HANDLING DEVICE FOR HARD DRIVES

Description

[0001] The invention relates to a handling device for exchanging hard drives from a drawer with a plurality of hard drives arranged in a storage magazine, which has a base frame and a support frame that is adjustable in height relative to it.

[0002] A hard disk exchange device is known from EP 0 351 470 A2. In this device, the individual hard disk is dispensed by means of a conveyor device arranged in the computer system.

[0003] WO 2009 129069 A2 discloses an aggregation of a magazine, a testing station, and a handling device. The handling device has three main rotary axes as well as two rotary and one linear secondary axis. This handling device has a single gripping device.

[0004] From US patent 2018 / 0313890 A1, several embodiments of feeding devices for automatic testing devices, among others for hard disks, are known, the working area of ​​which is limited to the reach of the hard disk gripper.

[0005] The present invention is based on the problem of developing a hard drive exchange device for a large number of hard drives.

[0006] This problem is solved by the features of the main claim. For this purpose, the support frame is guided along guide rails of the base frame. The support frame has a maintenance area with a platform. Parallel to the platform, a gripper is linearly movable to pull the drawer containing the storage magazine onto the platform and to move the drawer back into its starting position. A hard disk gripping unit with a parallel gripping device is movably suspended from a cross slide of the support frame. Furthermore, the parallel gripping device is height-adjustable relative to the support frame by means of a height adjustment unit.

[0007] The handling device uses a gripper to pull a drawer containing a storage magazine onto the maintenance area's installation surface. Because the support frame is height-adjustable relative to the base frame, the storage magazine can be positioned at virtually any height within the computer system. The hard drives are replaced in the handling device's maintenance area. Afterward, the drawer containing the storage magazine is returned to its starting position using the gripper.

[0008] Further details of the invention will become apparent from the dependent claims and the following description of schematically illustrated embodiments. Figure 1: Handling device and drawer; Figure 2: Isometric rear view of the Figure 1 Figure 3: Drawer with storage magazine; Figure 4: Underside view of the support frame; Figure 5: Support frame; Figure 6: Gripper; Figure 7: Hard disk gripping unit; Figure 8: Side view of the hard disk gripping unit.

[0009] The Figure 1 and 2 show a drawer (10) with a plurality of hard disks (12) arranged in a storage magazine (11) and a handling device (20) for exchanging the hard disks (12), cf. Figure 3 The storage magazine (11) serves, for example, for data storage in a computer system not shown here. This computer system can have several storage magazines (11), which are arranged, for example, one above the other and / or next to each other. Each of the storage magazines (11) is located in a drawer (10) that can be pulled out from the computer system. The drawer (10) can be guided in a telescopic extension and / or be removable.

[0010] To pull out the drawer (10), it has a loop pointing towards the handling device (20). After maintenance work has been carried out, the drawer (10) can be reinserted into the computer system. When pulling out the drawer (10), the electrical and data connections to the computer system can be disconnected or left in place.

[0011] The Figure 3Figure 1 shows a drawer (10) containing the storage magazine (11). The individual hard disks (12) are arranged in rows and columns within the storage magazine (11). Each hard disk (12) sits in a receiving slot (13) of the storage magazine (11). This receiving slot (13) is designed as a slot in which the individual hard disk (12) is electrically and data-wise connected to the drawer (10). Individual slots may be left empty. All hard disks (12) are aligned parallel to each other and face upwards (14). In this embodiment, all hard disks (12) have the same external dimensions. However, it is also conceivable to use hard disks (12) with different external dimensions. A pressure plate (15) is arranged next to each hard disk (12) in the receiving slot (13). This pressure plate (15) secures the contacts between the hard disk (12) and the drawer (10). In this embodiment, each pressure plate (15) has receiving openings (16).These recording breakthroughs (16) protrude in the representations of the . Figures 1 - 3 out of the storage magazine (11).

[0012] The handling device (20) is shown in the illustrations of the Figure 1 and 2 arranged parallel to the transverse direction (6) of the drawer (10). It comprises a base frame (21) and a support frame (41).

[0013] The base frame (21) is arranged, for example, on a movable carriage. It comprises four guide rails (22) oriented in the vertical direction (7). In plan view, these guide rails (22) form the corners of a rectangle. The guide profiles (23) of the opposite short sides of the rectangle point towards each other. The guide rails (22) are connected to each other by means of support plates (24) and support beams (25).

[0014] The support frame (41) is guided along the guide rails (22). The support frame (41) is designed to be height-adjustable relative to the base frame (21) between an upper end (26) of the guide rails (22) and a lower stop of the guide rails (22). For this purpose, the support frame (41) has two ball bearing shoes (42) per guide rail (22), cf. Figure 5 .

[0015] A height adjustment unit (27) is arranged on each of the two support plates (24). Each height adjustment unit (27) comprises a drive motor (28) located on the outside of the base frame (21), which drives a trapezoidal spindle (31) mounted in the base frame (21) via a belt drive (29). A spindle nut (43) fixed to the support frame (41) moves the support frame (41) in the vertical direction (7) when the threaded spindle (31) is rotated. This screw thread is self-locking. In the exemplary embodiment, both height adjustment units (27) are synchronized with each other so that the support frame (41) is always horizontal. An energy chain (32) with power and data cables running through it connects the base frame (21) to the support frame (41).

[0016] The Figures 4 and 5Figure 41 shows the support structure (41) in a bottom view and in an isometric view. The support structure (41) has a base plate (44) which is connected to an upper support frame (91) by means of four support columns (45). The ball bearing shoes (42) are arranged on the support columns (45).

[0017] The base plate (44) has a flat support surface (46) on which longitudinally oriented guideways (47) are arranged. This area of ​​the base plate (44) is hereinafter referred to as the maintenance area (48). In the exemplary embodiment, the length of the guideways (47) corresponds to half the length of the base plate (44) in the longitudinal direction (5). The surface of the guideways (47) forms a flat, multi-part mounting surface (49). The plane of the mounting surface (49) is, for example, parallel to a travel plane of a carriage carrying the handling device (20).

[0018] A longitudinal groove (51) is embossed in the base plate (44). A gripping tong (71) that can be moved in the longitudinal direction (5) is guided in this longitudinal groove (51).

[0019] The grabber (71), see. Figure 6 The device has a gripper housing (72) and two gripper fingers (73, 74). In the exemplary embodiment, the gripper fingers (73, 74) are arranged one above the other, so that their dividing line is horizontal. Other arrangements of the gripper fingers (73, 74) are also conceivable. For example, the lower gripper finger (73) is rigidly attached to the gripper housing (72). At its free end, the lower gripper finger (73) has a receiving bore (75).

[0020] The upper gripping finger (74) is movable relative to the lower gripping finger (73) in the vertical direction (7). The two gripping fingers (73, 74) can also be pivoted relative to each other. At its free end, the upper gripping finger (74) has an engagement pin (76) whose diameter is smaller than the diameter of the receiving bore (75). In the closed position of the gripping jaws (71), the engagement pin (76) penetrates the receiving bore (75). The gripping jaws (71) are, for example, electrically actuated.

[0021] To move the gripper (71) along the base plate (44), a gripper motor (77) is arranged below the base plate (44). This motor drives a threaded spindle (79) via a belt drive (78), which is guided in a threaded nut (81) located on the gripper housing (72). The use of a trapezoidal threaded spindle is also conceivable. Two guide rails (52) arranged on the base plate (44) guide the gripper (71) in the longitudinal direction (5). The end positions of the gripper's (71) travel path are monitored, for example, by means of limit and / or proximity switches.

[0022] In the extended position, the gripper (71) protrudes beyond the transverse edge (53) of the base plate (44). This position, as well as the opening and closing of the gripper (71) in this extended position, is monitored, for example, by a gripper camera (82) mounted on the base plate (44). In the exemplary embodiment, the normal to the camera plane is oriented at an angle of 24 degrees to the longitudinal direction (5). This angle can, for example, be up to 75 degrees. The angle of the gripper camera (82) to the longitudinal direction (5) can be adjustable.

[0023] In the retracted position of the gripper (71), elastically deformable stop buffers (54) are arranged next to the gripper (71). Proximity switches (55) are arranged, for example, on the base plate (44) next to these stop buffers (54). The proximity switches (55) can be inductively or capacitively damped.

[0024] A magazine area (56) is arranged longitudinally (5) offset from the maintenance area (48). Four belt conveyors (57, 58) are arranged in this magazine area (56). The upper run of each belt conveyor (57; 58) lies, for example, in a common plane with its coupled adjacent belt conveyor (57; 58). The conveying direction of the belt conveyors (57, 58) is oriented longitudinally (5). Two adjacent belt conveyors (57) are driven by a first belt conveyor drive unit (59), and the other two adjacent belt conveyors (58) are driven by a second belt conveyor drive unit (61). The two belt conveyor drive units (59, 61) are mirror images of each other. The single belt conveyor drive unit (59; 61) has a belt conveyor motor (62), a belt drive (63) and a connecting shaft (64) of the two belt conveyors (57; 58) driven by this drive unit (59; 61).

[0025] A hard disk identification device (65) is mounted on the base plate (44). This device has a receiving slot (66) whose dimensions are slightly larger than the dimensions of a hard disk (12; 112) in top view. The receiving slot (66) is oriented longitudinally (5). The hard disk identification device (65) has an optical reading device for receiving the data from the nameplate of a hard disk (12; 112).

[0026] In the depictions of the Figure 1 and 2Each of the two conveyor belts (57; 58) carries a hard disk magazine (111; 115). For example, the right-hand hard disk magazine (115) as seen from the maintenance area (48) is for used hard disks (12), and the left-hand hard disk magazine (111) is for new hard disks (112). Both magazines (111, 115) have a receiving basket (113) in which an insert carrier (114) containing the hard disks (12; 112) is arranged. Both the used hard disks (12) and the new hard disks (112) are oriented the same way.

[0027] The upper support frame (91) is designed as a cross slide (91). Two longitudinal guide rails (92) connected to the support columns (45) each carry a trolley (93). A longitudinal drive motor (94) drives, for example, a toothed belt (95), which is connected to a toothed belt drive (96) of the other longitudinal guide rail (92) via a connecting rod (97). Each toothed belt (95) is connected to a trolley (93).

[0028] The two trolleys (93) jointly support two transverse guide rails (98). The transverse guide rails (98) support a control box (99). Furthermore, a hard disk gripping unit (121) is movably suspended from the transverse guide rails (98).

[0029] The Figures 7 and 8 The hard disk gripping unit (121) is shown. It has a transverse traverse unit (122), a height adjustment unit (131), an optical position control unit (141) and a parallel gripping device (151).

[0030] The transverse travel unit (122) has an overhead transverse travel motor (123) which drives a gripper travel slide (125) by means of a belt drive (124).

[0031] The height adjustment of the parallel gripping device (151) relative to the support frame (41) is effected by means of the height adjustment unit (131). The height adjustment unit (131) comprises a lifting motor (132) which drives a lifting carriage (135) supporting the parallel gripping device (151) by means of a belt drive (133) and a trapezoidal spindle (134).

[0032] The parallel gripping unit (151) can additionally be designed to pivot relative to the cross slide (91). The pivot axis is oriented, for example, in the vertical direction (7).

[0033] The parallel gripping device (151) comprises two gripping elements (152) arranged parallel to each other. In the illustrated embodiment, these gripping elements (152) are movable in the transverse direction (6) by means of, for example, an electric motor drive. For instance, they can be moved symmetrically towards each other about a central longitudinal plane of the gripper body (153) until they are in contact with each other. In this process, the two gripping elements (152) make contact with their respective stop strips (154).

[0034] The gripping elements (152) have mutually facing gripping surfaces (155) and gripping hooks (156) at their free ends. The two gripping surfaces (155) are arranged parallel to each other. They each lie in a plane defined by the vertical direction (7) and the transverse direction (6). These gripping surfaces (155) encompass the free ends of the gripping elements (152).

[0035] The two gripping hooks (156) point in the same direction. In the exemplary embodiment, the gripping hooks (156) have a straight lower web (157) with a low retaining lug (158). The hook opening thus has a height that is at least approximately constant.

[0036] The hard disk gripping unit (121) carries a position control unit (141) in the form of a camera (141). This is designed similarly, for example, to the gripper camera (82) on the base plate (44). The viewing direction of the camera of the hard disk gripping unit (121) is directed at least approximately downwards in the vertical direction (7). With this camera (141), for example, the gripping area of ​​the gripping elements (152) can be monitored.

[0037] To replace hard disks (12) in a storage magazine (11), a carriage carrying the handling device (20) moves, for example, so that its transverse side faces the storage magazine (11). In the magazine area (56) of the handling device (20), there is a first empty hard disk magazine (115) and a second hard disk magazine (111) loaded with new hard disks (112). Both hard disk magazines (111, 115) have been moved, for example, by means of their respective conveyor belts (57, 58), towards the maintenance area (48) until they are abutting the respective stops.

[0038] The position of the handling device (20) relative to the storage magazine (11) is checked, for example, by means of a camera or by means of a position control of the carriage's control system.

[0039] The support frame (41) is then adjusted vertically (7) relative to the base frame (21) until the mounting surface (49) of the base plate (44) lies in a tangential plane to the underside of the drawer (10). This position can be checked, for example, using the gripper camera (82) mounted on the base plate (44). Here, the support frame (41) is adjusted, for example, so that the eyelet of the drawer (10) lies within a predefined tolerance range. The gripper (71) is initially in a first, retracted ready position. The gripper (71) is, for example, open. The hard drive gripper unit (121) is, for example, in its upper end position.

[0040] With the height adjustment of the support frame (41) locked relative to the base frame (21), the gripper (71) is moved longitudinally (5) towards the storage magazine (11). As soon as the gripper (71) reaches the eyelet, it closes. The position of the gripper (71) in the longitudinal direction (5) is monitored, for example, by means of the gripper camera (82). The open state of the gripper (71) and the closed state of the gripper (71) after closing can also be monitored by means of this gripper camera (82), which is directed at the extended gripper (71).

[0041] As soon as the eyelet of the drawer (10) is gripped, the gripper (71) is retracted into the handling device (20). The storage magazine (11), which is stored, for example, in a telescopic drawer, is pulled along with it. As it is pulled out, the storage magazine (11) enters the maintenance area (48) of the handling device (20). Here, the drawer (10) is pulled, for example, along the guide rails (47) of the base plate (44). The retraction of the gripper (71) is complete when the proximity switches (55) of the maintenance area (48) are deactivated. The storage magazine (11) is now located in the maintenance area (48).

[0042] The control-related locking mechanism of the hard disk gripping unit (121) is now released. The hard disk gripping unit (121) moves by means of the cross slide (91) until the parallel gripping device (151) is positioned above a hard disk (12) of the storage magazine (11) to be replaced.

[0043] The parallel gripping device (151) is moved downwards. The gripping elements (152) are spaced apart, for example, so that their distance corresponds to the distance between the receiving openings (16) of the pressure plate (15). The gripping hooks (156) engage the receiving openings (16) and pull the pressure plate (15) slightly upwards. This is monitored, for example, by means of the gripper camera (141).

[0044] When the pressure plate (15) is lifted, the hard drive (12) is released. The gripping elements (152) extend from the receiving openings (16). Subsequently, the distance between the two gripping elements (152) is increased, for example. The parallel gripping device (151) moves relative to the hard drive (12) such that the gripping elements (152) with their gripping surfaces (155) contact the side edges (17) of the hard drive (12). The two gripping elements (152) are pressed against the hard drive (12) so that they exert a predetermined contact force. This contact force can be monitored by means of displacement, current, and / or pressure monitoring.

[0045] The used hard disk (12), held in this way, is pulled out of the storage magazine (11). The hard disk gripping unit (121) is then moved, among other things by means of the cross slide (91), so that the hard disk (12) is positioned above the hard disk magazine (115) containing the used hard disks (12). The hard disk (12) can now be placed into the hard disk magazine (115) containing the used hard disks (12).

[0046] A new hard drive (112) is then removed from the hard drive magazine (111) for new hard drives (112) using the hard drive gripping unit (121). The gripping of the new hard drive (112) takes place as described above.

[0047] The new hard disk (112), picked up by the parallel gripping device (151), is moved to the hard disk identification device (65). Here, the new hard disk (112) is inserted into the receiving slot (66). After scanning the disk identification, the new hard disk (112) is moved to the storage magazine (11) by the hard disk gripping unit (121). Here, the new hard disk (112) is inserted into the empty receiving slot (13). After the hard disk (112) has been placed down, the clamping of the hard disk (112) by the gripping elements (152) can be released. The parallel gripping device (151) moves out of the storage magazine (11).

[0048] The gripping elements (152) are now moved relative to each other until their distance corresponds to the distance between the receiving openings (16). After the gripping hooks (156) engage in the receiving openings (16), the pressure plate (15) is pressed downwards by means of the parallel gripping device (151). The new hard disk (112) is secured in the storage magazine (11).

[0049] After the hard disk gripper (121) has moved out of the storage magazine (11), either another hard disk (12) in the storage magazine (11) is replaced or the storage magazine (11) is moved back into its starting position. To move the drawer (10) containing the storage magazine (11) into the computer system, it is moved into the computer unit by means of the gripper (71). As soon as the drawer (10) has reached its starting position in the computer unit, the gripper (71) opens. This position and the opening are monitored, for example, by the gripper camera (82). The open gripper (71) then moves toward the magazine area (56). For example, as soon as the gripper (71) has reached its end position, the control lock of the height adjustment of the support frame (41) is released.Now, for example, additional hard drives (12; 112) can be replaced at a different height within the computer system, or the drive replacement can be completed. When the support frame (41) is adjusted in height, the gripper (71) and the hard drive gripping unit (121) are locked in place. After the replacement is complete, the cart with the handling system (20) can be moved out of the computer system area.

[0050] The individual components may be designed differently than described. The functional sequence may also differ from the described example.

[0051] Combinations of the individual embodiments are also conceivable. Reference symbol list:

[0052] 5 Longitudinal direction 6 Transverse direction 7 Vertical direction, height direction 10 Drawer 11 Storage magazine 12 Hard drives, used hard drive 13 Mounting slot 14 Front of (12) 15 Pressure plate 16 Mounting cutouts 17 Side edges of (12) 20 Handling device 21 Base frame 22 Guide rails 23 Guide profiles 24 Support plates 25 Support beams 26 Upper end of (22) 27 Height adjustment unit 28 Drive motor 29 Belt drive 31 Trapezoidal spindle, threaded spindle 32 Energy chain 41 Support frame 42 Ball bearing shoes 43 Spindle nut 44 Base plate 45 Support columns 46 Support surface 47 Slides 48 Maintenance area 49 Installation area 51 Longitudinal channel 52 Guide rails 53 Transverse edge 54 Stop buffer 55 Proximity switch 56 Magazine area 57 Belt conveyor 58 Belt conveyor 59 Belt conveyor drive unit 61 Belt conveyor drive unit 62 Belt conveyor motor 63 Belt drive 64 Connecting shaft 65 Hard drive identification device 66 Mounting slot 71 Gripper 72 Gripper housing 73 Gripping finger, bottom 74 Gripping finger, top 75 Mounting bore 76 Engagement pin 77 Gripper motor 78 Belt drive 79 Threaded spindle 81 Threaded nut 82 Gripper camera 91 Upper support frame, cross slide 92 Longitudinal guide rails 93 Trolley 94 Longitudinal drive motor 95 Timing belt 96 Timing belt drive 97 Connecting rod 98 Transverse guide rails 99 Control box 111 Hard disk magazine 112 Hard disk, new hard disk 113 Mounting basket 114 Insert carrier 115 Hard disk magazine 121 Hard disk gripper unit 122 Transverse traverse unit 123 Transverse traverse motor 124 Belt drive 125 Gripper traverse carriage 131 Height adjustment unit 132 Lifting motor 133 Belt drive 134 Trapezoidal spindle 135 Lifting carriage 141 Position control unit, camera, gripper camera 151 Parallel gripping device 152 Gripping elements 153 Gripper body 154 Stop bars 155 Gripping surfaces 156 Gripping hook 157 Lower web 158 Holding nose

Claims

1. A handling device (20) for exchanging hard drives (12) from a drawer (10) having a plurality of hard drives (12) arranged in a storage magazine (11), which handling device has a base frame (21) and a supporting frame (41), which is adjustable relative thereto in the vertical direction (7), - wherein the supporting frame (41) is guided along guide rails (22) of the base frame (21), - wherein the supporting frame (41) has a maintenance region (48) with a rest surface (49), - wherein gripping tongs (71) are movable linearly parallel to the rest surface (49) in order to pull the drawer (10) with the storage magazine (11) onto the rest surface (49) and to convey this drawer (10) into its starting position, - wherein a hard drive gripping unit (121) having a parallel gripping device (151) hangs movably from a cross slide (91) of the supporting frame (41), and - wherein the parallel gripping device (151) is adjustable vertically relative to the supporting frame (41) by means of a height adjustment unit (131).

2. The handling device (20) according to Claim 1, characterised in that the hard drive gripping unit (121) has two continuously adjustable gripping elements (152) arranged parallel to one another.

3. The handling device (20) according to Claim 2, characterised in that the gripping elements (152) are angled at their free ends.

4. The handling device (20) according to Claim 1, characterised in that the supporting frame (41) bears at least one hard drive magazine (111; 115) and a hard drive identification device (65).

5. The handling device (20) according to Claim 4, characterised in that the hard drive identification device (65) has an optical reader.

6. The handling device (20) according to Claim 1, characterised in that a height adjustment of the supporting frame (41) blocks the gripping tongs (71) and the hard drive gripping unit (121).

7. The handling device (20) according to Claim 1, characterised in that the hard drive gripping unit (121) is arranged above the rest surface (49) and above a magazine region (56).

8. The handling device (20) according to Claim 1, characterised in that the rest surface (49) is formed by means of slide tracks (47) arranged on a baseplate (44).

9. The handling device (20) according to Claim 1, characterised in that the base frame (21) is movable in a plane parallel to the rest surface (49).