Robot Arm Translation During Pivoting in Storage Libraries
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Solution Overview
Problem
In storage libraries with multiple robotic assemblies mounted on the same rail assembly, contention occurs when trying to simultaneously complete different jobs, leading to media element access delays and inefficiencies due to the inability of robot arms to pass each other without interfering.
Innovation Solution
A system that allows a robot arm to pivot or rotate between two storage arrays while simultaneously translating its pivot axis, enabling the arm to move past another robotic assembly even when at the same height, by using a movable carriage and cam assembly to adjust the translational position of the pivot axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If two or more robotic assemblies are mounted on the same rail assembly to increase throughput, then productivity is improved, but contention occurs when robot arms cannot pass each other leading to loss of time
Solution Approach 1:
The patent introduces a new degree of freedom by allowing the pivot axis to translate along the rail assembly in addition to rotating. This transforms the robot arm's motion from a single rotational dimension to a combined translation-rotation two-dimensional motion, enabling robot arms to pass each other by translating the pivot axis laterally while rotating, thus resolving the contention problem while maintaining high throughput
2Adaptability or versatility
If robot arms are positioned to access both storage arrays by pivoting 180 degrees, then adaptability is improved, but interference occurs when robot arms are at the same height leading to loss of time
Solution Approach 1:
The patent makes the pivot axis position dynamic rather than fixed. The pivot axis can translate along the rail assembly to different positions, allowing robot arms to access both storage arrays from optimal positions without interfering with each other. This dynamic positioning eliminates contention delays while preserving the ability to access both arrays
3Ease of operation
If robot arms pivot about a fixed axis halfway between storage arrays to access both arrays, then ease of operation is improved, but harmful factors occur due to contact or interference between robotic assemblies leading to loss of time
Solution Approach 1:
By adding the translation degree of freedom along the rail assembly, the patent allows robot arms to separate in the lateral dimension while still pivoting to access both storage arrays. This eliminates contact and interference between robotic assemblies while maintaining ease of operation for accessing both arrays
Data Source
AI summary
Utilities (e.g., systems, apparatuses, methods) that reduce robotic assembly contention in media element storage libraries by translating (e.g., displacing) a robot arm of a first robotic assembly mounted over a first storage array of a storage library away from a central reference plane as the robot arm is being pivoted into a first position adjacent the first storage array to allow a robot arm of a second robotic assembly to slide or otherwise move past the robot arm of the first robotic assembly, even when the robot arms of the first and second robot arms are disposed at the same height (e.g., along a z-axis) within the storage library. For instance, a pivot member of the robot arm may be mounted on a carriage that is configured to translate between the first and second storage arrays in response to the pivot member being pivoted about a pivot axis.