different from each other among units, it is necessary to 
change the cartridge inserting/extracting angle of the hand mechanism 7d. 
As the cartridge insertion and extraction directions (angle) of the hand 
mechanism 7d in the embodiment, there are taken a horizontal direction 
(0.degree.) and a direction looking downward by a given angle with respect 
to the horizontal direction. In the case of the deck 5a, in general the 
cartridge 10 is inserted and pulled out in/from the horizontal direction 
(0.degree.). On the other hand, in the case of the storage rack or the 
like, the cartridge 10 is stored in a condition looking (inclined) 
downward (for example, by 12.degree.) relative to the horizontal direction 
to prevent them from dropping from the cells of the storage rack due to 
the vibrations caused by earthquakes and others, and therefore, the 
insertion and extraction of the cartridge 10 is made at that angle. 
For this reason, an assessor 7 according to this embodiment is, as shown in 
FIGS. 11 to 14, provided with a tilt mechanism 15 for adjusting the angle 
of the cartridge inserting/extracting directions with respect to a 
horizontal plane. 
FIGS. 11A and 11B are side elevational views illustratively showing the 
tilt mechanism 15 of the accessor 7 according to the first embodiment of 
this invention, and of these drawings, FIG. 11A shows a state where a 
picker section 7g is disposed in horizontal directions while FIG. 11B 
illustrates a case in which the picker section 7g is in a tilt condition 
(a condition looking downward by 12.degree. from the horizontal 
direction). Further, FIGS. 12 to 14 also show the tilt mechanism 15 of the 
accessor 7 according to this embodiment, and in more detail, FIGS. 12 and 
13 are perspective views showing a principal portion (tilt base 7f) of the 
tilt mechanism 15, and FIG. 14 is an illustrative plan view thereof. In 
these illustrations, the reference numerals being the same as those used 
in the above description depict the same or substantially same parts, and 
the detailed description thereof will be omitted for brevity. 
As also shown in FIGS. 11A, 11B, 12 and 13, the picker section 7g (picker 
base 30) is fitted to a tilt base 7f to be swingable around a supporting 
shaft (rotary shaft) 30a, and is swingingly driven around the supporting 
shaft 30a through the use of a swinging drive mechanism 16 comprising a 
tilt motor 26, a plate cam 27 and a guide roller 28 placed on the side of 
a supporting base 7e and a cam follower 29 located on the picker section 
7g side. 
That is, the tilt mechanism 15 according to this embodiment is composed of 
the tilt base 7f and the swinging drive mechanism 16, and the picker 
section 7g is supported by the tilt base 7f to be swingable around the 
supporting shaft 30a placed at an upper portion of the picker section 
front surface side (the left side in FIGS. 11A, 11B and 14) facing the 
inserting and extracting place for the cartridge 10. Further, the swinging 
drive mechanism 16 is disposed on a lower side surface of the rear side 
(the right side in FIGS. 11A, 11B and 14) of the picker section 7g. 
In addition, the swinging drive mechanism 16 is made up of a cam follower 
29 protrusively fitted onto a rear side surface of the picker section 7g, 
a plate cam 27 located to be movable in the cartridge inserting/extracting 
direction with respect to the tilt base 7f for guiding the cam follower 29 
in vertical directions in accordance with its forward and backward 
movements, and a drive mechanism 17 for moving the plate cam 27 in the 
cartridge inserting/extracting direction with respect to the tilt base 7f. 
As shown in FIGS. 11A, 11B and 13, on the tilt base 7f side, two sets 
(pairs) of upper and lower rollers 28, 28 for supporting the plate cam 27 
are pivotally fitted onto a rear side surface of the picker section 7g on 
the front and rear sides, respectively. 
The plate cam 27 has an elongated guide hole 27a made to extend in the 
forward and backward directions, and this elongated guide hole 27a engages 
with the pair of lower guide rollers 28, 28 pivotally fitted onto the tilt 
base 7f side. In addition, the pair of upper guide rollers 28, 28 
pivotally fitted onto the tilt base 7f side are brought into contact with 
a horizontal upper edge portion 27c of the plate cam 27 from the above. 
Whereupon, the plate cam 27 is attached to the tilt base 7f to be movable 
in the cartridge inserting/extracting direction (forward and backward 
directions) while being guided by the guide rollers 28. 
Furthermore, as shown in FIGS. 11A, 11B, 13 and 14, a rack 27d is formed on 
the plate cam 27, and is engaged with a pinion 26a fitted over a drive 
shaft (not shown) of the tilt motor 26 as shown in FIGS. 13 and 14. In 
FIG. 14, the tilt motor 26 is omitted from the illustration. 
Accordingly, when the pinion 26a is rotationally driven by the tilt motor 
26, this rotational movement is converted into linear movements of the 
plate cam 27 through the rack 27d gearing with the pinion 26a, so that the 
plate cam 27 is driven to reciprocate in the cartridge 
inserting/extracting direction (in the forward/backward directions). That 
is, the tilt motor 26, the pinion 26a and the rack 27d organize the drive 
mechanism 17. 
In addition, the plate cam 27 has an elongated swinging drive hole 27b to 
be made to engage with the cam follower 29. This elongated swinging drive 
hole 27b has two horizontal portions 27b-1, 27b-3 different in height from 
each other and an inclined portion 27b-2 making the connection between 
these horizontal portions 27b-1, 27b-3. 
The front side horizontal portion 27b-1 is for maintaining the picker 
section 7g in the horizontal condition. As shown in FIG. 11A, in a state 
where the cam follower 29 is positioned at the horizontal portion 27b-1 of 
the elongated hole 27b, the picker section 7g is disposed horizontally, 
with the result that the cartridge inserting/extracting directions of the 
hand mechanism 7d is maintained to be the horizontal direction. 
On the other hand, the rear side horizontal portion 27b-1 is formed at a 
position higher than the front side horizontal portion 27b-1, and is for 
maintaining the picker section 7g in the tilt condition in which the front 
surface of the picker section 7g is inclined by a given angle (for 
example, 12.degree.) with respect to the horizontal direction. If the 
plate came 27 is shifted from the FIG. 11A state in the front direction 
(in the left-hand direction in FIG. 11A) so that the cam follower 29 moves 
from the horizontal portion 27b-1 through the inclined portion 27b-2 to 
the horizontal portion 27b-3 while being guided, as shown in FIG. 11B, the 
picker section 7g swings around the supporting shaft 30a to get into the 
tilt condition, with the result that the cartridge inserting/extracting 
direction of the hand mechanism 7d is taken to be the direction looking 
downward by a given angle (for example, 12.degree.) with respect to the 
horizontal direction. 
In the tilt mechanism 15 of the accessor 7 according to this embodiment 
thus constructed, the picker section 7g is swingingly driven around the 
supporting shaft 30a, placed on the picker section front surface side, 
through the swinging drive mechanism 16 disposed on the rear side of the 
picker section 7g, so that the cartridge inserting/extracting direction is 
adjustable with respect to a horizontal plane. 
More specifically, since the supporting point (i.e., the position of the 
supporting shaft 30a) on the tilt action is located on the front side of 
the picker section 7g while the effort point (the driven position by the 
swinging drive mechanism 16, i.e., the position of the cam follower 29) is 
situated on the rear side of the picker section 7g, the distance L.sub.1 
from the supporting point (supporting shaft 30a) to the effort point (cam 
follower 29) can be set to be sufficiently longer than the distance 
L.sub.2 from the supporting point to the tip position of the hand 
mechanism 7d (hand members 40a, 40b). 
Accordingly, in the case of the tilt mechanism 15 according to this 
embodiment, L.sub.2 /L.sub.1 can be set to below 1, and the dimensional 
error dy at the effort point (cam follower 29) can be prevented from being 
enlarged and amplified at the tip position of the hand mechanism 7d. 
As described above, in the case of the tilt mechanism 15 according to the 
this embodiment, with only the change of the positional relationship 
between the supporting point and the effort point on the tilt action, it 
is possible to sharply improve the accuracy of the cartridge 
inserting/extracting direction of the hand mechanism 7d, and further to 
ensure the positional accuracy of the tip portion of the hand mechanism 7d 
which is sufficient for the direct insertion and extraction of the 
cartridge 10 into/from the deck 5a. Thus, without installing the cartridge 
giving and receiving mechanism at every deck 5a, the direct insertion and 
extraction of the cartridge 10 into/from each of the decks 5a through the 
hand mechanism 7d becomes possible, which contributes to the size 
reduction and lower manufacturing cost of the library apparatus 1. 
[6] Description of Hand Mechanism 
A description will be made hereinbelow of the detailed arrangement of the 
hand mechanism 7d including a structure constituting a feature of this 
invention. 
FIGS. 15 and 16 are respectively plan and side elevational views showing 
the hand mechanism 7d of the accessor 7 in this embodiment. Further, FIGS. 
17 to 20 are illustrations of a principal portion of the hand mechanism 7d 
of the accessor 7 according to this embodiment. Of these drawings, FIG. 17 
is a plan view thereof, FIG. 18 is an illustration of a portion indicated 
by an arrow XVIII in FIG. 17, FIG. 19 is an illustration of a portion 
shown by an arrow XIX in FIG. 17, and FIG. 20 is an illustration of a 
portion shown by an arrow XX in FIG. 17. 
As shown in FIGS. 15 to 20, this hand mechanism 7d is, as mentioned before, 
provided with the pair of upper and lower hand members 40a, 40b, the hand 
base 41, the spring 42, the pair of upper and lower cam followers 43a, 
43b, the cam 44, the hand opening and closing drive motor 45, the pair of 
linear ways 46, the mounter mechanism 50, the CIP/CSP unit 70, and others. 
In these illustrations, the reference numerals being the same as those 
taken in the above description denote the same or substantially same 
parts. 
The pair of upper and lower hand members 40a, 40b come into contact with 
the cartridge 10 from the above and below to grip the cartridge 10, and 
are fitted onto the hand base 41 to be allowed to slide vertically through 
the pair of left- and right-hand leaner ways (direct-acting bearings, LM 
guide) 46, 46. Interposed between the hand members 40a, 40b are three 
springs (biasing mechanism) 42 which biases the hand members 40a, 40b in 
the closing directions of gripping the cartridge 10. 
Incidentally, as shown in FIGS. 1A and 1B, each of the linear ways 46 is 
made up of one guide rail 46c attached to the hand base 41 side and two 
blocks (bearings) 46a, 46b which slide while being guided vertically along 
the guide rail 46c, and the hand members 40a, 40b are fitted to the blocks 
46a, 46b, respectively. However, in FIGS. 1A and 1B, only one linear way 
46 is shown. It is also appropriate that only one linear way 46 is 
provided as shown in FIGS. 1A and 1B. 
[6-1] Description of Opening and Closing Mechanism for Hand Members 
Secondly, referring to FIGS. 1 and 21 to 34, a description will be taken 
hereinbelow of an opening and closing mechanism for the hand members 40a, 
40b in the hand mechanism 7d according to this embodiment. 
FIGS. 1A and 1B are respectively partially broken side elevational and 
perspective views illustratively showing a principal portion of the hand 
mechanism 7d of the accessor 7 according to this embodiment. As shown in 
FIGS. 1A and 1B, cam followers 43a, 43b are attached to the hand members 
40a, 40b, respectively. A disc-like double-lift cam 44 is placed between 
the pair of upper and lower cam followers 43a, 43b. 
This disc-like double-lift cam 44 is for the purpose of adjusting the 
separation between the cam followers 43a, 43b to cause the hand members 
40a, 40b to be driven to take opening and closing actions against the 
biasing forces of the springs 42. The disc-like double-lift cam 44 is 
composed of a first disc-like cam 44a made to come into contact with an 
circumferential surface of the upper cam follower 43a and a second 
disc-like cam 44b made to come into contact with a circumferential surface 
of the lower cam follower 43b. The second cam 44b has a lock groove 44c as 
will be described herein later. 
Furthermore, the disc-like double-lift cam 44 is connected to a rotational 
drive shaft 45a of the hand opening and closing drive motor (drive 
mechanism) 45 and is made to be rotationally driven by the hand opening 
and closing drive motor 45. 
Referring to FIGS. 21 to 24, a description will be made hereinbelow of 
concrete configuration and function of the disc-like double-lift cam 44. 
FIGS. 21 and 22 are respectively a side elevational view and a front 
elevational view showing the cam 44, FIGS. 23A and 23B are a 
cross-sectional view taken along a line A--A in FIG. 21 and a 
cross-sectional view taken along a line B--B in FIG. 21, respectively, and 
FIG. 24 is an illustration of a cam curve of the cam 44. 
In this embodiment, as shown in FIGS. 21, 22, 23A and 23B, the disc-like 
first cam 44a made to come into contact with the circumferential surface 
of the upper cam follower 43a is connected to the second disc-like cam 44b 
made to come into contact with the circumferential surface of the lower 
cam follower 43b. In addition, a portion (a lock portion 44-3 which will 
be described herein later) of the circumference or periphery of the second 
cam 44b has a lock groove 44c formed to engage with the lower cam follower 
43b. FIG. 23A shows the cross-sectional configuration of the first cam 44a 
while FIG. 23B illustrates the cross-sectional configurations of the 
second cam 44b and the lock groove 44c. 
Furthermore, as shown in FIG. 24, the first cam 44a, the second cam 44b and 
the lock groove 44c of the cam 44 produce a hand opening section 44-1, a 
cartridge gripping section 44-2 with a buffer function and a lock section 
44-3. 
When the hand opening section 44-1 comes to between the cam followers 43a, 
43b, the separation between the cam followers 43a, 43b is adjusted so that 
the hand members 40a, 40b assume an open condition against the biasing 
forces of the springs 42. 
When the cartridge gripping section 44-2 with the buffer function comes to 
between the cam followers 43a, 43b, as shown in FIG. 25, a gap (looseness) 
appears between the cam 44 (the first cam 44a, the second cam 44b) and 
each of the cam followers 43a, 43b. In this state, the hand members 40a, 
40b get into the closed condition owing to the biasing forces of the 
springs 42 to grip the cartridge 10. The aforesaid gap (looseness) 
provides a buffer function as will be described herein later. 
The lock section 44-3 corresponds to the aforesaid formed lock groove 44c, 
and if this lock section 44-3 is located between the cam followers 43a, 
43b, as shown in FIG. 26, the lower cam follower 43b is fitted in the lock 
groove 44c, the aforesaid gap (looseness) disappears, so that the hand 
members 40a, 40b are fixed to the hand base 41 in a state of gripping the 
cartridge 10. 
FIG. 25 is a side elevational view of a principal portion, illustratively 
showing a cartridge gripping state under the buffer lock-off condition 
(looseness-present condition), while FIG. 26 is a side elevational view of 
a principal portion, illustratively showing a cartridge gripping state 
under the buffer lock-on condition (looseness-absent condition). 
The hand opening and closing drive motor 45 is made to reversibly drive the 
cam so that one of the hand opening section 44-1, the cartridge gripping 
section 44-2 with the buffer function and the lock section 44-3 is set 
between the cam followers 43a, 43b. 
In this case, whether to forwardly drive the motor 45 or reversely drive it 
depends upon whether or not to define the aforesaid gap in a state where 
the cartridge 10 is held between the hand members 40a, 40b (buffer lock 
off/on). 
For instance, in the case of switching between the hand open condition and 
the hand closed condition with the buffer function (with gap/looseness), 
the cam 44 is driven forwardly/reversely between the section 44-1 
[0.degree. (360.degree.)] and the section 44-2. 
Furthermore, when conducting the switching between the hand open condition 
and the hand closed condition with no buffer function (with no 
gap/looseness), the cam 44 is driven forwardly/reversely between the 
section 44-1 [360.degree. (0.degree.)] and the section 44-3. 
Still further, when performing the switching (switching between the 
presence and absence of the buffer function) between the hand closed 
condition with the buffer function (with gap/looseness) and the hand 
closed condition with no buffer function (with no gap/looseness), the cam 
44 is driven forwardly/reversely between the section 44-2 and the section 
44-3. 
Moreover, a description will be made hereinbelow of an operation of the 
opening and closing mechanism for the hand members 40a, 40b in this 
embodiment. 
In case where the hand opening section 44-1 of the cam 44 is set between 
the cam followers 43a, 43b by the drive of the motor 45, the separation 
between the cam followers 43a, 43b is enlarged through the cam 44 so that 
the hand members 40a, 40b get into the open condition. In gripping the 
cartridge 10 by the hand mechanism 7d, after the cartridge 10 is put 
between the hand members 40a, 40b being in the open condition, the 
cartridge gripping position 44-2 of the cam 44 is placed between the cam 
followers 43a, 43b by the drive of the motor 45, so that the hand members 
40a, 40b receive the biasing forces of the springs 42 to come into contact 
with the cartridge 10 from the above and below, thereby gripping the 
cartridge 10. 
At this time, as shown in FIG. 25, since the gaps take place between the 
first and second cams 44a, 44b and the cam followers 43a, 43b, the hand 
members 40a, 40b are movable up and down by quantities corresponding to 
the gaps (looseness) in a state of gripping the cartridge 10, that is, the 
gaps function as a buffer. 
Accordingly, even though positional slippage slightly occurs between the 
cartridge insertion opening of the deck 5a and the cartridge 10 gripped by 
the hand mechanism 7d, that positional slippage is absorbable through the 
vertical movements corresponding to the aforesaid gaps (looseness), so 
that the cartridge 10 can certainly be inserted into the deck 5a using the 
gaps as a buffer. 
Furthermore, when the motor 45 is driven to cause the lock section 44-3 of 
the cam 44 to come to between the cam followers 43a, 43b, as shown in FIG. 
26, the lower cam follower 43b is engaged with the lock groove 44c of the 
second cam 44b so that the hand members 40a, 40b are fixed to the hand 
base 41 in a state of gripping the cartridge 10. 
For instance, when disconnecting the lock member locking the cartridge 10 
in the storage rack from the cartridge 10 in pulling out the cartridge 10 
from the storage rack, there is a need for the cartridge 10 to be slightly 
lifted up in a state of being gripped by the hand members 40a, 40b. In 
such a case, in this embodiment, as shown in FIG. 26, the buffer lock-on 
condition is taken so that the hand members 40a, 40b are fixed to the hand 
base 41 in a state of gripping the cartridge 10, with the result that the 
vertical movements of the hand members 40a, 40b due to the looseness is 
suppressible, thus allowing the certain lifting-up of the cartridge 10. 
In the hand mechanism 7d (accessor 7) of this embodiment equipped with the 
foregoing opening and closing mechanism, that opening and closing 
mechanism for the hand members 40a, 40b can be constructed to be extremely 
simplified and compact, which realizes the size and cost reduction of the 
library apparatus 1 shown in FIG. 2. 
Still further, when the buffer function given cartridge gripping section 
44-2 of the cam 44 is disposed between the cam followers 43a, 43b, even if 
there is a slight positional slippage between the cartridge insertion 
opening of the deck 5a and the cartridge 10 gripped by the hand mechanism 
7d, that positional slippage is absorbable by the vertical movements 
thereof corresponding to the gaps between the first and second cams 44a, 
44b and the cam followers 43a, 43b. 
That is, in this embodiment, making the most of the looseness as a buffer, 
the hand members 40a, 40b can freely follow the other party (the cartridge 
insertion opening of the deck 5a) by the quantity corresponding to the 
looseness, which ensures the certain insertion of the cartridge 10 into 
the deck 5a, thereby eliminating the need for installing a cartridge 
delivering and receiving mechanism at every deck 5a to contribute the size 
and cost reduction of the library apparatus 
In addition, referring now to FIGS. 27 to 34, a description will be taken 
hereinbelow of various examples of modifications of the opening and 
closing mechanism for the hand members 40a, 40b of the hand mechanism 7d 
in this embodiment. 
(6-1-1) Description of First Cam Modification 
FIG. 27 is an illustration of an cam curve of a cam of the hand mechanism 
7d according to a first modification of this embodiment. As shown in FIG. 
27, in the first modification, a cam 44A is constructed as a disc-like 
double-lift cam as well as the first-mentioned cam 44. In the cam 44A, as 
shown in FIG. 27, a first cam 44a coming into contact with the 
circumferential surface of the upper cam follower 43a and a second cam 44b 
coming into contact with the circumferential surface of the lower cam 
follower 43b produce one cartridge gripping section 44A-1 and two hand 
opening sections 44A-2, 44A-3. 
If the cartridge gripping section 44A-1 is located between the cam 
followers 43a, 43b, each of the cam followers 43a, 43b gets into a 
substantially contacting condition (condition not defining a gap) with the 
cam 44A (first and second cams 44a, 44b), so that the hand members 40a, 
40b take the closed condition due to the biasing forces of the springs 42 
to grip the cartridge 10. 
On the other hand, when one of the two hand opening sections 44A-2, 44A-3 
is placed between the cam followers 43a, 43b, the separation between the 
cam followers 43a, 43b is adjusted so that the hand members 40a, 40b take 
the open conditions with different separations against the biasing forces 
of the spring 42. In this case, the hand opening section 44A-3 is formed 
to produce a larger separation between the hand members 40a, 40b than 
produced by the hand opening section 44A-2. 
Furthermore, the hand opening and closing drive motor 45 is made to 
forwardly/reversely drive the cam 44A to cause one of the cartridge 
gripping section 44A-1 and the hand opening sections 44A-2, 44A-3 to be 
put between the cam followers 43a, 43b. 
The aforesaid cam 44A is employed when different types of media (cartridges 
10) with different thickness exist by mixture within the library apparatus 
1, and taking the position (0.degree.) of the cartridge gripping section 
44A-1 as a reference position, the cam 44A is forwardly/reversely driven 
from the reference position in accordance with the thickness of the 
cartridge 10 to place one of the hand opening sections 44A-2, 44A-3 in 
between the cam followers 43a, 43b. 
The forward side hand opening section 44A-3 is taken in the case that the 
cartridge 10 to be gripped has a large thickness, and in a manner that the 
cam 44A is alternately driven between the cartridge gripping section 44A-1 
and the hand opening section 44A-3, the hand members 40a, 40b take the 
opening and closing actions. 
On the contrary, the reverse side hand opening section 44A-2 is available 
in the case that the cartridge 10 to be gripped has a small thickness, 
particularly, is used when there is a limitation that difficulty is 
encountered to enlarge the open width (separation) between the hand 
members 40a, 40b up to the open width resulting from the hand opening 
section 44A-3. In a similar way, the hand members 40a, 40b are driven to 
take the opening and closing actions in a manner that the cam 44A is 
alternately driven between the cartridge gripping section 44A-1 and the 
hand opening section 44A-2. 
In the hand mechanism 7d employing the cam 44A thus constructed, the 
separation between the hand members 40a, 40b is changeable in accordance 
with the thickness of the cartridge 10 and the limitation in the open 
width between the hand members 40a, 40b, and therefore, various types of 
cartridges with different thickness can be situated between the hand 
members 40a, 40b to surely catch them therebetween. 
Accordingly, in cooperation with the foregoing type identifying mechanism 
of the picker section 7g in this embodiment, a library apparatus 1 in 
which a plurality of types of cartridges exist by mixture is realizable. 
In the cam 44A shown in FIG. 27, it is also appropriate that the cartridge 
gripping section with the buffer or the lock section mentioned above with 
reference to FIG. 24 is formed in place of the cartridge gripping section 
44A-1, or that three or more hand opening sections are made thereon. In 
addition, if the cam 44A is made so that the separation between the cam 
followers 43a, 43b is adjustable in the stepless condition, only in a 
manner that an appropriate portion of the cam 44A is put between the cam 
followers 43a, 43b by the drive of the motor 45, the separation between 
the hand members 40a, 40b is adjustable to assume an arbitrary open width. 
(6-1-2) Description of Second Cam Modification 
FIG. 28 is an illustration of a cam curve of a cam of the hand mechanism 7d 
according to a second modification of this embodiment. As shown in FIG. 
28, a cam 44B being the second modification is also constructed as being a 
disc-like double-lift cam approximately similar to the aforesaid cam 44. 
In the case of this cam 44B being the second modification, as shown in FIG. 
28, in addition to a first cam 44a, a second cam 44b and a lock groove 44c 
similar to those of the aforesaid cam 44, a lift-up groove 44d, which will 
be mentioned herein later, define a hand opening section 44B-1, a 
cartridge gripping section 44B-2 with a buffer function, a lock section 
44B-3 and a lift-up section 44B-4. 
The hand opening section 44B-1, the cartridge gripping section 44B-2 with 
the buffer function and the lock section 44B-3 are the same as the hand 
opening section 44-1, the cartridge gripping section 44-2 with the buffer 
function and the lock section 44-3 described above with reference to FIG. 
24, respectively, and therefore, the description thereof will be omitted 
for brevity. 
The lift-up section 44B-4 of the cam 44B according to the second 
modification is, as shown in FIG. 28, a portion in which a lift-up groove 
44d is made to communicate with the lock groove 44c, and when this lift-up 
section 44B-4 is located between the cam followers 43a, 43b, the lower cam 
follower 43b is fitted in the lift-up groove 44d, so that the aforesaid 
gap (looseness) disappears and the hand members 40a, 40b are forced to be 
raised and fixed with respect to the hand base 41 in a state of gripping 
the cartridge 10. 
Moreover, the hand opening and closing drive motor 45 is made to 
forwardly/reversely operate the cam 44B to place one of the sections 44B-1 
to 44B-4 in between the cam followers 43a, 43b. 
The hand mechanism 7d using the cam 44B thus constructed can offer the same 
effects as those of the hand mechanism 7d including the aforesaid cam 44, 
and in case where there is a need to slightly lift up the cartridge 10 by 
the hand members 40a, 40b as mentioned before, the lift-up section 44B-4 
is disposed between the cam followers 43a, 43b through the drive of the 
hand opening and closing drive motor 45. 
Whereupon, the lower cam follower 43b engages with the lift-up groove 44d 
so that the hand members 40a, 40b are forcibly lifted up in a state of 
gripping the cartridge 10, with the result that it is possible to surely 
and easily conduct the operations such as releasing from the engaged 
condition between the cartridge 10 and the lock member in the storage rack 
without upwardly driving the whole hand assembly 7a. 
(6-1-3) Description of Third Cam Modification 
FIGS. 29 and 30 illustrate the hand mechanism 7d according to this 
embodiment which includes a cam 44C being a third modification, and are 
side elevational views of a principal portion, illustratively showing the 
hand open condition and the cartridge gripping condition. As shown in 
FIGS. 29 and 30, the cam 44C is of a single disc-like type unlike the 
above-described cams 44, 44A and 44B, and is also capable of offering the 
same effects as those of the foregoing cams. 
The cam 44C is formed to have a hand opening section 44C-1 being a 
large-diameter ("high") portion and a cartridge gripping section 44C-2 
with a buffer function being a small-diameter ("low") portion. 
When the hand opening section 44C-1 is put between the cam followers 43a, 
43b, as shown in FIG. 29, the separation between the cam followers 43a, 
43b is adjusted so that the hand members 40a, 40b take the open condition 
against the biasing forces of the springs 42. 
Furthermore, if the cartridge gripping section 44C-2 with the buffer 
function is located between the cam followers 43a, 43b, as shown in FIG. 
30, a gap (looseness) appears between the cam 44C and each of the cam 
followers 43a, 43b, and in this state, the hand members 40a, 40b are 
driven due to the biasing forces of the springs 42 to come into the closed 
condition to grip the cartridge 10. 
Still further, the hand opening and closing drive motor 45 is designed to 
forwardly/reversely drive the cam 44C to place one of the sections 44C-1 
and 44C-2 in between the cam followers 43a, 43b. 
According to the hand mechanism 7d using the cam 44C thus constructed, as 
well as the aforesaid cam 44, the opening and closing mechanism for the 
hand members 40a, 40b can be constructed to be extremely simple and 
compact, which contributes to the size and cost reduction of such a 
library apparatus 1 as shown in FIG. 2. 
Moreover, when the cartridge gripping section (small-diameter portion) with 
the buffer function is set between the cam followers 43a, 43b, the 
looseness between the cam 44C and the cam followers 43a, 43b are 
positively utilized as a buffer to ensure the certain insertion of the 
cartridge 10 into the deck 5a, thereby eliminating the need for a 
cartridge delivering and receiving mechanism to be provided at every deck 
5a to contribute to the size and cost reduction of the library apparatus 
1. 
Incidentally, if the cam 44C is shaped such that the separation between the 
cam followers 43a, 43b is adjustable in the stepless condition, only if an 
appropriate portion of the cam 44C is disposed between the cam followers 
43a, 43b by the motor 45, the separation between the hand members 40a, 40b 
is adjustable to have an arbitrary open width. 
(6-1-4) Description of Fourth Cam Modification 
FIGS. 31 and 32 are respectively a partially broken side elevational and 
perspective views illustratively showing a principal portion of the hand 
mechanism 7d according to this embodiment which is equipped with a cam 
(cylindrical cam 47) according to a fourth modification. As shown in FIGS. 
31 and 32, the cam 47 has a cylindrical configuration unlike the 
above-described cams 44 and 44A to 44C, which is also capable of offering 
the same effects as those mentioned above. 
This cylindrical cam 47 is supported through a vertically installed rotary 
shaft 47c to be rotatable with respect to the hand base 41, and a gear 47d 
is coaxially coupled to the rotary shaft 47c. An upper circumferential 
surface 47a of the cylindrical cam 47 is placed into contact with an 
circumferential surface of the upper cam follower 43a to guide this cam 
follower 43a, whereas a lower circumferential surface of the cylindrical 
cam 47 is brought into contact with a circumferential surface of the lower 
cam follower 43b to guide this cam follower 43b. 
In addition, a hand opening and closing drive motor (drive mechanism) 48 is 
provided to rotationally drive the cylindrical cam 47, and when a gear 48b 
coaxially connected to a rotating drive shaft 48a of this motor 48 is 
engaged with the gear 47d, the rotational driving force of the motor 48 is 
transmitted to the rotary shaft 47c so that the cylindrical cam 47 is 
rotationally driven around the vertical rotary shaft 47c. 
Besides, the cylindrical cam 47 is formed to have a hand opening section 
47-1 for providing a large separation and a cartridge gripping section 
47-2 with a buffer function for creating a small separation so that the 
separation between the cam followers 43a, 43b is adjustable by the 
separation between the upper circumferential surface 47a and the lower 
circumferential surface 47b. 
In the case that the hand opening section 47-1 is placed between the cam 
followers 43a, 43b, the separation between the cam followers 43a, 43b is 
adjusted so that the hand members 40a, 40b come into the open condition 
against the biasing forces of the springs 42. 
On the other hand, if the cartridge gripping section 47-2 with the buffer 
function is located between the cam followers 43a, 43b, as shown in FIGS. 
31 and 32, a gap (looseness) appears between the cylindrical cam 47 (the 
upper circumferential surface 47a, the lower circumferential surface 47b) 
and each of the cam followers 43a, 43b, and in this state, the hand 
members 40a, 40b assume the closed condition owing to the biasing forces 
of the springs 42 to grip the cartridge 10. In FIGS. 31 and 32, the 
cartridge 10 is omitted from the illustration. 
Furthermore, the above-mentioned hand opening and closing drive motor 48 
forwardly/reversely drives the cylindrical cam 47 to place one of the 
sections 47-1 and 47-2 in between the cam followers 43a, 43b. 
According to the hand mechanism 7d including the cylindrical cam 47 thus 
constructed, it is possible to offer the same effects as those by the 
aforesaid cam 44C. 
Since the cylindrical cam 47 shown in FIG. 31 or 32 is made so that the 
separation between the upper circumferential surface 47a and the lower 
circumferential surface 47b changes in the stepless condition, only if an 
adequate portion of the cylindrical cam 47 is placed between the cam 
followers 43a, 43b by the motor 48, the separation between the hand 
members 40a, 40b is adjustable to an arbitrary open width. 
In addition, if the cylindrical cam 47 is formed to have the cam curves 
shown in FIGS. 24, 27 and 28, it is possible to obtain the same effects as 
those of the above-described cam 44, 44A or 44B. 
(6-1-5) Description of Modification of Biasing Mechanism 
FIGS. 33 and 34 are illustrations available for describing a modification 
of the biasing mechanism of the hand mechanism 7d in this embodiment, and 
are side elevational views of a principal portion, illustratively showing 
the cases where the hand mechanism 7d including that biasing mechanism is 
in a hand open condition and in a cartridge gripping condition. The 
biasing mechanism shown in FIGS. 33 and 34 is made up of a first spring 
42a and a second spring 42b instead of being constructed with the 
spring(s) 42 of the above-mentioned hand mechanism 7d. 
The first spring 42a is for upwardly biasing the lower hand member 40b by 
being placed between the lower hand member 40b and the hand base 41, while 
the second spring 42b is for downwardly biasing the upper hand member 40a 
by being interposed between the upper hand member 40a and the hand base 
41. 
The hand mechanism 7d shown in FIGS. 33 and 34 is made to be similar in 
arrangement to the hand mechanism 7d having the cam 44C shown in FIGS. 29 
and 30 except the biasing mechanism comprising the springs 42a, 42b. 
In the hand mechanism 7d including the biasing force (springs 42a, 42b) 
thus arranged, as shown in FIG. 34, in the case that the cartridge 
gripping section (small-diameter portion) 44C-2 with a buffer function is 
disposed between the cam followers 43a, 43b so that a gap (looseness) 
occurs between the cam 44C and each of the cam followers 43a, 43b, due to 
the biasing forces of the first and second springs 42a, 42b, a cartridge 
10 gripped by the hand mechanism 7d, together with the hand members 40a, 
40b, is maintained at the substantially central portion of the vertical 
movement range resulting from the aforesaid gaps (looseness). 
For this reason, in inserting the cartridge 10 into the deck 5a, the 
absorption of the positional slippage due to the gaps (looseness) is 
effectively and surely achievable. 
Incidentally, in FIGS. 33 and 34, although the biasing mechanism comprising 
the first and second springs 42a, 42b is employed for the hand mechanism 
7d using the cam 44C, the same biasing mechanism is also applicable to the 
hand mechanisms 7d employing the above-mentioned cams 44, 44A, 44B and 
cylindrical cam 47, which can offer the same effects. 
(6-2) Description of Mounter Mechanism 
Moreover, referring to FIGS. 35 to 41, a description will be made 
hereinbelow of a mounter mechanism 50 to be used for the hand mechanism 7d 
according to this embodiment. 
FIGS. 35 and 36 are respectively a plan view and a side elevational view 
showing a principal portion of the mounter mechanism 50. As shown in FIGS. 
35 and 36, the hand mechanism 7d is equipped with the mounter mechanism 50 
which serves to apply a pressing force to a cartridge 10 for the insertion 
of the cartridge 10 into the deck 5a. 
In this embodiment, the mounter mechanism 50 comprises a mounter arm 51, a 
pinion 52, a mounter arm drive motor (rotational drive mechanism) 53, and 
a buffer mechanism 56. 
The mounter arm 51 is designed to be movable to come into contact with a 
rear end surface of the cartridge 10, being gripped by the hand members 
40a, 40b, and further to advance in a direction of pushing the cartridge 
10 into the deck 5a, with its tip portion being equipped with a mounter 
51b which is brought into contact with the rear end surface of the 
cartridge 10. 
The pinion 52 is made to be geared with a rack 51a formed on the mounter 
arm 51, and is rotationally driven by the motor 53 to move the mounter arm 
51 in the cartridge pushing direction. This pinion 52 is fitted through 
the buffer mechanism 56 to a rotary shaft 54 placed vertically. 
A bevel gear 54a is coaxially attached to the rotary shaft 54, and when 
this bevel gear 54a is geared with a bevel gear 53b coaxially connected to 
a rotational drive shaft 53a of the motor 53, the rotational drive force 
from the motor 53 is transferred to the rotary shaft 54 so that the pinion 
52 is rotationally driven around the vertical rotary shaft 54 through the 
buffer mechanism 56. 
On the other hand, the buffer mechanism 56 is for the purpose of, when a 
pressing force exceeding a given load works on the cartridge 10, absorbing 
the extra pressing force, and, as shown in FIG. 37, is turned out by 
putting a resin-made bearing 57 or a resin-made spacer 58 in between the 
pinion 52 and the rotary shaft 54 connected to the drive shaft 53a of the 
motor 53. FIG. 37 is a cross-sectional view showing the detailed structure 
of the buffer mechanism 56. 
More specifically, as shown in FIG. 37, a flange section 54b is built on 
the circumference of the rotary shaft 54 to protrude therefrom, and the 
pinion 52 has, at its central portion, a fitting hole 52a made to allow 
the penetration of the rotary shaft 54. 
Furthermore, above the flange section 54b, a resin bearing 57 is put 
between the upper surface of the flange section 54b and the lower surface 
of the pinion 52 and between the outer circumferential surface of the 
rotary shaft 54 and the inner circumferential surface of the fitting hole 
52a of the pinion 52, and in this state, the pinion 52 is fitted over the 
rotary shaft 54. 
Still further, above the pinion 52, a resin spacer 58 is fitted over the 
rotary shaft 54 to be placed into contact with the upper surface of the 
pinion 52. 
Moreover, spacers 59, 60 and a spring 61 are fitted on an upper end portion 
of the rotary shaft 54 above the resin spacer 58 and are clamped with a 
nut 62. The spacer 59 is placed into contact with the upper surface of the 
resin spacer 58, and in a state where the spring 61 is interposed between 
the spacer 59 and the spacer 60, the nut 62 is screw-fitted onto an upper 
end portion of the rotary shaft 54 from the upper surface side of the 
spacer 60. By adjusting the clamping quantity with respect to the upper 
end portion of the rotary shaft 54 by the nut 62, the frictional force 
(the aforesaid given load) occurring between the resin bearing 57/resin 
spacer 58 and the pinion 52 is adjustable. 
Referring now to FIGS. 38A to 38C, a description will be made hereinbelow 
of an operation of the mounter mechanism 50 thus arranged. FIGS. 38A to 
38C are side elevational views illustratively showing a principal portion 
of the mounter mechanism 50. 
In inserting the cartridge 10 into the deck 5a, after the cartridge 10 is 
transferred up to the cartridge insertion opening of the deck 5a while 
being gripped by the hand members 40a, 40b and subsequently released from 
the gripping by the hand members 40a, 40b, the pinion 52 is forwardly 
driven by the motor 53, so that as shown in FIG. 38A the mounter arm 51 is 
shifted in the cartridge pushing direction (the right-hand direction in 
the illustration) through the pinion 52 and the rack 51a engaging with the 
pinion 52. 
Whereupon, as shown in FIG. 38B, the cartridge 10 is inserted into the 
depth of the deck 5a while being pressed by the mounter 51b of the mounter 
arm 51. In this embodiment, when a pressing force above a given load is 
brought to bear on the cartridge 10, the buffer mechanism 56 placed 
between the pinion 52 and the motor 53 side drive shaft absorbs the extra 
pressing force. 
In more detail, in the buffer mechanism 56, slip occurs through the resin 
bearing 57 or the resin spacer 58 between the pinion 52 and the rotary 
shaft 54, and the frictional force occurring at that time absorbs the 
extra pressing force. Accordingly, the transfer of the force from the 
mounter arm 51 to the cartridge 10 becomes impossible, thus preventing the 
excessive force from working on the cartridge 10. 
Thus, through the use of the above-mentioned buffer mechanism 56, the 
mounter arm 51 can always continue to press the cartridge 10 at a constant 
force, and even in case that any trouble arises to cause an excessive load 
from the mounter mechanism 50 to bear on the cartridge 10, it is possible 
to protect not only the cartridge 10 and its peripheral sections but also 
the mounter mechanism 50, the drive system (the motor 53 and others) 
therefor and others therefrom. 
The given load whereby the pinion 52 starts to slip with respect to the 
rotary shaft 54 can be set by, as mentioned above, adjusting the clamping 
quantity to the upper end portion of the rotary shaft 54 by the nut 62 to 
adjusting the frictional force between the resin bearing 57/resin spacer 
58 and the pinion 52. 
Furthermore, after the cartridge 10 is inserted into the depth of the deck 
5a, the pinion 52 is reversely driven by the motor 53 so that, as shown in 
FIG. 38C, the mounter arm 51 is drawn toward the hand mechanism 7d side 
(the left side in the illustration) by the pinion 52 and the rack 51a 
geared with the pinion 52. 
The hand mechanism 7d (accessor 7) of this embodiment having the mounter 
mechanism 50 thus constructed permits the cartridge 10 to be certainly 
inserted into the depth of the deck 5a and, hence, eliminate the need for 
a cartridge delivering and receiving mechanism to be provided at every 
deck 5a, which contributes to the size and cost reduction of the library 
apparatus 1. 
Referring to FIGS. 39 to 41, a description will be taken hereinbelow of one 
example of guide structures of the mounter arm 51 of the mounter mechanism 
50. FIG. 39 is a perspective view showing the guide structure example, 
FIG. 40 is a cross-sectional view taken along a line C--C of FIG. 39, FIG. 
41 is a perspective view showing another guide structure example, and FIG. 
42 is a cross-sectional view taken along a line D--D of FIG. 41. 
In the guide structure shown in FIGS. 39 and 40, an elliptic or elongated 
hole 51c is made along the longitudinal directions of the mounter arm 51, 
and a pair of front and rear rollers 66a, 66b are fitted in this elliptic 
hole 51c. Whereupon, the mounter arm 51 can straightforwardly be moved 
while being guided in the forward and backward directions (the 
longitudinal directions). The rollers 66a, 66b are pivotally fitted to the 
hand base 41 side as shown in FIG. 40. 
The mounter arm 51 is made, for example, from a sheet metal, and is 
integrally equipped with a sensor flag 51d which is used for detecting the 
position of the mounter arm 51 in the forward and backward directions (the 
longitudinal directions). This sensor flag 51d operates a sensor 63, 
thereby detecting the position of the mounter arm 51. For instance, the 
sensor 63 is a photosensor, and carries out the detecting operation when 
the sensor flag 51d passes through between light-emitting and 
light-receiving devices of the sensor 63 to intercept the light from the 
light-emitting device. 
At this time, gaps tend to occur between the elliptic hole 51c and the 
rollers 66a, 66b, and hence, a looseness develops due to the gaps, wit the 
result that there is a possibility of impairing the smooth straight 
movements of the mounter arm 51. In such a case, the position of the 
sensor flag 51d varies because of the looseness so that the sensor flag 
51d and the sensor 63 can interfere with each other. 
For this reason, it is also appropriate to employ the guide structure shown 
in FIGS. 41 and 42. In the case of this guide structure, the mounter arm 
51 is constructed to be a rod-like solid-core member, and is supported by 
a bush 64 on the hand base 41 to be movable in the direction (the 
longitudinal direction of the mounter arm 51) of pushing the cartridge 10 
into the deck 5a. The bush 64 can be of an oil-retaining type. 
In addition, a looseness controlling groove 51e is made in a side surface 
of the mounter arm 51 along its longitudinal directions, while a looseness 
controlling metallic member 65 is installed to be fitted in the looseness 
controlling groove 51e to guide the mounter arm 51 in the longitudinal 
directions. 
In the guide structure thus made, the bush 64 can not only support and 
guide the mounter arm 51 without allowing the occurrence of the looseness, 
but also ensure the smooth straight movement of the mounter arm 51, for 
that the mounter arm 51 moves while the looseness controlling metallic 
member 65 is fitted in the looseness controlling groove 51e. Accordingly, 
it is possible to surely prevent troubles, for example, to prevent the 
sensor flag 51d and sensor 63 attached to the mounter mechanism 50 from 
interfering with each other. In this case, if the bush 64 used is of the 
oil-retaining type, the straight movements of the mounter arm 51 are more 
smoothly achievable. 
(6-3) Description of CIP/CSP Unit 
Lastly, referring to FIGS. 43A to 43C and 44A to 44C, a description will be 
taken hereinbelow of a CIP/CSP unit 70 of the hand mechanism 7d in this 
embodiment. 
FIGS. 43A to 43C are illustrations of the CIP/CSP unit 70, and of these 
drawings, FIG. 43A is a side elevational view thereof, FIG. 43B is an 
illustration of a portion indicated by an arrow b in FIG. 43A, and FIG. 
43C is an illustration of a portion indicated by an arrow c in FIG. 43A. 
As also shown in FIGS. 15 to 20, the hand mechanism 7d according to this 
embodiment is provided with the CIP/CSP (Cartridge In Picker/Cartridge 
Secured Position) unit 70. 
As shown in FIGS. 43A to 43C, this CIP/CSP unit 70 is composed of an 
actuator 71, a flag 72, a spring 73, a CIP sensor (first sensor) 74 and a 
CSP sensor (second sensor) 75. 
The CIP sensor 74 is for detecting the fact that a cartridge 10 is inserted 
into between the hand members 40a, 40b, while the CSP sensor 75 is for 
detecting the fact that an rear end surface of the cartridge 10 reaches a 
given position after the CIP sensor 74 detects the insertion of the 
cartridge 10 therebetween. 
The flag 72 is formed to have a first edge 72a and a second edge 72b for 
actuating the CIP sensor 74 and the CSP sensor 75, and is made to be 
driven in the backward direction (the left-hand side in FIGS. 43A and 43B) 
through the actuator 71. 
Although the CIP sensor 74 and the CSP sensor 75 are disposed at the same 
position in the forward and backward directions, in the flag 72, the first 
edge 72a is formed on a little further rear side (approximately 3 mm) with 
respect to the second edge 72b. Thus, the CIP sensor 74 is put into 
operation before the CSP sensor 75 is done. 
In more detail, each of the CIP sensor 74 and the CSP sensor 75 comprises a 
photosensor, and when the first and second edges 72a, 72b of the flag 72 
respectively pass through between the light-emitting device and 
light-receiving device of the CIP sensor 74 and between the light-emitting 
device and light-receiving device of the CSP sensor 75 to intercept the 
lights from the light-emitting devices, the CIP sensor 74 and the CSP 
sensor 75 are put into the detecting operations. 
Concretely, the CIP sensor 74 and the CSP sensor 75 detect the condition 
that the cartridge 10 is placed between the hand members 40a, 40b and the 
condition that the cartridge 10 is surely held by the hand members 40a, 
40b, respectively. 
Furthermore, the actuator 71 is biased in the forward direction (the 
right-hand direction in FIGS. 43A and 43B) by the spring 73, and when the 
cartridge 10 comes to between the hand members 40a, 40b, as shown in FIGS. 
44B and 44C, it is brought into contact with the rear end surface of the 
cartridge 10 and pressed against the biasing force of the spring 73 to 
operate the flag 72, so that the CIP sensor 74 and the CSP sensor 75 
successively come into actuation. 
Referring to FIGS. 44A to 44C, a description will be made hereinbelow of an 
operation of the CIP/CSP unit 70 thus arranged. FIGS. 44A to 44C are side 
elevational views illustratively showing the CIP/CSP unit 70. 
In a state where the cartridge 10 does not exist between the hand members 
40a, 40b, as shown in FIG. 44A, the flag 72 is biased by the spring 73 in 
the forward direction (the right-hand direction in the illustration), so 
that both the CIP sensor 74 and CSP sensor 75 are in the off conditions. 
When the hand mechanism 7d is advanced in order to grip the cartridge 10 
and the rear end portion of the cartridge 10 come in between the hand 
members 40a, 40b, as shown in FIG. 44B, the actuator 71 is first brought 
into contact with the rear end surface of the cartridge 10 to be pressed 
so that the CIP sensor 74 gets into the on condition owing to the 
operation of the first edge 72a. This on condition of the CIP sensor 74 
makes sure that the cartridge 10 exists between the hand members 40a, 40b. 
If the hand mechanism 7d further advances to cause the rear end portion of 
the cartridge 10 to enter the further depth, as shown in FIG. 44C, the CSP 
sensor 75 comes into the on condition due to the second edge 72b. 
Thus, in a state where the detection result of the CIP sensor 74 guarantees 
that the cartridge 10 stands between the hand members 40a, 40b, the CSP 
sensor 75 can sensitively sense the fact that the rear end surface of the 
cartridge 10 reaches a given position. 
Accordingly, the position of the cartridge 10 with respect to the hand 
members 40a, 40b is assured, with the result that the cartridge 10 
discharged from the deck 5a or the cartridge 10 existing within the 
storage rack can certainly be caught by the hand mechanism 7d in a state 
of always taking the same positional relation with respect to the hand 
members 40a, 40b. Whereupon, it is possible to prevent the hand members 
40a, 40b from shallowly gripping the cartridge 10 or to prevent the 
cartridge 10 from being again inserted into the deck 5a by mistake at the 
time when the hand members 40a, 40b come to grip the cartridge 10. 
By providing multiple functions to the hand mechanism 7d as described above 
with reference to FIGS. 1 and 15 to 44C, it becomes possible to directly 
carry out the insertion/extraction of the cartridge 10 between the deck 5a 
and the hand mechanism 7d without using a cartridge delivering and 
receiving mechanism therebetween, which not only realizes the size and 
cost reduction of a library apparatus 1, but also realizes a library 
apparatus 1 in which a plurality of types of cartridges exist by mixture. 
So far, the installation of a cartridge delivering and receiving mechanism 
at every deck has been known as one of factors to increase the 
manufacturing cost of the library apparatus. That is, the delivering and 
receiving mechanisms dedicated to decks are required to be installed by 
number corresponding to the number of the decks, and the delivering and 
receiving mechanisms cause the increase in the manufacturing cost. In 
addition, a deck dedicated to the library apparatus becomes necessary, 
which inhibits a single mechanism (deck) from being applied to some other 
purpose. 
On the other hand, in the case of the above-described library apparatus 1 
according to this embodiment, the insertion of the cartridge 10 into the 
deck 5a is assured even if a positional slippage slightly occurs between 
the cartridge insertion opening of the deck 5a and the cartridge 10 
gripped by the hand mechanism 7d of the accessor 7, and the sure insertion 
of the cartridge 10 into the depth of the deck 5a is feasible without the 
installation of the cartridge delivering and receiving mechanism, and 
further the cartridge 10 discharged from the deck 5a can certainly be 
gripped by the hand mechanism 7d of the accessor 7. Accordingly, although 
a deck 5a being a single mechanism is mounted on the library apparatus 1, 
the accessor 7 can surely and directly perform the insertion/extraction of 
the cartridge 10 without the need of the installation of the cartridge 
delivering and receiving mechanism therebetween. 
Moreover, although the prior accessor can treat only one type of cartridges 
and the prior library apparatus conducts large-capacity back-up processing 
of data through the use of the one type of cartridges, and hence, 
naturally, the prior accessor is only needed to have the function to 
transfer one type of cartridges. For this reason, in the case of using the 
prior accessor, it is impossible to realize a library apparatus in which 
different types of cartridges exist by mixture. Thus, it is impossible to 
meet the above-mentioned requirements. 
Contrary to this, according to this embodiment, the hand mechanism 7d of 
the accessor 7 can grip cartridges 10 with various configurations without 
any restriction like the human hands and can perform the 
insertion/extraction of the cartridges 10 into/from the deck 5a or the 
storage rack, which realizes lower manufacturing cost of the library 
apparatus. 
In addition, if employing the accessor 7 according to this embodiment, the 
library apparatus 1 permits data to be stored through the use of not only 
one type of medium but also two or more types of media (cartridges), with 
the result that the back-up of a large volume of data is surely possible. 
It should be understood that the present invention is not limited to the 
above-described embodiments, and that it is intended to cover all changes 
and modifications of the embodiments of the invention herein used for the 
purpose of the disclosure, which do not constitute departures from the 
spirit and scope of the invention.