Magnetic Bias Platform for Storage Library Robotics
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Solution Overview
Problem
Robotic mechanisms in storage libraries face challenges in maintaining accurate and repeatable positioning while moving smoothly between locations, requiring complex designs to balance frictionless movement with secure stationing for operations like pick and place.
Innovation Solution
The implementation of a platform with alignment features that float orthogonally in the X-Y region during Z-direction movement, using magnetic biasers to lock into a fixed position when desired, allowing efficient movement and precise location for robotic operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic mechanism uses free running mechanisms to glide smoothly between locations, then movement efficiency is improved, but positioning accuracy and stability deteriorate
Solution Approach 1:
The system dynamically transitions between two states: a free-running state for efficient movement between locations, and a locked state for stable positioning during operations. The robotic mechanism can switch between these states as needed, optimizing both movement efficiency and positioning accuracy at different times in the operational cycle.
Solution Approach 2:
The system changes the friction parameter of the mechanism by engaging and disengaging the brake mechanism. During movement, the brake is disengaged to minimize friction and maximize efficiency. During positioning, the brake is engaged to increase friction and provide stable, repeatable positioning.
2Speed
If the robotic mechanism is designed to move in a substantially frictionless manner, then movement speed is improved, but the ability to securely station for operations deteriorates
Solution Approach 1:
The brake mechanism provides dynamic control over the movement system, allowing it to transition between high-speed frictionless movement and stable stationary positioning. The brake can be engaged or disengaged based on operational requirements, enabling the system to optimize for speed during transit and for reliability during pick and place operations.
3Ease of operation
If complex designs are used to facilitate two-state operation, then both movement and positioning capabilities are improved, but device complexity increases
Solution Approach 1:
The braking function is extracted as a separate, dedicated component rather than being integrated into the existing drive mechanism. This modular approach allows the brake to be independently controlled and optimized for its specific function of providing stable positioning, without complicating the overall movement system design.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and accurate robotic operations by allowing the platform to float freely during movement and securely lock into position, enhancing the robotic mechanism's ability to perform pick and place operations with stability and predictability.
Implementation Method 1
a magnet configured to exert a magnetic force on the other of the platform bias or the module bias
Data Source
AI summary
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).