公开(公告)号：WO1998021033A1

公开(公告)日：1998-05-22

申请号：PCT/US1997019365

申请日：1997-10-28

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： STORAGE TECHNOLOGY CORPORATION ,  MANES, Joseph, P. ,  WAIT, Donald, B. ,  CREAGER, Robert, S. ,  MEHLBERG, Adam ,  TODOR, John, S. ,  FALACE, Joseph, P. ,  WILSON, Scott, D.

IPC: B32B31/00

CPC classification number: G11B17/225 ,  G11B15/6825

Abstract: A method and apparatus is provided for auditing cartridges and empty cells (28, 34) in a storage library system including a plurality of cells (28, 34) for storing cartridges and further including a robotically actuated hand assembly (10). A line-scan camera (20, 22) is secured to the hand assembly (10), and a visible pattern (30) is positioned within each cell (28, 34) such that the visible pattern (30) is readable by the line-scan camera (20, 22) when the line-scan camera (20, 22) is moved to a position adjacent the particular cell (28, 34) if the cell (28, 34) is empty. The visible pattern (30) is positioned such that the presence of a cartridge within the particular cell (28, 34) would prevent viewing of the visible pattern (30) within the cell (28, 34) by the line-scan camera (20, 22). The line-scan camera (20, 22) is operated in a manner to search for the visible pattern (30) within each cell (28, 34) for auditing numbers of cartridges and empty cells (28, 34) in the storage library system.

Abstract translation: 提供了一种方法和装置，用于对存储库系统中的盒和空单元（28,34）进行审核，包括用于存储盒的多个单元（28,34），并且还包括机器人致动的手组件（10）。 行扫描照相机（20,22）固定到手组件（10）上，并且可视图案（30）位于每个单元（28,34）内，使得可见图案（30）可被线 如果单元（28,34）为空，则当行扫描相机（20,22）移动到与特定单元（28,34）相邻的位置时，扫描相机（20,22）。 可见图案（30）被定位成使得在特定单元（28,34）内的盒的存在将阻止通过线扫描相机（20）观察单元（28,34）内的可见图案（30） ，22）。 线扫描照相机（20,22）以搜索每个单元（28,34）内的可见图案（30）的方式操作，用于审查存储库系统中的墨盒数量和空单元格（28,34） 。

公开(公告)号：WO1998021719A1

公开(公告)日：1998-05-22

申请号：PCT/US1997019366

申请日：1997-10-28

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： STORAGE TECHNOLOGY CORPORATION ,  MANES, Joseph, P. ,  WAIT, Donald, B. ,  FALACE, Joseph, P. ,  FIRD, Randal ,  BLACK, David ,  PLUTT, Daniel ,  CREAGER, Robert, S. ,  MEHLBERG, Adam ,  WILSON, Scott

IPC: G11B15/68

CPC classification number: G11B15/6835

Abstract: An apparatus for latching and ejecting cartridges from a cartridge tape drive (84) in a storage library system includes a robotically actuated hand assembly (82) having a pin (92) extending therefrom. A rotatable lever (90) extending from the tape drive is pivotable between a first position in which the cartridge is locked in the drive, and a second position in which the cartridge is ejected. The pin (92) is moved to engage the lever (90) to rotate the lever (90) between the two positions as the hand assembly (82) is actuated. A visible pattern (116) is applied to a rotatable rod (112) in the tape drive. The pattern is offset such that it moves into and out of alignment with a target (118) as viewed by a line-scan camera to indicate the status of the tape drive.

Abstract translation: 用于从存储库系统中的盒式磁带驱动器（84）锁定和弹出盒的装置包括具有从其延伸的销（92）的机器人致动的手组件（82）。 从带驱动器延伸的可旋转杆（90）可以在其中盒被锁定在驱动器中的第一位置和其中弹出盒的第二位置之间枢转。 当手组件（82）被致动时，销（92）被移动以接合杠杆（90）以将杠杆（90）旋转在两个位置之间。 可视图案（116）被施加到带驱动器中的可旋转杆（112）。 该图案被偏移，使得其与由行扫描相机观察到的目标（118）移动进出对齐以指示磁带驱动器的状态。

公开(公告)号：EP0938729A1

公开(公告)日：1999-09-01

申请号：EP97913781.0

申请日：1997-10-28

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： MANES, Joseph, P. ,  WAIT, Donald, B. ,  FALACE, Joseph, P. ,  FIRD, Randal ,  BLACK, David ,  PLUTT, Daniel ,  CREAGER, Robert, S. ,  MEHLBERG, Adam ,  WILSON, Scott

IPC: G11B15

CPC classification number: G11B15/6835

Abstract: An apparatus for latching and ejecting cartridges from a cartridge tape drive (84) in a storage library system includes a robotically actuated hand assembly (82) having a pin (92) extending therefrom. A rotatable lever (90) extending from the tape drive is pivotable between a first position in which the cartridge is locked in the drive, and a second position in which the cartridge is ejected. The pin (92) is moved to engage the lever (90) to rotate the lever (90) between the two positions as the hand assembly (82) is actuated. A visible pattern (116) is applied to a rotatable rod (112) in the tape drive. The pattern is offset such that it moves into and out of alignment with a target (118) as viewed by a line-scan camera to indicate the status of the tape drive.

公开(公告)号：EP0960022A1

公开(公告)日：1999-12-01

申请号：EP97946310.0

申请日：1997-10-28

Applicant: STORAGE TECHNOLOGY CORPORATION

Inventor： MANES, Joseph, P. ,  WAIT, Donald, B. ,  CREAGER, Robert, S. ,  MEHLBERG, Adam ,  TODOR, John, S. ,  FALACE, Joseph, P. ,  WILSON, Scott, D.

IPC: B65G1 ,  G06K7 ,  G11B15 ,  G11B17

CPC classification number: G11B17/225 ,  G11B15/6825

Abstract: A method and apparatus is provided for auditing cartridges and empty cells (28, 34) in a storage library system including a plurality of cells (28, 34) for storing cartridges and further including a robotically actuated hand assembly (10). A line-scan camera (20, 22) is secured to the hand assembly (10), and a visible pattern (30) is positioned within each cell (28, 34) such that the visible pattern (30) is readable by the line-scan camera (20, 22) when the line-scan camera (20, 22) is moved to a position adjacent the particular cell (28, 34) if the cell (28, 34) is empty. The visible pattern (30) is positioned such that the presence of a cartridge within the particular cell (28, 34) would prevent viewing of the visible pattern (30) within the cell (28, 34) by the line-scan camera (20, 22). The line-scan camera (20, 22) is operated in a manner to search for the visible pattern (30) within each cell (28, 34) for auditing numbers of cartridges and empty cells (28, 34) in the storage library system.

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.