Automated storage library gripper apparatus and method
View Patent ↗A mechanical gripper mechanism for transporting and handling storage devices is provided. In one example, the gripper mechanism includes a pair of opposing gripper fingers rotatably mounted to the picker frame, each having a distal end adapted to engage opposite minor side surfaces of a storage device. The opposing gripper fingers are further interconnected by corresponding geared surfaces such that the gripper fingers rotate together. In one example, the proximal ends of the gripper fingers include geared surfaces that are directly coupled to rotate the gripper fingers together.
1. A mechanical gripper device for handling storage devices, comprising:
a frame;
a pair of opposing gripper fingers rotatably mounted to the frame, each having a distal end adapted to engage opposite minor side surfaces of a storage device and a proximal end having a geared surface spatially fixed with respect to the distal end, wherein
the opposing gripper fingers are interconnected by the geared surfaces such that the gripper fingers rotate together, and
a biasing member for biasing the distal ends of the opposing gripper fingers toward each other.
2. The device of claim 1 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
3. The device of claim 1 , wherein the gripper fingers are driven by a single actuator.
4. The device of claim 3 , wherein the actuator includes a stepper motor.
5. The device of claim 1 , wherein the distal ends of the gripper fingers include opposing planar surfaces for engaging opposite minor side surfaces of a storage device.
6. The device of claim 5 , wherein at least one of the gripper fingers includes a protrusion extending from the planar surface towards the opposing gripper finger for interacting with a storage device.
7. The device of claim 1 , wherein the gripper fingers are biased closed.
8. The device of claim 1 , wherein the biasing member comprises a spring.
9. A mechanical gripper device for handling storage devices, comprising:
a frame;
a pair of opposing gripper fingers rotatably mounted to the frame, each having a distal end adapted to engage opposite minor side surfaces of a storage device and a proximal end having a geared surface spatially fixed with respect to the distal end, wherein the opposing gripper fingers are interconnected by the geared surfaces such that the gripper fingers rotate together; and
a cartridge detector extending away from the frame and movable at least partially between the pair of opposing gripper fingers, wherein the distal end of the cartridge detector has a larger cross-sectional area measured perpendicular to the direction the cartridge detector extends than the proximal end of the cartridge detector.
10. An automated storage library, comprising
a library controller;
storage bins for housing storage devices; and
a robotic cartridge picker mechanism for handling storage devices having:
a frame,
a pair of opposing gripper fingers rotatably mounted to the frame, each having a distal end adapted to engage opposite minor side surfaces of a storage device and a proximal end having a geared surface spatially fixed with respect to the distal end, and
a biasing member for biasing the distal ends of the opposing gripper fingers toward each other,
wherein the opposing gripper fingers are interconnected by the geared surfaces such that they rotate together.
11. The storage library of claim 10 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
12. The storage library of claim 10 , wherein the gripper fingers are driven by a single actuator.
13. The storage library of claim 12 , wherein the actuator includes a stepper motor.
14. The storage library of claim 10 , wherein the distal ends of the gripper fingers include opposing planar surfaces for engaging opposite minor side surfaces of a storage device.
15. The storage library of claim 14 , wherein at least one of the gripper fingers includes a protrusion extending from the planar surface towards the opposing gripper finger for interacting with a storage device.
16. The storage library of claim 10 , wherein the gripper fingers are biased closed.
17. The storage library of claim 10 , wherein the biasing member comprises a spring.
18. An automated storage library, comprising
a library controller;
storage bins for housing storage devices; and
a robotic cartridge picker mechanism for handling storage devices having:
a frame,
a pair of opposing gripper fingers rotatably mounted to the frame, each having a distal end adapted to engage opposite minor side surfaces of a storage device and a proximal end having a geared surface spatially fixed with respect to the distal end, wherein the opposing gripper fingers are interconnected by the geared surfaces such that they rotate together; and
a cartridge detector extending away from the frame and movable at least partially between the pair of opposing gripper fingers, wherein the distal end of the cartridge detector has a larger cross-sectional area measured perpendicular to the direction the cartridge detector extends than the proximal end of the cartridge detector.
19. A method for gripping storage cartridges with a gripper mechanism, comprising:
rotating a pair of opposing gripper fingers to engage opposing minor side surfaces of a storage device, wherein the pair of opposing gripper fingers are rotated together through corresponding geared surfaces associated with each gripper finger, the geared surfaces are spatially fixed with respect to each of the gripper fingers, and the distal ends of the opposing gripper fingers are biased toward each other.
20. The method of claim 19 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
21. The method of claim 19 , further including activating a motor mechanically coupled to one of the geared surfaces to rotate the opposing gripper fingers.
22. The method of claim 21 , wherein the motor includes a stepper motor.
23. The method of claim 19 , wherein the distal ends of the gripper fingers include opposing planar surfaces for engaging opposite minor side surfaces of the storage device.
24. The method of claim 23 , wherein at least one of the gripper fingers includes a protrusion extending from the planar surface towards the opposing gripper finger for interacting with a storage device.
25. The method of claim 23 , wherein the gripper fingers are biased closed with sufficient force to hold a storage device.
26. The method of claim 23 , wherein a biasing member comprises a spring providing sufficient force to hold a storage device between the opposing gripper fingers.