초록 ▼

The present invention comprises a robotic gripping hand capable of holding multiple storage media cartridges for retrieving and depositing cartridges within a storage library subsystem. The invention comprises a method and apparatus for indexing a tray adapted to hold multiple storage cartridges. Th

The present invention comprises a robotic gripping hand capable of holding multiple storage media cartridges for retrieving and depositing cartridges within a storage library subsystem. The invention comprises a method and apparatus for indexing a tray adapted to hold multiple storage cartridges. The tray is attached to the robotic hand to enable the hand to select among several cartridges to be manipulated by a single gripper subassembly. The gripper subassembly may retrieve a cartridge from a storage library subsystem and insert it into an available position in the indexing tray without affecting other cartridges already retained in other positions of the indexing tray. Likewise the gripper may remove a cartridge from a position in the indexing tray and return it to the storage library subsystem without affecting other cartridge already retained in other positions of the indexing tray. The invention further comprises the use of beveled perpendicular opposing gears and “one-way”ratcheting clutches to permit a single drive motor to control the motion to index the tray as well as the motion of the gripper subassembly to extend forward and backward to retrieve or deposit storage cartridges. Turning the drive motor in one direction controls the extension motion without affecting the position of the indexing tray. Turning the drive motor in the opposite direction moves the indexing tray without affecting the position of the gripper subassembly.

대표청구항 ▼

In a storage library subsystem providing for the robotic manipulation of storage media cartridges, a robotic hand apparatus for gripping and releasing said storage media cartridges to move said storage media cartridges within said storage library subsystem, said robotic hand apparatus comprising: a

In a storage library subsystem providing for the robotic manipulation of storage media cartridges, a robotic hand apparatus for gripping and releasing said storage media cartridges to move said storage media cartridges within said storage library subsystem, said robotic hand apparatus comprising: a slidable gripper means for controllably gripping and releasing said storage media cartridges; tray means having a plurality of slots each capable of holding one of said storage media cartridges as said robotic hand is moved within said storage library subsystem; a motor for moving said slidable gripper means and for moving said tray means, wherein said motor is operable to controllably rotate in either of two directions; extension drive means operably responsive to a first direction of rotation of said motor for controllably sliding said slidable gripper means forward and backward into and out of said slots of said tray means; indexing drive means operably responsive to a second direction of rotation of said motor for controllably moving said tray means so as to permit any one of said slots in said tray means to be aligned with said slidable gripper means such that said slidable gripper means may slide one of said storage media cartridges into or out of said one of said slots in said tray means; extension clutch means attached to said extension drive means and to said motor such that when said motor is rotated in one direction, said extension clutch means engages to controllably move said extension drive means and such that when said motor is rotated in the opposite direction said extension clutch means slips to maintain a stationary position of said extension drive means; and indexing clutch means attached to both said index drive means and to said motor such that when said motor is rotated in one direction said indexing clutch means engages to controllably move said index drive means and such that when said motor is rotated in the opposite direction said indexing clutch means slips to maintain a stationary position of said index drive means.