Robotic library dead reckon targeting
First Claim
1. An apparatus for aligning a robotic hand with a plurality of cells comprising:
- at least one docking target disposed in a predetermined position with respect to the plurality of cells; and
at least one mating member coupled to the robotic hand, the at least one mating member being engageable with the at least one docking target to align the robotic hand with a selected cell of the plurality of cells when the at least one mating member is engaged with a respective at least on docking target.
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Accused Products
Abstract
An apparatus and a method for providing fine alignment of a robotic assembly with multiple storage cells in a storage library system. One or more docking targets are fixed inside the library in a predetermined orientation with respect to the cells. One or more mating members are attached to the robotic assembly'"'"'s hand. The mating members and docking targets are shaped to be self-aligning when pressed together. In operation the robotic hand is coarsely aligned with a selected cell. Next, the robotic hand is moved toward the selected cell causing the mating member(s) to engage with the docking target(s) associated the selected cell. The transverse force produced by the robotic hand pushing the mating member(s) against the docking target(s) causes further alignment. When the mating member(s) is fully aligned with the docking target(s) the robotic hand is finely aligned with the selected cell.
39 Citations
26 Claims
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1. An apparatus for aligning a robotic hand with a plurality of cells comprising:
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at least one docking target disposed in a predetermined position with respect to the plurality of cells; and at least one mating member coupled to the robotic hand, the at least one mating member being engageable with the at least one docking target to align the robotic hand with a selected cell of the plurality of cells when the at least one mating member is engaged with a respective at least on docking target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for storing and retrieving a plurality of cartridges from a storage library comprising:
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a column defining an axis; a plurality of cells disposed cylindrically about the column and spaced therefrom, the plurality of cells for storing the plurality of cartridges; a carriage coupled to the column, the carriage operative to move along the column parallel to the axis and to rotate about the axis; a robotic hand coupled to the carriage and operative to move radially with respect to the axis of the column for inserting and removing the plurality of cartridges from the plurality of cells; at least one docking target disposed in a predetermined position with respect to the plurality of cells; and at least one mating member coupled to the robotic hand, the at least one mating member being engageable with the at least one docking target to align the robotic hand with a selected cell of the plurality of cells when the at least one mating member is engaged with a respective at least on docking target. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of aligning a robotic hand having at least one mating member with a plurality of cells having at least one docking target, the method comprising:
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coarsely aligning the robotic hand with a selected cell of the plurality of cells; moving the robotic hand towards the selected cell of the plurality of cells after coarsely aligning the robotic hand with the selected cell to engage the at least one mating member with a respective at least one docking target associated with the selected cell of the plurality of cells, the engaging of the at least one mating member with the respective at least one docking target producing a fine alignment of the robotic hand with the selected cell of the plurality of cells; and stopping the robotic hand in response to the at least one mating member becoming fully engaged with the respective at least one docking target. - View Dependent Claims (22, 23, 24)
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25. A method for determining when a selected cell of a plurality of cells is occupied by a cartridge using the at least one mating member protruding from a robotic hand, the method comprising:
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aligning the at least one mating member with the selected cell of the plurality of cells; moving the robotic hand to a predetermined position sufficient to cause the at least one mating member to contact the cartridge when the cartridge is present in response to aligning the at least one mating member with the selected cell of the plurality of cells; and determining that the cartridge is present in the selected cell of the plurality of cells in response to the at least one mating member contacting the cartridge when the robotic hand is moved to the predetermined position, and that no cartridge is present in the selected cell of the plurality of cells in response to the at least one mating member not contacting the cartridge when the robotic hand is moved to the predetermined position. - View Dependent Claims (26)
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Specification