Abstract: The automated library system contains multiple independent robots for concurrently manipulating multiple media cartridges. The library system comprises a two-dimensional array that contains media cartridge storage cells and media cartridge players. A system of rails is used to guide robotic pods through all of the locations in the array, which eliminates the need for any steering or guide mechanism on board the robotic pods, resulting in a reduction in the mass of the robotic pods. The rail system also constrains the movement of the robotic pods into horizontal and vertical movements, thereby simplifying the control algorithms for collision avoidance that are required by a typical random moveable object handling system based on horizontal, vertical and diagonal degrees of freedom. The robotic pods contain a moveable carriage that is capable of transporting robotic components, such as media cartridge pickers, bar code reading devices, and other task oriented sub-modules, in the storage library rail system.

Abstract: A method and system for the storage and retrieval of media in an automated storage library having media storage cells each housing a single media includes a robotic mechanism. The robotic mechanism is operable to move through the storage library to access the media in the media storage cells. A vibration sensor is associated with the robotic mechanism for generating a vibration signal indicative of vibration of the robotic mechanism. A controller is operable with the vibration sensor for processing the vibration signal to determine if the vibration of the robotic mechanism is abnormal. In the event that the vibration is abnormal, the controller generates a warning signal to warn the operator of the storage library of a possible problem prior to actual failure of the robotic mechanism. The controller is also operable to associated the vibration of the robotic mechanism with particular storage library locations to warn the operator of possible problem locations of the storage library.

Abstract: A storage library includes a first robotic mechanism having an energy coupler and a second robotic mechanism having an energy coupler. The storage library further includes tracks disposed adjacent to media object storage cells for enabling access to each of the media object storage cells, and powered rails associated with the tracks for providing energy. The first robotic mechanism is movable toward the second robotic mechanism to enable the energy coupler of the first robotic mechanism to couple with the energy coupler of the second robotic mechanism to transfer energy from the first robotic mechanism to the second robotic mechanism. The energy couplers of the first and second robotic mechanisms couple together to transfer energy from the powered rails to the second robotic mechanism. The energy couplers of the first and second robotic mechanisms couple together to transfer energy between on-board energy sources.

Abstract: A storage library for recording and retrieving information from storage media cartridges each having a label side includes a front side having an opening. Left and right slots are disposed proximate the left and right sides of the storage library for holding the storage media cartridges. The slots and the storage media cartridges are oriented so that each label side of the storage media cartridges is visible to an operator through the opening. Each of the slots are accessible to the operator via the opening for the operator to access the storage media cartridges being held by the slots. A media drive is disposed proximate the back side of the storage library and is operative to receive a storage media cartridge through a port. A robotic mechanism is disposed between the slots and is operative to move the storage media cartridges between the slots and the media drive.

Abstract: A method and system for the storage and retrieval of media cartridges in an automated storage library having media cartridge storage cells each housing a single media cartridge. A robotic mechanism is operable to move through the storage library to access the media cartridges in the media cartridge storage cells. A vibration sensor is associated with the robotic mechanism for generating a vibration signal indicative of vibration of the robotic mechanism. A controller is operable with the vibration sensor for processing the vibration signal to determine if the vibration of the robotic mechanism is abnormal. In the event that the vibration is abnormal, the controller generates a warning signal to warn the operator of the storage library of a possible problem prior to actual failure of the robotic mechanism. The controller is also operable to associated the vibration of the robotic mechanism with particular storage library locations to warn the operator of possible problem locations of the storage library.

Abstract: The automated library system contains multiple independent robots for concurrently manipulating multiple media cartridges. The library system comprises a two-dimensional array that contains media cartridge storage cells and media cartridge players. A system of rails is used to guide robotic pods through all of the locations in the array, which eliminates the need for any steering or guide mechanism on board the robotic pods, resulting in a reduction in the mass of the robotic pods. The rail system also constrains the movement of the robotic pods into horizontal and vertical movements, thereby simplifying the control algorithms for collision avoidance that are required by a typical random moveable object handling system based on horizontal, vertical and diagonal degrees of freedom. The robotic pods contain a moveable carriage that is capable of transporting robotic components, such as media cartridge pickers, bar code reading devices, and other task oriented sub-modules, in the storage library rail system.

Abstract: A data storage library is provided which comprises a housing with an access door provided therein. A plurality of cartridge storage arrays are mounted within the housing, wherein the front of each array is positioned to face an internal space of the housing, preferably occupied by a robotic arm. In this configuration, cartridges contained within the arrays are generally unable to be accessed by an operator. Of the plurality of cartridge storage arrays, at least one array is movable. A rotating mechanism is coupled to the movable array, and the rotating mechanism is operable to turn the movable array from a first position inside the housing and facing the internal space, to a second position inside the housing and facing at least partially away from the internal space, allowing cartridges contained within the plurality of cartridge storage arrays to be accessed by an operator through the access door.

Abstract: A method and system for sharing robotic mechanisms between physically remote storage libraries in an automated storage library system includes routing robotic mechanism guide structures between the storage libraries. The guide structures run through robotic mechanism transfer ports located on the sides of the housing enclosures of the storage libraries. A robotic mechanism within an first storage library moves through the transfer port of the enclosure of the first storage library onto the guide structure. The robotic mechanism then moves out of the enclosure of the first storage library along the guide structure towards a second storage library. The robotic mechanism then moves along the guide structure through the transfer port of the enclosure of the second storage library and into the second storage library for performing operations such as accessing media objects within the second storage library.

Abstract: A robotic guidance mechanism for transporting storage media cartridges along linear and curved routes within a data storage library. The guidance mechanism includes a robotic assembly operating on a guide rail. Two guides of the robotic assembly move in two guide paths in the guide rail to route and orient the robotic assembly in a plane defined by the guide rail. A third guide of the robotic assembly engages a guide surface on the guide rail to prevent the robotic assembly from rotating out of the guide rail plane. A picker assembly is provided in the robotic assembly to handle one of the storage media cartridges.

Abstract: A data storage library is provided which comprises a housing with an access door provided therein. A plurality of cartridge storage arrays are mounted within the housing, wherein the front of each array is positioned to face an internal space of the housing, preferably occupied by a robotic arm. In this configuration, cartridges contained within the arrays are generally unable to be accessed by an operator. Of the plurality of cartridge storage arrays, at least one array is movable. A rotating mechanism is coupled to the movable array, and the rotating mechanism is operable to turn the movable array from a first position inside the housing and facing the internal space, to a second position inside the housing and facing at least partially away from the internal space, allowing cartridges contained within the plurality of cartridge storage arrays to be accessed by an operator through the access door.

Abstract: A data storage library and method for adaptively storing data cartridges therein utilizes a housing and a plurality of partitions removably mounted within the housing. Each partition has a longitudinal axis, a first side, and a second side, where each side includes a plurality of slots sized to receive at least a portion of a data cartridge. Either the partitions or the housing includes projections, and the other includes sets of apertures sized to receive the projections in order to mount the partitions within the housing. Pairs of partitions can be spaced and aligned with either their first sides or their second sides facing to form arrays capable of storing data cartridges.

Abstract: The pass thru mechanism for automated cartridge library systems serves to interconnect two juxtaposed operationally independent automated cartridge library systems and provides a simple apparatus that makes use of gravity to obviate the need for complex mechanical mechanisms to pass the media cartridge between the juxtaposed automated cartridge library systems. In particular, the pass thru mechanism comprises a media cartridge receiver that accepts a media cartridge from an automated cartridge library robot and then deposits the media cartridge in a media cartridge positioning mechanism. The media cartridge positioning mechanism uses gravity to tumble the media cartridge down a ramp into a media cartridge transport that delivers the media cartridge to the robot located in the juxtaposed media cartridge receiving automated cartridge library system.

Abstract: A library storage module is provided with a pass-through system operable to transfer tape cartridges in any direction between the original library storage module and an additional library storage module, wherein each library storage module is provided with a respective pass-through port. A pass-through tray is located in the original library storage module, and is sized to receive at least one cartridge. Preferably, the pass-through tray is provided with an extension bar attached thereto which provides an engagement surface for an actuator, such as a robotic arm, located inside each library storage module. A guide rail is provided along which the pass-through tray moves, the guide rail extending through the respective pass-through ports of the library storage modules. Upon instructions from a processor, one of the robotic arm applies force to the extension bar, thereby moving the pass-through tray and any cartridges contained therein along the guide rail between the adjacent library storage modules.

Abstract: The horizontally oriented autoloader for data storage cartridges orients the data storage cartridges in a horizontally oriented loading bin, and occupies a vertical space consistent with the vertical dimensions of the associated cartridge drive. These features of the present autoloader thereby enable multiple autoloader equipped cartridge drives to be mounted in a vertical stack. This increases the effective utilization of the computer center floor space. In addition, the bookshelf design of the autoloader trays allows for easier loading and unloading of cartridges, with the data storage cartridges being maintained in the same order and orientation as they were in the manual storage racks from which they were removed. The horizontal data storage cartridge movement mechanism is spring loaded to attain higher performance without motor drive.

Abstract: A telescopic pick-and-place robotic mechanism used to retrieve and deposit magnetic tape cartridges from a remote position, configured to be mounted to a typical robotic assembly located in proximity of a storage area for computer data or other storage media. The present invention has a reduced cross-sectional area due to its telescopic nature.The pick-and-place mechanism includes a base connected to the robotic arm and a number of slider plates coupled to the base which telescopically extend and retract relative to the base in a single axis of movement to reach the remote location. The slider plates are coupled to each other by slider means for enabling each of the slider plates to translate relative to each other along the single axis of movement. Each slider plate is controlled by a crank and slider mechanism which converts a incoming rotational force to a linear force in the direction of the single axis of movement.

Abstract: 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.

Abstract: A dynamic sweeping mechanism which drives a line-scan camera's field of view in a direction which is substantially perpendicular to the scan direction. The operation of the dynamic sweeping mechanism enables the line scan camera to make multiple scans across a target, providing the image processor the necessary image information to generate a two-dimensional image of the object as well as positioning the line scan camera at an optimal angle of view to obtain accurate single scan image data. The scan line angle of view is dynamically swept in a rotational manner about an axis of rotation which is parallel to the scan line under the control of either a dedicated drive mechanism or coupled to pre-existing drive mechanisms in the robotic hand mechanism.

Abstract: A buffered access system for loading and unloading media from a storage library system without interfering with the operation of the robotic arm within the storage library, while maintaining the security and integrity of the system, and increasing the overall storage capacity of the storage library. The buffered access system includes an automatic stack loader coupled to the exterior of the library module enabling the operator to stack multiple data cartridges to be input into the library module and to remove data storage cartridges automatically stacked in an output tray. The automatic stack loader retrieves and inserts the data storage cartridges in sequence from and into the library module through a cartridge access port to a turntable mechanism located in the interior of the library module.

Abstract: The continuous operation robotic hand mechanism of the present invention is used in a robotic object handling system and makes use of a crank mechanism attached to the gripper mechanism carriage in order to enable the drive motor to continuously operate throughout the entire carriage movement and object retrieval operations. This apparatus is configured to minimize the acceleration and deceleration required to operate the carriage mechanism as well as provide a pause of predetermined duration once the carriage has reached its furthest extent of travel in order to provide sufficient time for the finger gripper mechanism to be activated to grasp the object stored in a selected object storage location. This entire operation takes place without interrupting the operation of the drive motor to thereby minimize the power consumption, increase the speed of operation of the hand mechanism, and reduce the wear on the motor and associated components.

Abstract: The automatic magnetic tape cartridge stack loader apparatus includes a stack load slot for receiving a stack of magnetic tape cartridges. This slot is supported on the bottom by an indexing mechanism that translates the stack of magnetic tape cartridges in a downward direction so that the bottom most magnetic tape cartridge in the stack is in position in front of the tape drive access port, and supported by a load mechanism for insertion into the tape drive. A pair of stack grab plates, located on either side of the stack load slot concurrently operate to clamp the stack of magnetic tape cartridges, less the bottom most one, as the stack is translating in the downward direction. Once the bottom most magnetic tape cartridge is positioned on the load mechanism, the drop mechanism is operated to be repositioned under the stack of magnetic tape cartridges held by the stack grab plates. A tractor mechanism is then activated to load the magnetic tape cartridge from the load mechanism into the tape drive.