Dynamic magnetic information storage or retrieval – Record transport with head stationary during transducing – Tape record
Reexamination Certificate
1998-12-16
2001-03-27
Ometz, David L. (Department: 2652)
Dynamic magnetic information storage or retrieval
Record transport with head stationary during transducing
Tape record
Reexamination Certificate
active
06208483
ABSTRACT:
TECHNICAL FIELD
The present invention relates to a gripper positioning component for a storage library system for properly locating a robotically-movable hand assembly, including a gripper, with respect to a tape drive in order to retrieve an ejected cassette from the tape drive.
BACKGROUND ART
Storage library systems are used for storage and retrieval of data stored on cartridges. A storage library system may include multiple tape drives, and a robotically-movable hand assembly including a gripper for grasping and removing ejected cartridges from the various tape drives.
Certain tape drives eject cartridges to specific distances and are sensitive to push-back forces or push-back distances. If the ejected cartridge is pushed back into the tape drive with a certain force or to a certain distance, the tape drive will reload the cartridge. Accordingly, this reloading may occur if a movable hand assembly bumps against an ejected cartridge or pushes the cartridge too far into the tape drive prior to grasping the cartridge for removal. Speed is a critical feature of storage library systems, however, in this situation, a substantial time delay is caused because the cartridge must again be ejected from the tape drive for retrieval of the cartridge.
Bumping of the cartridge by the gripper of the hand assembly may occur if the hand assembly is not in the proper vertical position or not in the proper horizontal position for grasping the cartridge. The hand assembly is typically at the end of a multi-arm structure, therefore tolerance stack-up of the various arms may cause the end of the hand assembly to be out of position.
Some tape drives use mechanical hooks to hold the tape cartridge in the proper position in case the hand assembly bumps against the cartridge or attempts to push the cartridge in too far prior to removal. These mechanical hooks add a certain cost and reliability penalty to the storage library system.
Some prior art systems use servo position controllers to limit the movement of the hand assembly. This substantially slows the performance of the library and requires very narrow manufacturing tolerances between the drive and gripping device in order to operate properly.
Therefore, it is desirable to provide an inexpensive and accurate method and apparatus for properly positioning a hand assembly with the respect to a tape drive in order to retrieve an ejected cartridge from a tape drive without forcing the cartridge too far into the tape drive.
BRIEF SUMMARY OF THE INVENTION
The present invention overcomes the above-referenced shortcomings of the prior art storage library systems by providing a stall position component on the face of a tape drive so that the hand assembly abuts against the stall position component to properly position the hand assembly for grasping the cartridge without forcing the cartridge too far into the tape drive. This component will absorb the reach forces and limit depth the cartridge can be pushed back into the tape drive.
More specifically, the present invention provides a storage library system including a tape drive for receiving, reading and ejecting cartridges, wherein the tape drive has a front face, and a locator plate is attached to the front face. The locator plate includes a stall limit surface. A robotically-movable hand assembly is operative to retrieve cartridges from the tape drive. The robotically-movable hand assembly includes a stall limit feature protruding therefrom for abutting against the stall limit surface to limit movement of the hand assembly toward the tape drive to properly space the hand assembly with respect to the tape drive for retrieving cartridges from the tape drive.
Another aspect of the invention provides a method of removing an ejected cartridge from a tape drive having a front face by manipulation of a robotically-movable hand assembly. The method includes the steps of: (a) providing a locator plate on the front face, wherein the locator plate has a stall limit surface; (b) providing a stall limit feature protruding from the hand assembly; (c) moving the hand assembly toward the tape drive until the stall limit feature abuts against the stall limit surface to prevent further movement, thereby properly spacing the hand assembly from the tape drive; and (d) manipulating the hand assembly to remove the ejected cartridge from the tape drive.
Accordingly, an object of the invention is to provide an inexpensive and accurate method and apparatus for properly positioning a hand assembly with respect to a tape drive for removing an ejected cartridge from the tape drive while limiting the depth that the cartridge may be pushed back into the tape drive.
The above object and other objects, features and advantages of the present invention are readily apparent from the following detailed description of the best mode for carrying out the invention when taken in connection with the accompanying drawings.
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International Search Report—Apr. 13, 2000.
Black David C.
Manes Joseph P.
Brooks & Kushman P.C.
Ometz David L.
Storage Technology Corporation
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