Movable Closed-Chain Linkage for Robot Arm Contention
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In media element storage libraries, robotic assemblies mounted on the same rail assembly experience contention when trying to access different storage arrays simultaneously, leading to media element access delays and inefficiencies due to the inability of their robot arms to pass each other without interfering.
Innovation Solution
A movable closed-chain linkage system that rotates or flips the robot arm of a robotic assembly between two positions, allowing it to be positioned between a storage array and a central reference plane, creating a space for other robotic assemblies to move past without interference, enabling simultaneous access to both storage arrays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If two or more robotic assemblies are mounted on the same rail assembly to access multiple storage arrays, then the productivity and throughput of the storage library is improved, but the robotic assemblies experience contention and cannot pass each other, leading to access delays
Solution Approach 1:
The robot arm is configured to move between two different spatial dimensions: (1) a first dimension where the arm extends between the first storage array and a central reference plane, and (2) a second dimension where the arm extends between the second storage array and the central reference plane. This dimensional switching allows multiple robotic assemblies to operate simultaneously without interference by alternating which dimension is occupied.
Solution Approach 2:
The robot arm dynamically changes its position and orientation based on which storage array needs to be accessed. The arm can pivot or rotate to switch between serving the first storage array and the second storage array, allowing the system to adapt to varying access patterns and eliminate contention by having only one arm occupy the central space at any given time.
2Ease of operation
If the robot arm is positioned to access one storage array, then that storage array can be served, but the robot arm blocks the path of other robotic assemblies trying to access the other storage array
Solution Approach 1:
By defining a central reference plane and alternating which side of it the robot arm occupies, the system creates two distinct operational zones. When accessing the first storage array, the arm occupies the zone between that array and the central plane; when accessing the second storage array, the arm occupies the zone between that array and the central plane. This spatial alternation enables simultaneous access capability.
Data Source
AI summary
Utilities (e.g., systems, apparatuses, methods) that reduce robotic assembly contention in media element storage libraries by rotating (e.g., flipping, swinging, etc.) a robot arm of a first robotic assembly mounted over a first of first and second spaced storage arrays in a storage library into a first position between the first storage array and a central reference plane disposed between and parallel to the first and second storage arrays to allow a robot arm of a second robotic assembly to slide or otherwise move past the robot arm of the first robotic assembly (e.g., in a direction along or parallel to an x-axis parallel to the first and second storage arrays), even when the robot arms of the first and second robotic assemblies are disposed at the same height (e.g., along a z-axis that is perpendicular to the x-axis) within the storage library.