Abstract: Utilities that increase the volume of media elements that can be simultaneously loaded and/or unloaded into or from a storage library, facilitate mounting of media element magazines into a storage library, and limit access to an interior of a storage library by users during operation of robotics assemblies of the storage library. One disclosed utility includes a cartridge access port for use with a storage library that has a storage container that is pivotable (e.g., swingable) between at least first and second positions. In the first position, the storage container is adjacent an opening in the housing of the library for loading and unloading of media elements by a user into or from the container via the opening. After the storage container has swung into the second position, the storage container is spaced from the opening and faces the interior of the library for access by a robotics assembly.

Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).

Abstract: Systems and methods are described for using topographic and/or contrast spot scanning to facilitate various types of functionality in context of a data storage library. A robotic mechanism includes a hand assembly that has one or more integrated spot scanners. The hand assembly is configured to travel in at least two directions and to rotate, thereby locating and/or pointing the spot scanner in desired locations throughout the data storage library. By sweeping the spot scanner across a scan window, contrast and/or topographic data can be acquired and decoded to generate a profile of a region. The profile can be interpreted to facilitate functions, such as calibration of robot location with respect to media cartridges, targeting, proximity detection, empty cell detection, etc.

Abstract: Systems and methods are described for maintaining secure and contiguous guide transitions in the context of modular installations. Embodiments of the guides are configured to automatically register and couple with each other during installation of their respective modules to provide relatively high tolerance guide transitions, even in the context of relatively lower tolerance modular installations. In some embodiments, a guide is configured to be biased in a first position when its respective module is not installed. When its module is located in a partial-install location relative to an adjacent module with the guide in the first position, guide features mechanically register with features of the adjacent module's guide. When moved into a full-install position, the guide moves into a second position causing the guide to finally register and couple with the adjacent guide, thereby manifesting a stable and contiguous transition between the guides.

Abstract: Embodiments of the invention include systems and methods for selective gripping and/or releasing of media cartridges using a robotic ratcheting gripper mechanism. Embodiments operate in context of a data storage library having a number of media cartridges physically located within slots of one or more magazines. A robot with a hand assembly uses a gripper mechanism to retrieve and ferry the cartridges between the magazines and one or more media drives. A novel gripper mechanism is provided that toggles between open and closed states according to movement of the gripper. In some embodiments, movement of a carriage from a retracted to an extended position extends the gripper mechanism and toggles its state, while movement of the carriage from the extended to the retracted position retracts the gripper mechanism while maintaining its state. Certain embodiments implement this functionality with simple mechanical components.

Abstract: Embodiments include systems and methods for securing a magazine in a housing using a latching system. Embodiments operate in context of a storage library having removable magazines that store data cartridges. For example, a floating, two-part latching system operates in either an operable state or an unlatched state. The latching system includes a setter and a latch, where the latch is configured to float on the setter and to be biased into a latched position. When the setter is in a first position, it permits the latch to float between at least a fully latched position and a fully unlatched position. When the setter is moved to a second position, it moves the latch into the fully unlatched position and restricts the latch from moving into the latched position.

Abstract: Embodiments of the invention include systems and methods for selective gripping and/or releasing of media cartridges using a robotic ratcheting gripper mechanism. Embodiments operate in context of a data storage library having a number of media cartridges physically located within slots of one or more magazines. A robot with a hand assembly uses a gripper mechanism to retrieve and ferry the cartridges between the magazines and one or more media drives. A novel gripper mechanism is provided that toggles between open and closed states according to movement of the gripper. In some embodiments, movement of a carriage from a retracted to an extended position extends the gripper mechanism and toggles its state, while movement of the carriage from the extended to the retracted position retracts the gripper mechanism while maintaining its state. Certain embodiments implement this functionality with simple mechanical components.

Abstract: Embodiments include systems and methods for securing a magazine in a housing a latching system. Embodiments operate in context of a storage library having removable magazines that store data cartridges. For example, a floating, two-part latching system operates in either an operable state or an unlatched state. The latching system includes a setter and a latch, where the latch is configured to float on the setter and to be biased into a latched position. When the setter is in a first position, it permits the latch to float between at least a fully latched position and a fully unlatched position. When the setter is moved to a second position, it moves the latch into the fully unlatched position and restricts the latch from moving into the latched position.

Abstract: Systems and methods are described for using topographic and/or contrast spot scanning to facilitate various types of functionality in context of a data storage library. A robotic mechanism includes a hand assembly that has one or more integrated spot scanners. The hand assembly is configured to travel in at least two directions and to rotate, thereby locating and/or pointing the spot scanner in desired locations throughout the data storage library. By sweeping the spot scanner across a scan window, contrast and/or topographic data can be acquired and decoded to generate a profile of a region. The profile can be interpreted to facilitate functions, such as calibration of robot location with respect to media cartridges, targeting, proximity detection, empty cell detection, etc.

Abstract: Systems and methods are described for providing magnetic biasing of a carriage in context of linear guides. In one embodiment, a robotic mechanism is configured to travel on a platform assembly within a structural context. The platform assembly transports a carriage in a Z direction, and the carriage transports the robotic mechanism in an X direction. The carriage moves in the X direction along rails (e.g., and/or other types of linear guides) in a substantially floating or unbiased manner. For example, one or more alignment features on the carriage are in communication with the rails to allow the carriage to move relatively freely within an alignment region defined by the alignment features. When the carriage reaches its desired X location, magnetic features bias the carriage into a substantially accurate, secure, and repeatable position.

Abstract: Systems and methods are described for providing a magnetic clutch to limit Z-directional motion of a mass (e.g., a carriage for transporting a robotic mechanism in context of a storage library). According to embodiments, the mass is suspended by cabling, and its Z-directional movement is controlled by a Z-drive assembly. The Z-drive assembly includes a drive gear made of a magnetic or conductive material, and the drive gear is in magnetic communication with a biasing magnet. Embodiments configured the biasing magnet with a particular magnetic moment and a position relative to the drive gear, so that the spinning of the drive gear induces magnetic currents that tend to counteract the motion of the gear. For example, in the event of power loss to the Z-drive assembly, magnetic clutching is used to limit or prevent motion of the mass under the force of gravity.

Abstract: Systems and methods are described for providing sensing slack on cabling coupled between a drive mechanism and a carriage. Embodiments of the carriage are configured so that the cables are substantially in tension when Z-directional movement of the carriage is substantially unimpeded and at least one cable manifests slack when Z-directional movement is impeded. Accordingly, detecting slack on the cables can be used to detect impedance to Z-directional movement of the carriage. According to some embodiments, a novel slack sensor translates tension on the cables into a forward pulling force that holds the slack sensor in a deactivated state. A reverse force is maintained on the slack sensor in a magnitude and direction that causes the slack sensor to move to an activated state whenever sufficient tension is not manifest on the cables. Slack can thus be detected by detecting when the slack sensor is in its activated state.

Abstract: Systems and methods are described for fixed rotational positioning of a robotic hand assembly using mechanical wrist locking techniques. A wrist is configured to rotate the hand assembly and point grip components in a desired direction (e.g., for pick and place operations). Tolerances of components of the wrist can accumulate to manifest rotational positioning error. Embodiments include wrist locking techniques for locking the wrist in a desired rotational position. Some implementations couple grip components with wrist lock components in such a way that movement of the grip components causes the wrist lock assembly automatically to move between locked and unlocked states. For example, retracting the grip components pushes a wrist lock latch into an unlocked position (allowing the wrist to rotate). Extending the grip components allows the latch to move to a locked position where it interlocks with an alignment feature to lock the wrist into an accurate, predetermined angle.

Abstract: Systems and methods are described for maintaining secure and contiguous guide transitions in the context of modular installations. Embodiments of the guides are configured to automatically register and couple with each other during installation of their respective modules to provide relatively high tolerance guide transitions, even in the context of relatively lower tolerance modular installations. In some embodiments, a guide is configured to be biased in a first position when its respective module is not installed. When its module is located in a partial-install location relative to an adjacent module with the guide in the first position, guide features mechanically register with features of the adjacent module's guide. When moved into a full-install position, the guide moves into a second position causing the guide to finally register and couple with the adjacent guide, thereby manifesting a stable and contiguous transition between the guides.

Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).

Abstract: Embodiments of the invention include systems and methods for selective gripping and/or releasing of media cartridges using a robotic ratcheting gripper mechanism. Embodiments operate in context of a data storage library having a number of media cartridges physically located within slots of one or more magazines. A robot with a hand assembly uses a gripper mechanism to retrieve and ferry the cartridges between the magazines and one or more media drives. A novel gripper mechanism is provided that toggles between open and closed states according to movement of the gripper. In some embodiments, movement of a carriage from a retracted to an extended position extends the gripper mechanism and toggles its state, while movement of the carriage from the extended to the retracted position retracts the gripper mechanism while maintaining its state. Certain embodiments implement this functionality with simple mechanical components.

Abstract: An apparatus for supporting a storage container upon removal from a storage compartment. A door is disposed proximate the storage compartment and is movable between an open position and a closed position. The door includes a mating feature. The storage container includes a retention feature. The mating feature is configured to engage the retention feature and support the storage container when the door is in the open position and the storage container is removed from the storage compartment.

Abstract: The capacity of a rack-mounted storage library having a media element handling assembly is expanded by mounting a panel segment to a rack side such that the panel segment faces the rack interior. At least one of media element housing cells and a media player are supported on the panel segment such that the cells and the player face the rack interior. The library capacity is increased by mounting another panel segment having cells or a player to another rack side. The panel segments are mounted to the rack sides independent of one another or are connected together prior to being mounted to the rack sides. The handling assembly moves through the rack interior to load media elements held by cells into a player. The panel segments may be mounted to the rack sides at the same or different rack length positions.

Abstract: A storage library includes cells supported within a frame for holding media elements. A robot assembly is operable for moving toward the cells and manipulating media elements held by the cells. The robot is containable within a module which is removably mountable to the frame to provide modular replacement and removal of the robot from the frame. The robot is contained within the module as the module is mounted to the frame and moves out from the module to move toward the cells and manipulate media elements held by the cells while the module is mounted to the frame. The module is removably dismounted out of the frame while the robot is contained within the module to provide the modular removal of the robot. The module is removably mounted into the frame while a new robot is contained within the module to provide the modular replacement of the robot.

Abstract: A storage library which enables capacity expansion without additional robotics hardware includes a frame, first and second modules having respective cells, and a robot. The frame supports the first module at a first frame length position such that the first cells are positioned at the first frame length position and along the periphery of a channel extending within the frame interior through the frame length. The frame supports the second module when the second module is mounted to the frame such that the second cells are positioned at the second frame length position and along the channel periphery. The robot has a support connected to the frame and a picker movably connected to the support. The picker moves through the channel to manipulate media elements held by the first cells, and to manipulate media elements held by the second cells when the second module is mounted to the frame.