Robotic corner negotiating systems and methods for automated storage libraries
View Patent ↗In one aspect of the invention, an apparatus for transferring storage cartridges within an automated storage library is provided. The apparatus includes a sled and a track for supporting and guiding the sled. The track includes a corner portion wherein the sled moves through the corner portion without changing the orientation of the sled relative to the track and storage library system. The corner portion may include a 90 degree turn. The sled may further include a gripper mechanism for handling storage cartridges. The gripper mechanism may rotate relative to the sled to access various storage device interface positions adjacent the track. In another example, the apparatus may further include a motor located remotely from the track and coupled to the sled via a cable pulley system, which drives the sled through the corner portion.
1. An apparatus for transferring storage devices within an automated storage library, comprising:
a sled;
a frame having a track for supporting the sled;
and a belt drive system for moving the sled along the track, wherein the track has a corner portion, and the sled is guided through the corner portion of the track without changing any orientation of the sled relative to the frame, and
wherein the sled includes a gripper mechanism for engaging one or more storage devices, the gripper mechanism capable of rotation relative to the sled.
2. The apparatus of claim 1 , wherein the sled is guided through the corner portion of the track in a substantially rectilinear motion.
3. The apparatus of claim 1 , wherein the track further comprises a plurality of guide members for guiding a cable driven by a motor, wherein the cable is coupled to the sled to move the sled along the track.
4. The apparatus of claim 3 , wherein the cable is coupled to the sled near a centroid of the sled.
5. The apparatus of claim 3 , wherein a pulley disposed in the corner of the track includes a notch to accommodate a fastening member fixing the cable to the sled.
6. The apparatus of claim 3 , wherein the motor is located remotely from the track.
7. The apparatus of claim 1 , wherein the sled includes at least one element to engage and follow the track.
8. The apparatus of claim 7 , wherein the sled includes 4 cam followers for engaging guide members of the track.
9. The apparatus of claim 8 , wherein the sled includes a fifth cam follower for selectively engaging the guide members of the track.
10. The apparatus of claim 7 , wherein the sled includes a guiding element for engaging a portion of the track if the at least one element to engage and follow the track becomes disengaged.
11. The apparatus of claim 1 , wherein a turning radius of the corner portion is less than 7 mm.
12. An automated storage library system, comprising the apparatus of claim 1 .
13. An apparatus for transferring storage devices within an automated storage library, comprising:
a sled;
a frame having a track for supporting the sled;
and a belt drive system for moving the sled along the track, wherein the track has a corner portion, and the sled is guided through the corner portion of the track without changing any orientation of the sled relative to the frame, and
wherein said track includes a first linear portion and a second linear portion that intersect at the corner.
14. The apparatus of claim 13 , wherein first linear portion and the second linear portion are orthogonal with respect to each other.
15. An apparatus for transferring storage devices within an automated storage library, comprising:
a sled;
a frame having a track for supporting the sled;
and a belt drive system for moving the sled along the track, wherein the track has a corner portion, and the sled is guided through the corner portion of the track without changing an orientation of the sled relative to the frame, wherein a pulley disposed in the corner of the track includes a notch to accommodate a fastening member fixing the cable to the sled.
16. An apparatus for transferring storage devices within an automated storage library, comprising:
a sled;
a frame having a track for supporting the sled;
and a belt drive system for moving the sled along the track, wherein the track has a corner portion, and the sled is guided through the corner portion of the track without changing the horizontal orientation of the sled relative to the frame, and wherein the sled includes a gripper mechanism for engaging one or more storage devices, the gripper mechanism capable of rotation relative to the sled.
17. The apparatus of claim 16 , wherein the sled is guided through the corner portion of the track in a substantially rectilinear motion.
18. The apparatus of claim 16 , wherein the track further comprises a plurality of guide members for guiding a cable driven by a motor, wherein the cable is coupled to the sled to move the sled along the track.
19. The apparatus of claim 16 , wherein said track includes a first linear portion and a second linear portion that intersect at the corner.
20. An automated storage library system, comprising the apparatus of claim 16 .