公开(公告)号：EP1031149B1

公开(公告)日：2002-09-04

申请号：EP98923351.5

申请日：1998-06-01

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： FALACE, Joseph, P. ,  MANES, Joseph, P. ,  PLUTT, Daniel, J.

IPC: G11B15/68 ,  G11B17/22

CPC classification number: G11B15/6835 ,  G11B17/225

Abstract: The robotic docking apparatus for a cartridge library system having a cartridge storage array provides a docking apparatus on the robotic arm that mates with corresponding features on the storage compartments. The docking apparatus enables the cartridge retrieval mechanism to automatically and precisely align with the storage compartment that contains the selected data cartridge by using passive alignement mechanisms and without requiring the use of a vision system or expensive tight mechanical tolerances. The robotic docking apparatus is incorporated into the robotic arm in the form of a docking feature that protrudes from the front of the cartridge retrieval mechanism. The docking feature is of length sufficient to begin engagement of the mating docking receptacle formed in each of the storage compartments in the storage array prior to the remainder of the cartridge retrieval mechanism contacting the data cartridge stored therein. The docking feature is tapered in shape, being narrower in width at the distal end thereof, so that as the reach mechanism of the robotic arm extends the cartridge retrieval mechanism toward the storage compartment the taper of the docking feature forces the cartridge retrieval mechanism into alignment with the docking receptacle.

公开(公告)号：EP1031149A1

公开(公告)日：2000-08-30

申请号：EP98923351.5

申请日：1998-06-01

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： FALACE, Joseph, P. ,  MANES, Joseph, P. ,  PLUTT, Daniel, J.

IPC: G11B15/68 ,  G11B17/22

CPC classification number: G11B15/6835 ,  G11B17/225

Abstract: The robotic docking apparatus for a cartridge library system having a cartridge storage array provides a docking apparatus on the robotic arm that mates with corresponding features on the storage compartments. The docking apparatus enables the cartridge retrieval mechanism to automatically and precisely align with the storage compartment that contains the selected data cartridge by using passive alignement mechanisms and without requiring the use of a vision system or expensive tight mechanical tolerances. The robotic docking apparatus is incorporated into the robotic arm in the form of a docking feature that protrudes from the front of the cartridge retrieval mechanism. The docking feature is of length sufficient to begin engagement of the mating docking receptacle formed in each of the storage compartments in the storage array prior to the remainder of the cartridge retrieval mechanism contacting the data cartridge stored therein. The docking feature is tapered in shape, being narrower in width at the distal end thereof, so that as the reach mechanism of the robotic arm extends the cartridge retrieval mechanism toward the storage compartment the taper of the docking feature forces the cartridge retrieval mechanism into alignment with the docking receptacle.