U.S. patent application number 13/276628 was filed with the patent office on 2012-02-09 for transferring disk drives within disk drive testing systems.
This patent application is currently assigned to Teradyne, Inc.. Invention is credited to Edward Garcia, Brian S. Merrow, Evgeny Polyakov, Eric L. Truebenbach, Brian J. Whitaker.
Application Number | 20120034054 13/276628 |
Document ID | / |
Family ID | 41199645 |
Filed Date | 2012-02-09 |
United States Patent
Application |
20120034054 |
Kind Code |
A1 |
Polyakov; Evgeny ; et
al. |
February 9, 2012 |
Transferring Disk Drives Within Disk Drive Testing Systems
Abstract
A method of transferring disk drives within a disk drive testing
system includes actuating an automated transporter to retrieve
multiple disk drives presented for testing, and actuating the
automated transporter to deliver each retrieved disk drive to a
respective test slot of the disk drive testing system and insert
each disk drive in the respective test slot.
Inventors: |
Polyakov; Evgeny;
(Brookline, MA) ; Garcia; Edward; (Holbrook,
MA) ; Truebenbach; Eric L.; (Sudbury, MA) ;
Merrow; Brian S.; (Harvard, MA) ; Whitaker; Brian
J.; (Johnstown, CO) |
Assignee: |
Teradyne, Inc.
|
Family ID: |
41199645 |
Appl. No.: |
13/276628 |
Filed: |
October 19, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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12104536 |
Apr 17, 2008 |
|
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13276628 |
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Current U.S.
Class: |
414/287 ;
414/807 |
Current CPC
Class: |
G11B 20/1816 20130101;
G11B 27/36 20130101; G11B 17/225 20130101; G11B 33/128 20130101;
G11B 2220/2516 20130101 |
Class at
Publication: |
414/287 ;
414/807 |
International
Class: |
B65G 1/04 20060101
B65G001/04 |
Claims
1. A method of transferring disk drives within a disk drive system,
the method comprising: loading the disk drives into the disk drive
system; actuating an automated transporter to retrieve a plurality
of the disk drives; actuating the automated transporter to deliver
a disk drive from the plurality of the disk drives to a slot;
actuating the automated transporter to insert the disk drive into
the slot; and unloading one or more of the disk drives from the
disk drive system.
2. The method of claim 1, further comprising: actuating the
automated transporter to retrieve multiple disk drive transporters;
and actuating the automated transporter to carry the disk drive
from the plurality of the disk drives with a disk drive transporter
to the slot; wherein actuating the automated transporter to deliver
the disk drive to the slot comprises: actuating the automated
transporter to insert the disk drive transporter carrying the disk
drive into the slot.
3. The method of claim 2, wherein insertion of the disk drive
transporter into the slot provides closure of the slot.
4. The method of claim 1, further comprising: presenting one or
more disk drive totes to the disk drive system.
5. The method of claim 2, further comprising: positioning the disk
drive transporter below the disk drive; lifting the disk drive off
a disk drive support of a disk drive tote; and carrying the disk
drive in the disk drive transporter away from the disk drive
tote.
6. The method of claim 1, wherein the automated transporter
comprises a manipulator configured to transport the disk
drives.
7. The method of claim 6, wherein the manipulator comprises: a
manipulator body; and first and second connectors disposed on the
manipulator body and arranged in a substantially V-shaped
configuration with respect to each other, with a connector being
configured to releasably attach to a disk drive transporter.
8. The method of claim 1, further comprising: moving, at a
substantially simultaneous time, at least two of the plurality of
the disk drives.
9. The method of claim 1, further comprising: placing the disk
drive in the slot in a position in which a disk drive connector of
the disk drive is engaged with a slot connector of the slot.
10. The method of claim 1, wherein the disk drives are loaded into
the disk drive system one at a time.
11. The method of claim 1, wherein the plurality of the disk drives
are retrieved one at a time.
12. A disk drive system comprising: an automated transporter; at
least one rack arranged about the automated transporter for access
by the automated transporter; and multiple slots housed by the at
least one rack, a slot being configured to receive a disk drive;
wherein the disk drive system is configured to perform operations
comprising; loading disk drives into the disk drive system;
actuating the automated transporter to retrieve a plurality of the
disk drives; actuating the automated transporter to deliver a disk
drive from the plurality of the disk drives to a slot in the at
least one rack; actuating the automated transporter to insert the
disk drive from the plurality of the disk drives into the slot; and
unloading one or more of the disk drives from the disk drive
system.
13. The disk drive system of claim 12, wherein the automated
transported comprises a manipulator configured to releasably attach
to multiple disk drive transporters.
14. The disk drive system of claim 13, wherein the manipulator
comprises: a manipulator body; and first and second connectors
disposed on the manipulator body and arranged in a substantially
V-shaped configuration with respect to each other, a connector
being configured to releasably attach to a disk drive
transporter.
15. The disk drive system of claim 12, further comprising: a
transfer station configured to receive and to support one or more
disk drive totes in a presentation position for servicing by the
automated transporter, wherein a disk drive tote comprises a tote
body defining multiple disk drive receptacles configured to house a
disk drive.
16. The disk drive system of claim 12, wherein the disk drives are
loaded into the disk drive system one at a time.
17. The disk drive system of claim 12, wherein the plurality of the
disk drives are retrieved one at a time.
18. A disk drive system comprising: an automated transporter; at
least one rack arranged about the automated transporter for access
by the automated transporter; and multiple slots housed by the at
least one rack, a slot being configured to receive a disk drive;
wherein the automated transporter is configured to perform
operations comprising; retrieving a plurality of disk drives that
are loaded into the disk drive system; delivering a first disk
drive from the plurality of the disk drives to the slot in the at
least one rack; inserting the first disk drive into the slot; and
delivering a second disk drive to a location in the disk drive
system for unloading from the disk drive system.
19. The disk drive system of claim 18, wherein the plurality of the
disk drives are retrieved one at a time.
20. The disk drive system of claim 18, wherein the first drive
comprises a same disk drive as the second disk drive.
Description
CLAIM OF PRIORITY
[0001] This application is a continuation and claims the benefit of
priority under 35 U.S.C. .sctn.120 of U.S. application Ser. No.
12/104,536, filed Apr. 17, 2008. The disclosure of the prior
application is considered part of, and is incorporated by reference
in, the disclosure of this application.
TECHNICAL FIELD
[0002] This disclosure relates to transferring disk drives within
disk drive testing systems.
BACKGROUND
[0003] Disk drive manufacturers typically test manufactured disk
drives for compliance with a collection of requirements. Test
equipment and techniques exist for testing large numbers of disk
drives serially or in parallel. Manufacturers tend to test large
numbers of disk drives simultaneously in batches. Disk drive
testing systems typically include one or more racks having multiple
test slots that receive disk drives for testing.
[0004] The testing environment immediately around the disk drive is
closely regulated. Minimum temperature fluctuations in the testing
environment are critical for accurate test conditions and for
safety of the disk drives. The latest generations of disk drives,
which have higher capacities, faster rotational speeds and smaller
head clearance, are more sensitive to vibration. Excess vibration
can affect the reliability of test results and the integrity of
electrical connections. Under test conditions, the drives
themselves can propagate vibrations through supporting structures
or fixtures to adjacent units. This vibration "cross-talking,"
together with external sources of vibration, contributes to bump
errors, head slap and non-repetitive run-out (NRRO), which may
result in lower test yields and increased manufacturing costs.
[0005] Current disk drive testing systems use an operator, a
robotic arm, or a conveyer belt to individually feed disk drives to
a transfer location for loading into the testing system for
testing. A robotic arm of the testing system individually retrieves
the disk drives from the transfer location and loads them in test
slots for testing.
SUMMARY
[0006] In one aspect, a method of transferring disk drives within a
disk drive testing system includes actuating an automated
transporter (e.g. robotic arm, gantry system, or multi-axis linear
actuator) to retrieve multiple disk drives presented for testing,
and actuating the automated transporter to deliver each retrieved
disk drive to a respective test slot of the disk drive testing
system and to insert each disk drive in the respective test
slot.
[0007] Implementations of this aspect of the disclosure may include
one or more of the following features. In some implementations, the
method includes actuating the automated transporter to retrieve
multiple disk drive transporters, actuating the automated
transporter to retrieve the disk drives presented for testing by
carrying each of the disk drives with respective disk drive
transporters, and actuating the automated transporter to deliver
the disk drive transporters, each carrying one of the disk drives,
to the respective test slots. In some examples, each of the disk
drive transporters is inserted into a respective test slot,
engaging the carried disk drive with a respective connector of the
disk drive testing system. The inserted disk drive transporters
provide closure of their respective test slots.
[0008] In some implementations, the disk drives are present in at
least one disk drive tote presented to the disk drive testing
system. The automated transporter retrieves each of the disk drives
from the at least one disk drive tote with the corresponding disk
drive transporter by positioning the disk drive transporter below
the disk drive, lifting the disk drive off a disk drive support of
the disk drive tote, and carrying the disk drive in the disk drive
transporter away from the disk drive tote.
[0009] The automated transporter preferably includes a manipulator
configured to transport multiple disk drives. For example, in the
case of a robotic arm as the automated transporter, the manipulator
is secured to a distal end of the robot arm. In some examples, the
manipulator includes first and second connectors disposed on a
manipulator body and arranged in a substantially V-shaped
configuration with respect to each other. The connectors are
configured to releasably attach to a disk drive transporter.
[0010] In another aspect, a method of transferring disk drives
within a disk drive testing system includes actuating an automated
transporter having a manipulator to retrieve an untested disk drive
presented for testing. The manipulator is configured to transport
multiple disk drives. The method includes actuating the automated
transporter to deliver the retrieved untested disk drive to a
respective test slot of the disk drive testing system and insert
the untested disk drive in its respective test slot for
testing.
[0011] Implementations of this aspect of the disclosure may include
one or more of the following features. In some implementations, the
manipulator includes first and second connectors disposed on a
manipulator body and arranged in a substantially V-shaped
configuration with respect to each other. However, in some
examples, the first and second connectors are disposed 180 degrees
from one another. The connectors are configured to releasably
attach to a disk drive transporter.
[0012] In some examples, the method includes actuating the
automated transporter to retrieve a disk drive transporter,
actuating the automated transporter to retrieve the untested disk
drive presented for testing by carrying the untested disk drive
with the disk drive transporter, and actuating the automated
transporter to deliver the disk drive transporter to the respective
test slot. The disk drive transporter is inserted into the test
slots, engaging the carried untested disk drive with a respective
connector of the disk drive testing system. The inserted disk drive
transporter provides closure of its respective test slot.
[0013] In some implementations, the untested disk drive is present
in a disk drive tote presented to the disk drive testing system.
The automated transporter retrieves the untested disk drive from
the disk drive tote with the corresponding disk drive transporter
by positioning the disk drive transporter below the untested disk
drive, lifting the untested disk drive off a disk drive support of
the disk drive tote, and carrying the untested disk drive in the
disk drive transporter away from the disk drive tote.
[0014] In some implementations, the method includes actuating the
automated transporter and the manipulator to retrieve a tested disk
drive from its respective test slot and carrying the tested disk
drive to a destination location, such as a destination disk drive
tote. The method may include actuating the automated transporter to
retrieve the tested disk drive from its respective test slot by
actuating the manipulator to engage a respective disk drive
transporter of the tested disk drive and carrying the tested disk
drive with its respective disk drive transporter to the destination
location. The method may include actuating the automated
transporter to deliver the disk drive carried by its respective
disk drive transporter to a receptacle of a destination disk drive
tote.
[0015] In another aspect, a method of transferring disk drives
within a disk drive testing system includes actuating an automated
transporter having a manipulator to retrieve a first disk drive
housed in a first test slot of the disk drive testing system. The
manipulator is configured to transport multiple disk drives. The
method includes actuating the automated transporter to deliver the
retrieved first disk drive to a second test slot, actuating the
automated transporter to retrieve a second disk drive from the
second test slot while carrying the first disk drive, and actuating
the automated transporter to insert the first disk drive into the
second test slot while carrying the second disk drive.
[0016] Implementations of this aspect of the disclosure may include
one or more of the following features. In some implementations, the
method includes actuating the automated transporter to deliver the
retrieved second disk drive to the first test slot, and actuating
the automated transporter to insert the second disk drive into the
first test slot. The manipulator includes a manipulator body and
first and second connectors disposed on the manipulator body. The
connectors are arranged in a substantially V-shaped configuration
with respect to each other and are each configured to releasably
attach to a disk drive transporter. The manipulator transports the
first and second disk drives in corresponding releasably attached
disk drive transporters. In examples where the disk drives are each
carried in a corresponding disk drive transporter, inserting each
disk drive into one of the test slots includes inserting the
corresponding disk drive transporter into the respective test slot,
engaging the carried disk drive with a respective connector of the
disk drive testing system, the inserted disk drive transporter
providing closure of its respective test slot.
[0017] In yet another aspect, a disk drive testing system includes
an automated transporter, at least one rack about the automated
transporter for access by the automated transporter, and multiple
test slots housed by each rack. Each test slot is configured to
receive a disk drive for testing. A transfer station, arranged for
access by the automated transporter, presents multiple disk drives
for testing. A manipulator attached to the automated transporter is
configured to carry multiple disk drives.
[0018] Implementations of this aspect of the disclosure may include
one or more of the following features. In some implementations, the
manipulator is configured to releasably attach to multiple disk
drive transporters. The manipulator includes first and second
connectors disposed on a manipulator body and arranged in a
substantially V-shaped configuration with respect to each other.
The connectors are configured to releasably attach to a disk drive
transporter.
[0019] In some examples, the transfer station includes a transfer
station housing configured to receive and support multiple disk
drive totes in a presentation position for servicing by the
automated transporter. Each disk drive tote includes a tote body
defining multiple disk drive receptacles configured to each house a
disk drive.
[0020] The details of one or more implementations of the disclosure
are set forth in the accompanying drawings and the description
below. Other features, objects, and advantages will be apparent
from the description and drawings, and from the claims.
DESCRIPTION OF DRAWINGS
[0021] FIG. 1 is a perspective view of a disk drive testing system
and a transfer station.
[0022] FIG. 2 is a top view of a disk drive testing system and a
transfer station.
[0023] FIG. 3 is a perspective view of a disk drive testing system
and a transfer station.
[0024] FIG. 4 is a perspective view of a disk drive being inserted
into a test slot of a disk drive testing system.
[0025] FIG. 5 is a perspective view of a disk drive
transporter.
[0026] FIG. 6 is a perspective view of a disk drive transporter
carrying a disk drive.
[0027] FIG. 7 is a bottom perspective view of a disk drive
transporter carrying a disk drive.
[0028] FIG. 8 is a perspective view of a robotic arm with a
manipulator secured to its distal end.
[0029] FIG. 9 is an elevated front perspective view of a
manipulator for a robotic arm.
[0030] FIG. 10 is a elevated rear perspective view of the
manipulator shown in FIG. 9.
[0031] FIG. 11 is an elevated front perspective view of a
manipulator for a robotic arm.
[0032] FIG. 12 is a perspective view of a disk drive tote in a
loading position.
[0033] FIG. 13 is a perspective view of a disk drive tote in a
presentation position.
[0034] FIG. 14 is a perspective view of a transfer station.
[0035] FIG. 15 is a perspective view of a tote in a presentation
position for placement on a tote presentation support system of a
transfer station.
[0036] Like reference symbols in the various drawings indicate like
elements.
DETAILED DESCRIPTION
[0037] Bulk feeding of disk drives in a disk drive testing system
is advantageous over manual individual feeding of disk drives by
providing increased through-put and efficiency of the disk drive
testing system, inter alia. As will be discussed in detail,
presenting multiple disk drive totes (also referred to as totes),
which hold multiple disk drives, to a disk drive testing system
allows continual disk drive testing, disk sorting amongst multiple
disk drive totes, minimal user intervention, and increased
efficiency over current systems, inter alia. Bulk feeding of disk
drives in disk drive totes provides the advantage of shop floor
flexibility (e.g. by providing the ability to easily redirect a
disk drive tote or a cart or trolley carrying disk drive totes
versus rerouting fixed conveyors). An operator can present a batch
of drives (e.g. via the disk drive tote) to the disk drive testing
system and then walk away to service another system. Bulk feeding
of disk drives in disk drive totes also allows automatic sorting of
tested drives with the disk drive totes, as will be discussed
below.
[0038] Referring to FIGS. 1-3, in some implementations, a disk
drive testing system 100 includes at least one automated
transporter 200 (e.g. robotic arm, gantry system, or multi-axis
linear actuator) defining a first axis 205 (see FIG. 3)
substantially normal to a floor surface 10. In the examples shown,
the automated transporter 200 comprises a robotic arm 200 operable
to rotate through a predetermined arc about the first axis 205 and
to extend radially from the first axis 205. The robotic arm 200 is
operable to rotate 360.degree. about the first axis 205 and
includes a manipulator 700 disposed at a distal end of the robotic
arm 200 to handle one or more disk drives 500 and/or disk drive
transporters 550 to carry the disk drives 500 (see e.g. FIGS. 5-6).
Multiple racks 300 are arranged around the robotic arm 200 for
servicing by the robotic arm 200. Each rack 300 houses multiple
test slots 310 configured to receive disk drives 500 for testing.
The robotic arm 200 defines a substantially cylindrical working
envelope volume 210, with the racks 300 being arranged within the
working envelope 210 for accessibility of each test slot 310 for
servicing by the robotic arm 200. The substantially cylindrical
working envelope volume 210 provides a compact footprint and is
generally only limited in capacity by height constraints. In some
examples, the robotic arm 200 is elevated by and supported on a
pedestal or lift 250 on the floor surface 10. The pedestal or lift
250 increases the size of the working envelope volume 210 by
allowing the robotic arm 200 to reach not only upwardly, but also
downwardly to service test slots 310. The size of the working
envelope volume 210 can be further increased by adding a vertical
actuator to the pedestal or lift 250.
[0039] The automated transporter 200 (e.g. robotic arm) is
configured to independently service each test slot 310 to provide a
continuous flow of disk drives 500 through the testing system 100.
A continuous flow of individual disk drives 500 through the testing
system 100 allows random start and stop times for each disk drive
500, whereas other systems that require batches of disk drives 500
to be run all at once as an entire testing loaded must all have the
same start and end times. Therefore, with continuous flow, disk
drives 500 of different capacities can be run at the same time and
serviced (loaded/unloaded) as needed.
[0040] Referring to FIGS. 3-4, the disk drive testing system 100
includes a transfer station 400 configured for bulk feeding of disk
drives 500 to the automated transporter 200 (e.g. a robotic arm, as
shown). The automated transporter 200 independently services each
test slot 310 by transferring a disk drive 500 between the transfer
station 400 and the test slot 310. The transfer station 400 houses
one or more totes 600 carrying multiple disk drives 500 presented
for servicing by the automated transporter 200. The transfer
station 400 is a service point for delivering and retrieving disk
drives 500 to and from the disk drive testing system 100. The totes
600 allow an operator to deliver and retrieve a collection of disk
drives 500 to and from the transfer station 400. In the example
shown in FIG. 3, each tote 600 is accessible from respective tote
presentation support systems 420 in a presentation position and may
be designated as a source tote 600 for supplying a collection of
disk drives 500 for testing or as a destination tote 600 for
receiving tested disk drives 500 (or both). Destination totes 600
may be classified as "passed return totes" or "failed return totes"
for receiving respective disk drives 500 that have either passed or
failed a functionality test, respectively.
[0041] In implementations that employ disk drive transporters 550
for manipulating disk drives 500, as shown in FIG. 4, the robotic
arm 200 is configured to remove a disk drive transporter 550 from
one of the test slots 310 with the manipulator 700, then pick up a
disk drive 500 from one the totes 600 presented at the transfer
station 400 with the disk drive transporter 550, and then return
the disk drive transporter 550, with a disk drive 500 therein, to
the test slot 310 for testing of the disk drive 500. After testing,
the robotic arm 200 retrieves the tested disk drive 500 from the
test slot 310, by removing the disk drive transporter 550 carrying
the tested disk drive 500 from the test slot 310 (i.e., with the
manipulator 700), carrying the tested disk drive 500 in the disk
drive transporter 550 to the transfer station 400, and manipulating
the disk drive transporter 550 to return the tested disk drive 500
to one of the totes 600 at the transfer station 400.
[0042] The test slot 310, shown in FIG. 4, defines an opening 312
configured to receive the disk drive transporter 550, which in this
case provides closure of the test slot 310. The disk drive
transporter 550 is configured to receive the disk drive 500, as
shown in FIG. 5, and be handled by the automated transporter 200.
In use, one of the disk drive transporters 550 is removed from one
of the test slots 310 with the robot 200 (e.g., by grabbing, or
otherwise engaging, the indentation 552 of the transporter 550 with
the manipulator 700 of the robot 200). In some examples, as
illustrated in FIGS. 5-7, the disk drive transporter 550 includes a
frame 560 defining a substantially U-shaped opening 561 formed by
sidewalls 562, 564 and a base plate 566 that collectively allow the
frame 560 to fit around a disk drive support (not shown) in the
tote 600 so that the disk drive transporter 550 can be moved (e.g.,
via the robotic arm 200) into a position beneath one of the disk
drives 500 housed in one of multiple disk drive receptacles 620
defined by the tote 600 (see e.g., FIGS. 8-9). The disk drive
transporter 550 can then be raised (e.g., by the robotic arm 310)
into a position engaging the disk drive 600 for removal from the
tote 600.
[0043] With the disk drive 500 in place within the frame 560 of the
disk drive transporter 550, the disk drive transporter 550 and the
disk drive 500 together can be moved by the robotic arm 200 for
placement within one of the test slots 310, as shown in FIG. 4. In
some implementations, the manipulator 700 is also configured to
initiate actuation of a clamping mechanism 570 disposed in the disk
drive transporter 550. This allows actuation of the clamping
mechanism 570 before the transporter 550 is moved from the tote 600
to the test slot 310 to inhibit movement of the disk drive 500
relative to the disk drive transporter 550 during the move. Prior
to insertion in the test slot 310, the manipulator 700 can again
actuate the clamping mechanism 570 to release the disk drive 500
within the frame 560. This allows for insertion of the disk drive
transporter 550 into one of the test slots 310, until the disk
drive 500 is in a test position with a disk drive connector 510
engaged with a test slot connector (not shown). The clamping
mechanism 570 may also be configured to engage the test slot 310,
once received therein, to inhibit movement of the disk drive
transporter 550 relative to the test slot 310. In such
implementations, once the disk drive 500 is in the test position,
the clamping mechanism 570 is engaged again (e.g., by the
manipulator 700) to inhibit movement of the disk drive transporter
550 relative to the test slot 310. The clamping of the transporter
550 in this manner can help to reduce vibrations during testing. In
some examples, after insertion, the disk drive transporter 550 and
disk drive 500 carried therein are both clamped or secured in
combination or individually within the test slot 310.
[0044] Referring to FIGS. 8-11, the manipulator 700 is secured to a
distal end 202 of the robotic arm 200. The manipulator 700 includes
first and second arms 720, 730 disposed on a manipulator body 710
and arranged in a substantially V-shaped configuration with respect
to each other. In some implementations, the arms 720, 730 can be
disposed in other arrangements, such as 180 degrees from each other
or some other angle therebetween. The arms 720, 730 each have
connectors 740 configured to releasably attach to a disk drive
transporter 550. In the examples shown, each connector 740 includes
first and second tabs 742, 744 opposedly coupled to a tab actuator
750 disposed on the arm 720,730. The tab actuator 750 is operable
to move its coupled tabs 742, 744 in opposing directions to
releasably engage and hold a disk drive transporter 550. To grab
the disk drive transporter 550, the robotic arm 200 and manipulator
700 are actuated to maneuver one of the connectors 740 to place the
tabs 742, 744 into the indentation 552 of the disk drive
transporter 550 and then actuate the tab actuator 740 to move the
tabs 742, 744 away from each other and engage the indentation 552
to releasable attach to the disk drive transporter 550. In some
examples, the tabs 742, 744 are hook shaped and/or have friction
pads to engage the indentation 552 of the disk drive transporter
550. Each arm 720, 730 of the manipulator 700 has first and second
clamp actuators 762, 764 configured to engage the clamping
mechanism 570 of the disk drive transporter 550. The clamp
actuators 762, 764 may be operable to push or pull on the clamping
mechanism 570 to engage/disengage the clamping mechanism 570.
[0045] In the example illustrated in FIGS. 12-13, the tote 600
includes a tote body 610 having a front side 611, a back side 612,
a top side 613, a bottom side 614, a right side 615 and a left side
616. The tote body 610 defines multiple disk drive receptacles 620
in the front side 611 that are each configured to house a disk
drive 500. In some examples, the tote 600 rests on its back side
612 while in the loading position, such that the disk drive
receptacles 620 are substantially vertical and face upward, as
shown in FIG. 12. In other examples, the tote 600 is held in
another orientation while in the loading position, such as at an
incline or in a vertical orientation, as with the presentation
position. In the presentation position, the tote 600 rests on its
bottom side 614, such that the disk drive receptacles 620 are
substantially horizontal and face laterally, as shown in FIG. 13.
The tote body 610 defines arm grooves 630 in the right and left
sides 615, 616 of the tote body 610 that are configured to support
the tote 600.
[0046] In the example shown, each disk drive receptacle 620
includes a disk drive support 622 configured to support a central
portion 502 (see FIG. 7) of the received disk drive 500 to allow
manipulation of the disk drive 500 along non-central portions. In
some implementations, the disk drive support 622 is configured to
support the disk drive 500 at an incline, while the tote 600 is in
a substantially vertical orientation, such that the disk drive 500
has a tending to slide deeper into the disk drive receptacle 620,
rather than out of the disk drive receptacle 620. To remove a
housed disk drive 500 from the disk drive receptacle 620, the disk
drive transporter 550 is positioned below the disk drive 500 (e.g.
by the robotic arm 200) in the disk drive receptacle 620 and
elevated to lift the disk drive 500 off of the disk drive support
622. The disk drive transporter 550 is then removed from the disk
drive receptacle 620 while carrying the disk drive 500 for delivery
to a destination target, such as a test slot 310.
[0047] Referring to FIG. 14, in some implementations, the transfer
station 400 includes a transfer station housing 410 and multiple
tote presentation support systems 420 disposed on the transfer
station housing 410. Each tote presentation support system 420 is
configured to receive and support a disk drive tote 600 in a
presentation position for servicing by the disk drive testing
system 100.
[0048] In some implementations, the tote presentation support
systems 420 are each disposed on the same side of the transfer
station housing 410 and arranged vertically with respect to each
other. Each tote presentation support systems 420 has a different
elevation with respect to the others. In some examples, as shown in
FIG. 15, the tote presentation support system 420 includes first
and second opposing pairs 422, 424 of tote support arms 426
configured to be received by respective arm grooves 630 defined by
the tote body 610 of the disk drive tote 600.
[0049] Referring again to FIG. 14, a tote mover 430 is disposed on
the transfer station housing 410 and is configured to move a
pivotally coupled tote loading support 440, which is configured to
receive and support a disk drive tote 600. The tote loading support
440 pivots and moves between a first position and a second
position. The tote mover 430 is configured to move the tote loading
support 440 between the first position, for holding a disk drive
tote 600 in a loading position (e.g. in a horizontal orientation at
the loading support's first position), and the second position, for
holding a disk drive tote 600 in the presentation position (e.g. in
a substantially vertical orientation) at one of the tote
presentation support systems 420 for servicing by the disk drive
testing system 100 (e.g. by the robotic arm 200). In some examples,
the tote presentation support system 420 holds the tote 600 at a
slightly inclined (e.g. off vertical) orientation to keep disk
drives 500 from accidentally slipping out of the tote 600.
[0050] A method of performing disk drive testing includes
presenting multiple disk drives 500 to a disk drive testing system
100 for testing and actuating an automated transporter 200 (e.g.
robotic arm) to retrieve one of the disk drives 500 from the disk
drive tote 600 and deliver the retrieved disk drive 500 to a test
slot 310 of a rack 300 of the disk drive testing system 100. The
method includes actuating the automated transporter 200 to insert
the disk drive 500 in the test slot 310, and performing a
functionality test on the disk drive 500 received by the test slot
310. The method may also include actuating the automated
transporter 200 to retrieve the tested disk drive 500 from the test
slot 310 and deliver the tested disk drive 500 back to a
destination location. In some implementations, the method includes
retrieving multiple presented disk drives 500 and delivering each
of the disk drives to a respective test slot 310. In other
implementations, the method includes shuffling disk drives 500
amongst test slots 310 by actuating the automated transporter 200
to remove a first disk drive 500 from a first test slot 310 and
carrying it with the first arm 720 of the manipulator 700, moving
to a second test slot 310 and removing a second disk drive 500 and
carrying it with the second arm 730 of the manipulator 700, and
then inserting the first disk drive 500 into the second slot 310.
The method may also include actuating the automated transporter 200
to move the second disk drive to the first test slot 310 and
inserting the second disk drive 500 in the first test slot 310. For
this mode of operation (disk drive shuffling), the dual-armed
manipulator 700 provides distinct advantages over a single-armed
manipulator by allowing direct exchanges of disk drives 500 at each
stop, rather than having to take a disk drive 500 out of a first
test slot 310, park the disk drive 500 in an empty slot 310 or in a
tote 600, retrieve another disk drive 500 from a second slot 310
and insert that disk drive 500 into the first test slot 310, and
then retrieve the parked disk drive 500 and insert it in the second
slot 310. The dual-armed manipulator 700 removes the step of
parking one of the disk drives 500 while swapping disk drives 500
amongst two test slots 310.
[0051] Presenting multiple disk drives 500 for testing may be
achieved by loading multiple disk drives 500 into/onto a transfer
station 400, as by loading the disk drives 500 into disk drive
receptacles 620 defined by a disk drive tote 600, and loading the
disk drive tote 600 into/onto the transfer station 400. A tote
mover 430 of the transfer station 400 is actuated to move the disk
drive tote 600 from a loading position to a presentation position
for servicing by the disk drive testing system 100. The disk drive
tote 600 is supported in the presentation position by one of
multiple tote presentation support systems 420 disposed on the
transfer station housing 410 and arranged vertically with respect
to each other. Multiple disk drive totes 600, each housing disk
drives 500, can be sequentially placed in the loading position on
the transfer station 400 and moved by the tote mover 430 to its
respective presentation position at one of the multiple tote
presentation support systems 420 for servicing by the disk drive
testing system 100.
[0052] In retrieving one or more of the presented disk drives 500
for testing, the method preferably includes actuating the automated
transporter 200 to retrieve a disk drive transporter 550 (e.g. from
a test slot 310 housed in a rack 300), and actuating the automated
transporter 200 to retrieve one of the disk drives 500 from the
transfer station 400 and carry the disk drive 500 in the disk drive
transporter 550. The method includes actuating the automated
transporter 200 to deliver the disk drive transporter 550 carrying
the disk drive 500 to the test slot 310 for performing a
functionality test on the disk drive 500 housed by the received
disk drive transporter 550 and the test slot 310. In some examples,
delivering the disk drive transporter 550 to the test slot 310
includes inserting the disk drive transporter 550 carrying the disk
drive 500 into the test slot 310 in the rack 300, establishing an
electric connection between the disk drive 500 and the rack 300.
After testing is completed on the disk drive 500, the method
includes actuating the automated transporter 200 to retrieve the
disk drive transporter 550 carrying the tested disk drive 500 from
the test slot 310 and delivering the tested disk drive 500 back to
a destination location, such as a destination disk drive tote 600
on the transfer station 400. In some implementations, the rack 300
and two or more associated test slots 310 are configured to move
disk drives 500 internally from one test slot 310 to another test
slot 310, as in the case where the test slots 310 are provisioned
for different kinds of tests.
[0053] In some examples, the method includes actuating the
automated transporter 200 to deposit the disk drive transporter 550
in the test slot 310 after depositing the tested disk drive 500 at
a destination location (e.g. in a disk drive receptacle 620 of a
destination disk drive tote 600), or repeating the method by
retrieving another disk drive 500 for testing (e.g. from the disk
drive receptacle 620 of a source disk drive tote 600).
[0054] In some implementations, the automated transporter 200
includes the manipulator 700, discussed above, which allows the
automated transporter 200 to retrieve, handle, and deliver multiple
disk drives 500 and/or disk drive transporters 550. For example,
the automated transporter 200 can retrieve and carry one untested
disk drive 500 in a disk drive transporter 500 held by one arm 720,
730 of the manipulator 700, and deliver the untested disk drive 500
to a test slot 310. At the test slot 310, the automated transporter
200 removes a disk drive transporter 550 carrying a test disk drive
500 currently in the test slot 310, before inserting the disk drive
transporter 550 carrying the untested disk drive 500 into the test
slot 310 for testing. The automated transporter 200 then delivers
the tested disk drive 500 to a destination location, such as a
receptacle 620 of a destination disk drive tote 600. In another
example, the automated transporter 200 can retrieve and carry two
untested disk drives 500, one on each arm 720, 730 of the
manipulator 700, and then deliver the two untested disk drives 500
to respective test slots 310 for testing. The automated transporter
700 can then be actuated to retrieve two tested disk drives 500
from their respective slots 310 (e.g. by engaging and removing
their respective disk drive transporters 550 with the manipulator
700), and deliver the tested disk drives 500 to a destination
location, such as two receptacles 620 of one or more destination
disk drive totes 600. If one tested disk drive 500 passed the disk
drive testing and the other failed, they may be placed in different
destination disk drive totes 600, such a "passed" disk drive tote
600 and a "failed" disk drive tote 600.
[0055] The manipulator 700 allows the automated transporter 200 to
move multiple disk drives 500 and/or disk drive transporters 550
within the disk drive testing system 100 to accomplish more tasks
than previously achievable by a manipulator capable of only
handling one disk drive 500 and/or disk drive transporter 550 at a
time. The increased flexibility allows for path planning of the
automated transporter 200 to optimize its movements.
[0056] A number of implementations have been described.
Nevertheless, it will be understood that various modifications may
be made without departing from the spirit and scope of the
disclosure. Accordingly, other implementations are within the scope
of the following claims.
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