| 摘要 |
<p>PURPOSE:To quickly and surely insert and eject a cartridge against each unit shelf and each driver. CONSTITUTION:A moving mechanism 7 to move a chuck arm 42 by stroke against a robot hand 4 is provided, and an ultrasonic sensor 81 which detects the distance d1 or d2 from each unit shelf 32 or each driver 5' against the chuck arm 42 is fit. Data of the distance d1 or d2 detected by the ultrasonic sensor 81 are inputted to a control circuit 83 to control the moving mechanism 7, and the chuck arm 42 is brought into contact with the unit shelves 32 or drivers 5' by moving by stroke, then the cartridge 1 is inserted/ejected or attached/ detached against each unit. The cartridge 1 is quickly and surely ejected/inserted even against the general purpose plural drivers 5' taking a considerably long distance and having dislocation as well as against each unit shelf 32 having positional variance, and further the construction cost for a library 10 is saved by the use of the general purpose drivers 5'.</p> |
