Automated storage library gripper with finger position detector
View Patent ↗A mechanical gripper mechanism for transporting and handling storage devices including a sensor to determine the position of opposing gripper fingers is provided. The gripper mechanism includes a pair of opposing gripper fingers rotatably mounted to a picker frame, each having a distal end adapted to engage a storage device. The gripper mechanism further includes at least one optically detectable indicator associated with the position and movement of the gripper fingers, and an optical sensor positioned to detect at least one of the optically detectable indicators. In one example, the at least one optically detectable indicators are disposed in a curve coupled to a gear associated with rotating the gripper fingers.
1. A mechanical gripper device for transporting storage devices, comprising:
a frame;
a pair of opposing gripper fingers, each having
a proximal end rotatably mounted to the frame, and
a distal end adapted to engage a storage device;
at least one optically detectable indicator associated with the gripper fingers, wherein movement of the at least one optically detectable indicator is associated with movement of the gripper fingers; and
a first optical sensor and a second optical sensor configured to detect the at least one optically detectable indicator to provide quadrature signals.
2. The device of claim 1 , wherein the at least one optically detectable indicator is associated with a gear driving at least one of the gripper fingers.
3. The device of claim 1 , wherein the at least one optically detectable indicator is disposed along a curve and associated with a gear driving at least one of the gripper fingers.
4. The device of claim 1 , wherein the at least one optically detectable indicator includes at least a portion of an elliptical ring having a castellated profile.
5. The device of claim 1 , further including a third optical sensor positioned to detect at least one of the optically detectable indicators associated with the gripper fingers and indicating at least one of a fully opened or a fully closed position.
6. The device of claim 1 , wherein the gripper fingers are interconnected by corresponding geared surfaces such that the gripper fingers rotate together.
7. The device of claim 1 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
8. The device of claim 1 , wherein the gripper fingers are driven by a single actuator.
9. 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.
10. The device of claim 9 , 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.
11. The device of claim 1 , wherein the gripper fingers are biased closed.
12. An automated storage library, comprising:
storage bins for housing storage devices;
a robotic cartridge picker mechanism having a frame;
a pair of opposing gripper fingers rotatably mounted to the frame, each having a distal end adapted to engage a storage device;
at least one optically detectable indicator associated with the gripper fingers, wherein movement of the at least one optically detectable indicator is associated with movement of the gripper fingers; and
first and second optical sensors configured to detect the at least one optically detectable indicator to provide quadrature signals.
13. The storage library of claim 12 , wherein the at least one optically detectable indicator is associated with a gear driving at least one of the gripper fingers.
14. The storage library of claim 12 , wherein the at least one optically detectable indicator is disposed along a curve and associated with a gear driving at least one of the gripper fingers.
15. The storage library of claim 12 , wherein the at least one optically detectable indicator includes a ring having a castellated profile.
16. The storage library of claim 12 , further including a third optical sensor positioned to detect at least one of the optically detectable indicators associated with the gripper fingers and indicating a fully opened position.
17. The storage library of claim 12 , wherein the gripper fingers are interconnected by corresponding geared surfaces such that the gripper fingers rotate together.
18. The storage library of claim 12 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
19. The storage library of claim 12 , wherein the gripper fingers are driven by a single actuator.
20. The storage library of claim 12 , wherein the distal ends of the gripper fingers include opposing planar surfaces for engaging opposite minor side surfaces of a storage device.
21. The storage library of claim 20 , 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.
22. The storage library of claim 12 , wherein the gripper fingers are biased closed.
23. A method for controlling a mechanical gripper device for transporting storage devices, comprising:
rotating a pair of opposing gripper fingers to engage opposing surfaces of a storage device, wherein rotation of the gripper fingers is associated with movement of at least one optically detectable indicator;
detecting the at least one optically detectable indicator; and
producing quadrature signals associated with the position of the gripper fingers.
24. The method of claim 23 , wherein the at least one optically detectable indicator is detected with two optical sensors configured to output the quadrature signals.
25. The method of claim 23 , wherein movement of the at least one optically detectable indicator is associated with movement of the gripper fingers.
26. The method of claim 23 , wherein the position of the at least one optically detectable indicator is associated with the position of the gripper fingers.
27. The method of claim 23 , wherein proximal ends of the gripper fingers include geared surfaces that are directly coupled.
28. The method of claim 23 , further including activating a motor mechanically coupled to one of the opposing gripper fingers to move the opposing gripper fingers together.
29. The method of claim 23 , wherein the distal ends of the gripper fingers include opposing planar surfaces for engaging opposite minor side surfaces of a storage device.
30. The method of claim 29 , 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.