KR20120013178A - Storage device testing - Google Patents

Abstract

The storage device inspection system 100 includes at least one robotic arm 200 forming a first axis 205 substantially perpendicular to the bottom surface 10. The robotic arm rotates along a predetermined arc about a first axis and operates to extend radially from the first axis. A plurality of racks 300 are arranged around the robot arm for service by the robot arm. Each rack houses a plurality of inspection slots 310, each configured to receive a storage device carrier 550 configured to carry a storage device 500 for inspection. The transport station 400 is arranged for service by the robotic arm. The transport station includes a plurality of tote receptacles 420 each configured to receive a storage device tote 450.

Description

Check storage device {STORAGE DEVICE TESTING}

The present invention relates to storage device inspection.

Disk drive manufacturers typically inspect the disk drives produced according to the requirements collection. Inspection equipment and techniques exist for testing multiple disk drives in series or in parallel. Manufacturers tend to test multiple disk drives simultaneously in a batch. Disk drive inspection systems typically include one or more racks having a plurality of inspection slots that accommodate the disk drives to be inspected.

The inspection environment near the disk drive is extremely controlled. Minimum temperature fluctuations within the test environment are important for the test condition and stability of the disk drive. Modern disk drives with greater capacity, faster rotation speed, and smaller head clearance are more sensitive to vibration. Excessive vibration can affect the reliability of the test results and the integrity of the electrical connection. Under inspection conditions, the drive itself can propagate vibrations through a support structure or fixture adjacent to the unit. Such vibration "crosstalk", along with an external vibration source, can contribute to bump errors, head slabs, and non-repetitive run-out (NRRO), which can lead to low inspection yields and increased manufacturing costs. have.

Current disk drive inspection systems use automated and structural support systems that contribute to excess vibration in the system and / or require large installation space. Current disk drive inspection systems also use an operator or conveyor belt to individually supply disk drives to the inspection system to be inspected.

In one form, the storage device inspection system includes at least one robotic arm defining a first axis substantially perpendicular to the floor surface. The robotic arm rotates along a predetermined arc (eg, 360 °) about the first axis and operates to radially extend from the first axis. The plurality of racks are arranged around the robotic arm for service by the robotic arm. Each rack houses a plurality of inspection slots, each configured to receive a storage device carrier configured to carry a storage device to be inspected. The transport station includes a plurality of tote receptacles each configured to receive a storage device tote.

Implementations of the invention include one or more of the following features. In some implementations, the robotic arm includes a manipulator configured to engage a storage device carrier of one of the inspection slots. The robotic arm operates to carry the storage device in the storage device carrier to an inspection slot for inspection. The robotic arm forms a substantially cylindrical working envelope volume, and the rack and transport station are arranged in the working envelope volume for service by the robotic arm. In some examples, the rack and transport station are arranged in a polygon that is at least partially closed with respect to the first axis of the robotic arm. The racks may be arranged radially at the same distance from the first axis of the robotic arm, or may be arranged at different distances.

In some implementations, the conveying station operates to rotate about the longitudinal axis formed by the conveying station substantially perpendicular to the floor surface. The conveying station includes a conveying station housing that forms first and second opposing tote receptacles. In some examples, the transport station includes a station housing defining a longitudinal axis, and a plurality of tote receivers rotatably installed to rotate about the longitudinal axis. Each tote receiver is rotatable independently of each other and forms first and second opposing tote receptacles. In some examples, the tote receiver is rotatably mounted on a spindle extending substantially vertically upward from the station base.

The robotic arm can independently service each inspection slot by transporting the storage device between the received storage device tote and inspection slot of the transportation station. In some implementations, the storage device tote includes a tote body that forms a plurality of storage device receptacles configured to respectively house the storage device. Each storage device receptacle defines a storage device support configured to support a central portion of the storage device received to allow for steering of the storage device along the non-centre portion. In some examples, the storage device tote is within each column cavity (eg, a cavity), which divides the tote body forming a plurality of column cavities, and the plurality of storage device receptacles each configured to receive a storage device. A plurality of cantilever storage device supports disposed on the rear wall of the column. Each storage device support is configured to support the center of the received storage device to allow steering of the storage device along the non-centre portion.

In some implementations, the storage device inspection system includes at least one computer in communication with an inspection slot. The power system may be configured to power the storage device inspection system, monitor and / or regulate power to the storage device contained within the inspection slot. The temperature control system controls the temperature of each inspection slot. The temperature control system may include an air circulator (eg, a fan) operative to circulate air over and / or through the inspection slot. The vibration control system controls rack vibrations (eg, via manual dampening). The data interface is configured to communicate with each test slot and to communicate with a storage device in the storage device carrier housed in the test slot.

Each rack may include at least one self test system in communication with at least one test slot. The self-test system includes a cluster controller, a connection interface circuit in electrical communication with a storage device housed within the test slot, and a block interface in electrical communication with the connection interface circuit. The block interface circuit is configured to control the power and temperature of the test slot. The connection interface circuit and the block interface circuit are configured to test the functionality of at least one component of the storage device inspection system (eg, the inspection of the functionality of the inspection slot may be empty while housing the storage device held by the storage device carrier). Check when).

In some implementations, each rack includes at least one functional inspection system in communication with at least one inspection slot. The functional inspection system includes a cluster controller, a functional interface circuit in electrical communication with the cluster controller, and a connection interface circuit in electrical communication with the storage device and the functional interface circuit housed in the inspection slot. The functional interface circuit is configured to communicate a functional check routine with the storage device. In some examples, the functional test system includes an Ethernet switch to provide electrical communication between the cluster controller and the at least one functional interface circuit.

The storage device inspection system sometimes includes a vision system disposed above the robotic arm to assist in the protection of the robotic arm while carrying the storage device. In particular, the vision system can be used to guide a manipulator on the robotic arm that holds the storage device carrier for secure insertion of the storage device carrier into either an inspection slot or storage device tote. The vision system calibrates the robotic arm by aligning the robotic arm with reference marks on racks, inspection slots, transport stations, and / or storage device totes.

In another form, the storage device tote includes a tote body defining a plurality of storage device receptacles configured to house the storage device, respectively. Each storage device receptacle defines a storage device support configured to support a central portion of the storage device received to allow for steering of the storage device along the non-centre portion.

In another form, the storage device tote comprises a plurality of totes disposed within each column cavity, dividing the tote body forming a plurality of column cavities, and the plurality of storage device receptacles each configured to receive a storage device. And a cantilevered storage device support. Each storage device support is configured to support the center of the received storage device to allow steering of the storage device along the non-centre portion.

In another aspect, a method of performing a storage device inspection includes loading a plurality of storage devices into a storage device receptacle formed by a storage device tote, and loading the storage device tote into a tote receptacle formed by a transport station. It includes. The method includes operating a robotic arm to retrieve a storage device carrier from an inspection slot housed in a rack, and recovering one of the storage devices from the transport station and operating the robotic arm to transport the storage device to the storage device carrier. Steps. The robotic arm rotates along a predetermined arc about a first axis formed by the robotic arm substantially perpendicular to the bottom surface, and operates to extend radially from the first axis. The method includes operating a robotic arm to deliver a storage device carrier carrying a storage device to an inspection slot, and performing a functional test on the storage device housed by the received storage device carrier and the inspection slot. The method then includes retrieving a storage device carrier carrying the inspected storage device from the inspection slot and operating the robotic arm to deliver the inspected storage device back to the transport station.

In some examples, the method includes operating the robotic arm to place the storage device carrier in an inspection slot (eg, after placing the inspected storage device in the storage device receptacle of the storage device tote). In some examples, delivering the storage device carrier to the inspection slot includes inserting a storage device carrier that delivers the storage device to the inspection slot in the rack, forming an electrical connection between the storage device and the rack.

The method may include rotating a received storage device tote in a transport station between a service location (eg, a location accessible by an operator) and an inspection location accessible by a robotic arm, the transport station from time to time, respectively, the storage device. And a transport station housing forming first and second opposing tote receptacles configured to receive the totes.

In some implementations, loading the storage device to the storage device tote includes placing the storage device over the storage device support in the storage device receptacle formed by the tote body of the storage device tote, the storage device support being stored along the non-centered portion. And to support the center of the storage device housed to allow for steering of the device. In some examples, the method further includes operating the robotic arm to selectively deliver the storage device inspected with the return tote housed by the transport station, wherein the robotic arm successfully passes the functional test. When delivered, the robotic arm delivers the checked storage device to the storage device receptacle of the pass return tote, and the robotic arm passes the checked storage device to the storage device receptacle of the failing return tote when the inspected storage device fails the functional check.

In some implementations, performing the functional check on the received storage device includes adjusting the temperature of the test slot while the storage device is operating. In addition, operating the received storage device includes performing data reading and writing to the storage device. In some examples, the method includes circulating air over and / or through a test slot to monitor the temperature of the test slot, monitoring and / or adjusting power delivered to the received storage device, and One or more of performing a self test on the test slot with a self-test system housed by the rack to verify the function of the test slot.

The method may include communicating with a vision system disposed on the robotic arm to assist in the protection of the robotic arm while carrying the storage device. The method may also further include calibrating the robotic arm by aligning the robotic arm with a reference mark on the rack, inspection slot, transfer station, and / or storage device recognized by the vision system.

The details of one or more implementations of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the description, drawings, and claims below.

1 is a perspective view of a storage device inspection system.
2 is a plan view of a storage device inspection system.
3 is a perspective view of a storage device inspection system.
4-5 are top views of storage device inspection systems with racks and installation spaces of different sizes.
6 is a perspective view of a storage device inspection system.
7 is a side view of the robot arm supported on vertical and horizontal actuation supports.
8 is a perspective view of a storage device inspection system with two robotic arms.
9 is a top view of a storage device inspection system with a robotic arm supported on a rotating support.
10 is a perspective view of a transport station.
11 is a perspective view of a tote forming a plurality of storage device receptacles.
12 is a perspective view of a cantilevered storage device support.
13 is a perspective view of a storage device carrier.
14 is a perspective view of a storage device carrier for carrying the storage device.
15 is a bottom perspective view of a storage device carrier carrying the storage device.
16 is a perspective view of a storage device carrier carrying a storage device aligned for insertion into an inspection slot.
17 is a schematic diagram of a storage device inspection system.
18 is a schematic diagram of a storage device inspection system with self-inspection and functional inspection capabilities.
Like reference symbols in the various drawings indicate like elements.

1-3, in some implementations, the storage device inspection system 100 includes at least one robotic arm 200 defining a first axis 205 substantially perpendicular to the bottom surface 10. . The robotic arm 200 operates to rotate along a predetermined arc about the first axis 205 and extends radially from the first axis 205. In some examples, the robotic arm 200 is capable of 360 ° rotation about the first axis 205 and may include a storage device carrier 550 that carries the storage device 500 and / or the storage device 500. A manipulator 212 disposed at the distal end of the robotic arm 200 for handling (see FIGS. 13-14). A plurality of racks 300 are arranged around the robotic arm 200 for service by the robotic arm 200. Each rack 300 houses a plurality of inspection slots 310 configured to receive a storage device 500 for inspection. The robotic arm 200 forms a substantially cylindrical actuating envelope volume 210, and the rack 300 operates for accessibility of each inspection slot 310 for service by the robotic arm 200. Arranged within envelope 210 (see FIGS. 4 and 5). The substantially cylindrical actuating envelope volume 210 provides a compact installation space and is generally limited in capacity only by height restrictions.

As used herein, storage devices include disk drives, solid state drives, memory drives, and any device that requires asynchronous checks for verification. Disk drives are generally non-volatile storage devices that store digitally encoded data on high-speed rotating platters with magnetic surfaces. Solid state drives (SSDs) are data storage devices that use solid state memory to store permanent data. SSDs that use SRAM or DRAM (instead of flash memory) are often called RAM drives. The term solid state generally distinguishes solid state electronics from electromechanical devices.

Robotic arm 200 may be configured to independently service each inspection slot 310 to provide a continuous flow of storage device 500 through inspection system 100. Unlike systems requiring batches of storage device 500 to be executed at one time should have the same time and end time, the continuous flow of individual storage devices 500 through inspection system 100 is dependent upon each storage device ( For a random start and stop time. Therefore, through continuous flow, different capacity storage devices 500 can be simultaneously executed and serviced (loaded / unloaded) as needed.

Isolation of the free standing robotic arm 200 from the rack 300 shares only the bottom surface 10 as a common support structure to help control the vibration of the rack 300 (eg, see FIG. 10). ). That is, the robot arm 200 is not connected from the rack 300, and shares only the bottom surface 10 as the only connecting means between the two structures. In some examples, each rack 300 houses about 480 inspection slots 310. In another example, rack 300 varies in size and test slot capacity.

In the example shown in FIGS. 1-3, the racks 300 are radially equidistantly arranged from the first axis 205 of the robotic arm 200. However, the rack 300 may be arranged in any pattern, at any distance around the robotic arm 200 within the actuation envelope volume 210. The racks 300 are arranged in at least partially closed polygons about the first axis 205 of the robotic arm 200, such as open or closed octagons, squares, triangles, trapezoids or other polygons, examples of which are shown in FIGS. 4-5. Is shown. The rack 300 may be configured in different sizes and shapes to fit a particular installation space. The arrangement of the rack 300 around the robotic arm 200 may be symmetrical or asymmetrical.

In the example shown in FIGS. 3 and 6, the robotic arm 200 is supported on the pedestal or lift 250 above the bottom surface 10 and thereby can be lifted. The pedestal or lift 250 increases the height of the work envelope volume 210 by allowing the robotic arm 200 to service the upper and lower inspection slots 310. The height of the working envelope volume 210 adds a vertical actuator to the pedestal or lift 250, and as it is shown in FIG. 7, as a vertical actuation support 252 that supports the robotic arm 200. It can be further increased by constructing. The vertically actuated support 252 operates to move the robotic arm 200 perpendicular to the floor 10. In some examples, the vertically actuated support 252 consists of a vertical track that supports the robotic arm 200, and an actuator (eg, drive ball-screw or belt driven) that moves the robotic arm 200 vertically along the track. ball-screw or belt). In addition, the horizontal actuation support 254 (eg, linear actuator) shown in FIG. 7 can be used to support the robotic arm 200 and move the robotic arm 200 horizontally along the bottom surface 10. To make it work. In the example shown, the combination of vertical and horizontal actuation supports 252, 254 supporting the robotic arm 100 provides an expanded working envelope volume 210 with an elongated substantially elliptical profile when viewed from above.

In the example shown in FIG. 8, the storage device inspection system 100 includes two robotic arms 200A and 200B, both of which rotate about the first axis 205. One robot arm 200A is supported on the bottom surface 10 and the other robot arm 200B is suspended from the ceiling structure 12. Similarly, in the example shown in FIG. 7, additional robotic arm 200 may operate on vertically actuated support 252.

In the example shown in FIG. 9, the storage device inspection system 100 includes a rotatable table 260 that supports the robotic arm 200. The rotatable table 260 operates to rotate the robotic arm 200 about a second axis 262 substantially perpendicular to the bottom surface 10, such that the robotic arm rotates only about the first axis 205. Provide a working envelope volume 210 greater than 200).

Referring again to FIGS. 7-8, in some implementations, the storage device inspection system 100 includes a vision system 270 installed over the robotic arm 200. Vision system 270 is configured to assist in protection of robotic arm 200 while transporting storage device 500. More specifically, vision system 270 assists in the alignment of storage device carrier 550 held by manipulator 212 for insertion into inspection slot 310 and / or tote 450. The vision system 270 may calibrate the robotic arm 200 by aligning the rack 300, preferably the inspection slot 310, the fiducial mark 314 on the robotic arm 200. In some examples, reference mark 314 is a “L” shaped mark located near a corner of opening 312 of inspection slot 310 on rack 300. The robotic arm 200 aligns itself with the reference mark 314 before accessing the inspection slot 310 (eg, to pick up or release the storage device carrier 550 carrying the storage device 500). Continuous robotic arm alignment enhances the precision and repeatability of the robotic arm 200 and carries the storage device 500 (which may cause damage to the storage device 500 and / or storage device inspection system 100). Minimize misalignment of storage device carrier 550.

In some implementations, the storage device inspection system 100 includes a transport station 400 shown in FIGS. 1-3 and 10. In another implementation, storage device inspection system 100 includes an operator to supply storage device 500 to a conveyor belt or robotic arm 200 (not shown). In the example comprising the transport station 400, the robotic arm 200 independently services each inspection slot 310 by transporting the storage device 500 between the transportation station 400 and the inspection slot 310. . The transport station 400 includes a plurality of tote receptacles 430, each receiving a tote 450. Tote 450 forms a storage device receptacle 454 that houses storage device 500 for inspection and / or storage. In each storage device receptacle 454, the housed storage device 500 is supported by the storage device support 456. The robotic arm 200 removes the storage device carrier 550 from one inspection slot 310 with the manipulator 212 and then one storage device receptacle at the transport station 400 with the storage device carrier 550. Take storage device 500 from 454 and then return storage device carrier 550, with storage device 500, to inspection slot 310 for inspection of storage device 500. have. After the inspection, the robotic arm 200 removes the storage device carrier 550 carrying the inspected storage device 500 from the inspection slot 310 and removes the inspected storage device 500 within the storage device carrier 550. Inspection slot 310 by manipulating storage device transporter 550 to transport to transport station 400 and return the inspected storage device 500 to one storage device receptacle 454 in transport station 400. Retrieved storage device 500 from < RTI ID = 0.0 > In an implementation that includes a vision system 270 on the robotic arm 200, the reference mark 314 is one to assist the protection of the robotic arm in retrieving or placing the storage device 500 in the transport station 400. And may be located adjacent to the storage device receptacle 454.

The transport station 400, in some examples, includes a station housing 410 that defines a longitudinal axis 415. One or more tote receivers 420 are rotatably installed in the station housing 410, for example, on a spindle 412 extending along the longitudinal axis 415. Each tote receiver 420 may rotate on a respective respective spindle 412 or on a common spindle 412. Each tote receiver 420 forms first and second opposing tote receptacles 430A and 430B. In the example shown, the conveying station 400 includes three tote receivers 420 stacked on the spindle 412. Each tote receiver 420 is rotatable independently of one another and is capable of rotating the storage device tote 450 housed between an inspection position accessible by the robotic arm 200 and a service position (eg, accessible by an operator). Can be. In the example shown, each tote receiver 420 is rotatable between a first location (eg, a service location) and a second location (inspection location). In the first position, the operator is provided with access to the first tote receptacle 430A, and the robotic arm 200 is provided with access on the opposite side to the second tote receptacle 430B. In the second position, the robotic arm 200 is provided with access to the first receptacle 430A and the operator is provided with access to the opposite side to the second tote receptacle 430B. As a result, the operator may service the transport station 400 by loading / unloading the tote 450 into the tote receptacle 430 on one side of the transport station 400, and the robotic arm 200 may serve as a storage device ( Has access to the tote 450 housed in the tote receptacle 430 on the opposite side of the transport station 400 that loads / unloads 500.

The transport station 400 delivers the storage device 500 to the storage device inspection system 100 and provides a service point for retrieving the storage device 500 therefrom. Tote 450 enables an operator to deliver and retrieve a batch of storage devices 500 to transport station 400. In the example shown in FIG. 10, each tote 450 accessible from each tote receiver 420 in the second location is designated as a source tote 450 supplying a storage device 500 to be inspected, or inspected. Can be designated as the destination tote 450 for receiving the storage device 500. The destination tote 450 may be classified as a "pass return tote" or a "fail return tote" to accommodate each storage device 500 that has passed or failed the functional check, respectively.

Housing door 416 is pivotally or slidably attached to transport station housing 410 and is configured to provide operator access to one or more tote receptacles 430. The operator opens the housing door 416 associated with the particular tote receiver 420 to load / unload the tote 450 into each tote receptacle 430. The transport station 400 can be configured to hold the tote receiver 420 stationary while the associated housing door 416 is open.

In some embodiments, the transport station 400 includes a station indicator 418 that provides a visual, audio indication, or other indication of one or more states of the transport station 400. In one example, the station indicator 418 indicates when one or more tote receiver 420 needs service (eg, to load / unload tote 450 from a particular tote receiver 420). Light (eg, LED). In another example, station indicator 418 provides one or more audio signals that provide one or more audio signals (eg, chirps, clacks, etc.) to signal the operator to service transport station 400. It includes a device. Station indicator 418 may be disposed along longitudinal axis 415, as shown, or may be disposed over some other portion of station housing 410.

In the example shown in FIG. 11, tote 450A includes tote body 452A forming a plurality of storage device receptacles 454A. Each storage device receptacle 454A is configured to house a storage device 500. In this example, each storage device receptacle 454A has a storage device support 456A configured to support a central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along the non-centre portion. Include. To remove the storage device 500 housed from the storage device receptacle 454A, the storage device carrier 550 is under the storage device 500 (eg, by the robotic arm 200) within the storage device receptacle 454A. And lift to lift storage device 500 from storage device support 456A. The storage device carrier 550 is then removed from the storage device receptacle 454A and carries the storage device 500 for delivery to a destination target, such as the inspection slot 310.

In the example shown in FIG. 12, the tote 450B includes a tote body 452B that forms a column cavity 453B divided into a storage device receptacle 454B by a plurality of storage device supports 453B. The storage device support 456B is cantilevered from the rear wall 457B of the column cavity 453B. The storage device support 456B is configured to support the central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along the non-centre portion. The cantilevered storage device support 456B inserts the storage device carrier 550 (shown in FIG. 13) into the empty storage device receptacle 454B directly below and removes from the storage device receptacle 454B. Lifting the storage device 500 out of 456B allows the recovery of the storage device 500 from the tote 450B. The same steps are repeated in reverse order to place storage device 500 in tote 450B. As shown, the bottom storage device receptacle 454B in each column cavity 453B is left empty to facilitate removal of the storage device 500 housed therein in the storage device receptacle 454B. Lose. As a result, the storage device 500 must be loaded / unloaded sequentially in a particular column, but a higher storage density is achieved than the tote solution shown in FIG.

13-16, in some examples, inspection slot 310 is configured to receive storage device carrier 550. The storage device carrier 550 is configured to receive the storage device 500 and is handled by the robotic arm 200. In its use, one of the storage device carriers 550 is held by (e.g., grabbing the indentation 552 of the storage device carriers 550 with the manipulator 212 of the robotic arm 200, or by other inactivation). The robot arm 200 is removed from one inspection slot 310. As shown in FIG. 13, the storage device carrier 550 is integrated with a location below one storage device 500 in which the storage device carrier 550 is housed within one of the storage device receptacles 454 of the tote 450. Substantially U-shaped formed by the side plates 562, 564, and the base plate 566, allowing the frame 560 to fit around the storage device support 456 so as to be moved in (eg, by the robot arm 200). A frame 560 forming an opening 561. The storage device carrier 550 may then be raised (eg, by the robot arm 310) to a location engaging with the storage device 600 for removal of the storage device support 456 in the tote 450. have.

With the storage device 500 lying within the frame 560 of the storage device carrier 550, the storage device carrier 550 and the storage device 500 together are one of the inspection slots 310, as shown in FIG. 16. It can be moved by the robotic arm 200 to be placed within. The manipulator 212 is also configured to initiate operation of the clamping mechanism 570 disposed within the storage device carrier 550. This prevents the movement of the storage device 500 relative to the storage device carrier 550 during movement, so that the actuation of the clamping mechanism 570 before the storage device carrier 550 is moved from the tote 450 to the inspection slot 310. To make it possible. Prior to insertion into inspection slot 310, manipulator 212 again actuates clamping mechanism 570 to place storage device 500 within frame 560. This is because the storage device carrier 550 into one inspection slot 310 until the storage device 500 is in the inspection position with the inspection slot connector (not shown) and the engaged storage device connector 510. Enable insertion The clamping mechanism 570 may also be configured to engage the inspection slot 310 after it is received in the inspection slot 310 to prevent movement of the storage device carrier 550 relative to the inspection slot 310. In this implementation, after the storage device 500 is placed in the test position, the clamping mechanism 570 is re-engaged to prevent movement of the storage device carrier 550 relative to the test slot 310. Clamping of the carrier 550 in this manner can help to reduce vibrations during inspection. In some examples, after insertion, the storage device carrier 550 and the storage device 500 carried into the inspection slot are clamped or secured together or separately in the inspection slot 310. Detailed descriptions and other details of the clamping mechanism 570 and features incorporating the invention described herein are described in US Patent Application No. entitled "Disk Drive Transport, Clamping, and Inspection," filed December 18, 2007. No. 11 / 959,133.

Storage device 500 may be sensitive to vibration. Install a plurality of storage devices 500 in one inspection rack 310 and run the storage device 500 (eg, during inspection), as well as from various inspection slots 310 to inspection rack 300, Insertion and removal of the storage device carrier 550, each of which optionally carries the storage device 500, may be the cause of undesirable vibrations. For example, in some cases, one storage device 500 is operative to be inspected within one inspection slot 310 and another storage device 500 is adjacent inspection slot 310 within the same inspection rack 300. Removed from and inserted. As described above, clamping the storage device carrier 550 to the inspection slot 310 after the storage device carrier 550 has been fully inserted into the inspection slot 310 may occur during insertion and removal of the storage device carrier 550. Limiting contact and scratching between the storage device carrier 550 and the inspection slot 310 may help to reduce or limit vibration.

Referring to FIG. 17, in some implementations, the storage device inspection system 100 includes at least one computer 320 in communication with an inspection slot 310. Computer 320 may be configured to provide an inventory interface for storage device 500 and / or an automated interface for controlling storage device inspection system 100. The power system 330 supplies power to the storage device inspection system 100. The power system 330 can monitor and / or regulate power to the storage device 500 housed in the inspection slot 310. Temperature control system 340 controls the temperature of each test slot 310. Temperature control system 340 may be an air circulator 342 (eg, a fan) operative to circulate air above and / or through test slot 310. In some examples, air circulator 342 may be located outside of inspection slot 310. Vibration control system 350, such as active damping or passive dampening, controls the vibration of each inspection slot 310. In some examples, the vibration control system 350 includes passive damping in which components of the inspection slot 310 are connected through a grommet isolator (eg, thermoplastic) and / or an elastomer mount (eg, a urethane elastomer). It includes a system. In some examples, vibration control system 350 includes an active control system having springs, dampers, and control loops to control vibrations of rack 300 and / or inspection slot 310. Data interface 360 is in communication with each inspection slot 310. Data interface 360 is configured to communicate with storage device 500 received by inspection slot 310.

In the example shown in FIG. 18, each rack 300 includes at least one self inspection system 600 in communication with at least one inspection slot 310. Self-test system 600 checks whether a particular subsystem, such as storage device test system 100 and / or test slot 310, is operating properly. The self-test system 600 includes a cluster controller 610, a connection interface circuit 620 in electrical communication with the storage device 500 housed in the test slot 310, and a block in electrical communication with the connection interface circuit 620. Interface circuit 630. Cluster controller 610 may be configured to execute one or more test programs, such as a plurality of self test on test slot 310 and / or a function test on storage device 500. The connection interface circuit 620 and the block interface circuit 630 can be configured to self-test. In some examples, self-test system 600 includes self-test circuitry 660 configured to execute and control a self-test routine on one or more components of storage device test system 100. For example, the self test circuit 660 may be configured to perform a self test of a 'storage device' type and / or a 'test slot only' type on one or more components of the storage device test system 100. The cluster controller 610 may communicate with the self-test circuit 640 via Ethernet (eg, Gigabit Ethernet), the block interface circuit 630 via a universal asynchronous transceiver (UART) serial link, and a connection interface circuit ( 620 and storage device 500. UARTs are typically discrete integrated circuits (or portions of integrated circuits) used for serial communication through a computer or peripheral device serial port. The block interface circuit 630 is configured to remove power and temperature of the test slot 310 and can control the plurality of test slots 310 and / or the storage device 500.

Each rack 300 includes, in some examples, at least one functional inspection system 650 in communication with at least one inspection slot 310. The functional inspection system 650 checks whether the received storage device 500 is functioning properly, maintained in and / or supported by the storage device carrier 550. The functional check may include the amount of power received by the storage device 500, the operating temperature, the data reading and writing capability, and the data reading and writing capability at different temperatures (eg, reading capability at high temperatures, or writing capability at low temperatures, or And vice versa. The functional check may examine all memory sectors of the storage device 500 or only random sampling. The functional check can check the operating temperature of the storage device 500 and also check the integrity of the data in communication with the storage device 500. The functional test system 650 includes a cluster controller 610 and at least one functional interface circuit 660 in electrical communication with the cluster controller 610. The connection interface circuit 620 is in electrical communication with the storage device 500 and the functional interface circuit 660 housed in the test slot 310. The functional interface circuit 660 is configured to communicate a functional check routine with the storage device 500. The functional check system 650 may include a communication switch 670 (eg, Gigabit Ethernet) to provide electrical communication between the cluster controller 650 and one or more functional interface circuits 660. Preferably, computer 320, communication switch 670, cluster controller 610, and functional interface circuit 660 communicate over an Ethernet network. However, other forms of communication may be used. The functional interface circuit 660 may communicate with the connection interface circuit 620 via a parallel AT connection (hard disk interface, also known as IDE, ATA, ATAPI, UDMA, and PATA), SATA, or Serial Attached SCSI (SAS). .

A method of performing a storage device test may include loading the storage device 500 into a storage device receptacle 454 formed by the storage device tote 450 and loading the storage device 500 into a tote receptacle 430 formed by the transport station 400. Loading the plurality of storage devices 500 into the transport station 400) by loading the storage device tote 450. The method includes operating the robotic arm 200 to retrieve the storage device carrier 550 from the inspection slot 310 housed within the rack 300, and removing one of the storage devices 500 from the transport station 400. Retrieving and operating the robotic arm 200 to carry the storage device 500 to the storage device carrier 550. The robotic arm 200 rotates along a predetermined arc about a first axis 205 formed by the robotic arm 200 substantially perpendicular to the bottom surface 10, and operates to extend radially from the axis. The method includes operating the robotic arm 200 to carry a storage device carrier 550 carrying a storage device 500 to an inspection slot 310, and the received storage device carrier 550 and inspection slot 310. Performing a functional check on the storage device 500 housed by. The method retrieves a storage device carrier 550 carrying an inspected storage device 500 from an inspection slot 310 and moves the robotic arm 200 to convey the inspected storage device 500 back to the transport station 400. Operating the step. In some implementations, the rack 300 and two or more test slots 310 are configured to move the storage device 500 internally from one test slot 310 to another test slot 310, in this case an test slot. 310 is provided for various types of inspection.

In some examples, the method includes placing the inspected storage device 500 in the storage device receptacle 454 of the storage device tote 450 and then placing the storage device carrier 550 in the inspection slot 310. Operating 200 or repeating the method by retrieving another storage device 500 for inspection from another storage device receptacle 454 of storage device tote 450. In some examples, conveying the storage device carrier 550 to the inspection slot 310 includes inserting a storage device carrier 550 that carries the storage device 500 into the inspection slot 310 in the rack 300. And an electrical connection is formed between the storage device 500 and the rack 300.

In some implementations, the method includes performing a functional check on the received storage device 500, including adjusting the temperature of the test slot 310 while operating the storage device 500. Operation of the received storage device 500 includes performing data reads and writes to the storage device 500. The method also includes circulating air over and / or through the test slot 310 to control the temperature of the test slot 310, and to monitor and / or adjust the power delivered to the storage device 500. It includes a step.

In some examples, the method is a 'storage device' type, and / or 'on the inspection slot 320 with a self-test system 600 housed by the rack 300 to verify the functionality of the inspection slot 310. Perform a self-test of type 'Inspection slot only'. A 'storage device' type self test examines the functionality of the storage device inspection system with the storage device 500 housed in and / or supported by the storage device carrier 550. A self test of the 'Inspection Slot Only' type checks the function of the test slot 310 when empty.

In some examples, the method includes a vision system 270 disposed on the robotic arm 200 to help protect the robotic arm 200 while delivering the storage device 500 carried by the storage device carrier 550. Communicating. The method places the robotic arm 200 at a reference mark 314 on the rack 300, inspection slot 310, transport station 400, and / or tote 450, as recognized by vision system 270. By aligning, calibrating the robotic arm 200.

Other details and features that may be combined with those described herein can be found in US Patent Application No. 11 / 958,788, entitled "Disk Drive Check," filed December 18, 2007.

Various implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the invention. Accordingly, other implementations are within the scope of the following claims.

Claims (30)

Forming a first axis 205 substantially perpendicular to the bottom surface 10, operative to rotate along a predetermined arc about the first axis 205 and extend radially from the first axis 205. At least one robotic arm 200;
A plurality of racks 300 arranged around the robot arm 200 for service by the robot arm 200;
A plurality of inspection slots 310 housed by each rack 300, each configured to receive a storage device carrier 550 configured to carry a storage device 500 for inspection; And
And a carrying station 400 arranged for service by the robotic arm 200,
The transport station (400) is characterized in that it comprises a plurality of tote receptacles (430) each configured to receive a storage device tote (450). The robotic arm (200) of claim 1, wherein the robotic arm (200) includes a manipulator (212) configured to engage with the storage device carrier (550) of one of the inspection slots (310), and the robotic arm (200) Storage device inspection system (100), characterized in that it is operative to convey the storage device (500) in the storage device carrier (550) to the inspection slot (310) for inspection. 3. The robotic arm (200) according to claim 1 or 2, wherein the robotic arm (200) forms a substantially cylindrical working envelope volume (210), and the rack (300) and the conveying station (400) Arranged in the actuating envelope volume 210 for service by the robotic arm 200, preferably the rack 300 and the conveying station 400 are the first of the robotic arm 200. Storage device inspection system (100), characterized in that it is arranged in at least partially closed polygon with respect to axis (205). 4. The conveying station 400 according to any one of the preceding claims, wherein the conveying station 400 rotates about a longitudinal axis 415 formed by the conveying station 400 which is substantially perpendicular to the bottom surface 10. Storage device inspection system 100, characterized in that it operates. 5. The transport station housing according to claim 1, wherein the transport station 400 comprises a transport station housing 410 forming first and second opposing tote receptacles 430, 430A, 430B. Storage device inspection system (100), characterized in that. 6. The transport station 400 according to any one of claims 1 to 5, wherein
A station housing 410 forming a longitudinal axis 415; And
And a plurality of tote receivers 420 rotatably installed to rotate about the longitudinal axis 415,
The tote receiver (420) is rotatable independently of each other and forms a first and a second opposing tote receptacle (430, 430A, 430B). The storage device 500 according to any one of the preceding claims, wherein the robotic arm 200 is located between the received storage device tote 450 and the inspection slot 310 of the transport station 400. Storage device inspection system (100), characterized in that to service each inspection slot (310) independently by carrying. A tote body 452A according to any one of the preceding claims, wherein the storage device tote 450 forms a plurality of storage device receptacles 454A, 454B, each configured to house a storage device 500. Storage device inspection system (100), comprising: 452B. 9. A central portion of a storage device 500 according to any one of the preceding claims, wherein each storage device receptacle 454A, 454B is housed to allow steering of the storage device 500 along a non-centre portion. Storage device inspection system (100), characterized in that forming a storage device support (456A, 456B) configured to support (502). 10. The device of any one of the preceding claims, wherein the storage device tote 450
A tote body 452B forming a plurality of column cavities 453B; And
A plurality of cantilevered storage device supports 456B disposed within each column cavity 453B, each dividing the column cavity 453B into a plurality of storage device receptacles 454B configured to receive a storage device 500; Including,
Each storage device support 456B is configured to support a central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along a non-centre portion. System 100. The compound according to any one of claims 1 to 10, wherein
At least one computer (320) in communication with the rack (300);
A power system (330) for powering the storage device inspection system (100);
A temperature control system 340 for controlling the temperature of each inspection slot 310;
A vibration control system 350 for controlling the rack vibration; And
And a data interface 360 in communication with each test slot 310,
The data interface is configured to communicate with a storage device (500) in the storage device carrier (550) received by the inspection slot (310). 12. The storage device inspection system of claim 11, wherein the power system 330 is configured to monitor and / or regulate power to the housed storage device 500 within the inspection slot 310. 100). 13. The storage device inspection system (10) according to claim 11 or 12, wherein the temperature control system (340) includes an air circulator (342) operable to circulate air through the inspection slot (310). 100). 14. The rack (300) according to any one of the preceding claims, wherein each of the racks (300) comprises at least one self inspection system (600) in communication with at least one inspection slot (310),
The self-test system 600
Cluster controller 610;
Connection interface circuitry 620 in electrical communication with a storage device 500 housed within the inspection slot 310; And
And a block interface circuit 630 in electrical communication with the connection interface circuit 620 and configured to control the power and temperature of the test slot 310.
The connection interface circuit (620) and the block interface circuit (630) are configured to test the functionality of at least one component of the storage device inspection system (100). 15. The method according to any one of the preceding claims, wherein each rack 300 comprises at least one functional inspection system 650 in communication with at least one inspection slot 310,
The functional test system 650
Cluster controller 610;
At least one functional interface circuit 660 in electrical communication with the cluster controller 610; And
And a connection interface circuit 620 in electrical communication with the storage slot 500 housed within the test slot 310 and the at least one functional interface circuit 660,
The at least one functional interface circuit (660) is configured to communicate a functional check routine with the storage device (500). 16. The system of claim 15, wherein the functional test system 600 provides a communication switch 670, and preferably Ethernet, to provide an electrical connection between the cluster controller 610 and the at least one functional interface circuit 660. Storage device inspection system (100), further comprising a switch. 17. The system of claim 1, further comprising a vision system 270 disposed on the robotic arm 200, the vision system 270 carrying a storage device 500. The robotic arm 200 by aligning the robotic arm 200 with the protection of the robotic arm 200, and preferably with one of the racks 300 and a reference mark 314 on the transport station 400. Storage device inspection system 100, characterized in that it aids in the calibration of the. A storage device tote 450, 450A, 450B having a tote body 452A, 452B, each forming a plurality of storage device receptacles 454A, 454B configured to house a storage device 500,
Each storage device receptacle 454A, 454B is a storage device support 456A, 456B configured to support a central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along a non-centre portion. Storage device tote 450, 450A, 450B having tote bodies 452A, 452B, each forming a plurality of storage device receptacles 454A, 454B configured to house storage device 500, respectively. . As storage device totes 450 and 450B,
A tote body 452B forming a plurality of column cavities 453B; And
A plurality of cantilevered storage device supports 456B disposed within each column cavity 453B, each dividing the column cavity 453B into a plurality of storage device receptacles 454B configured to receive a storage device 500; Including,
Each storage device support 456B is configured to support a central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along a non-centre portion. 450, 450B). A method of performing a storage device check, comprising:
Loading the plurality of storage devices 500 into storage device receptacles 454A, 454B formed by storage device totes 450, 450A, 450B;
Loading the storage device tote (450, 450A, 450B) into a tote receptacle (430) formed by a transport station (400);
Operating the robotic arm 200 to retrieve the storage device carrier 550 from an inspection slot 310 housed within the rack 300;
Recovering one of the storage devices (500) from the transport station (400) and operating the robotic arm (200) to transport the storage device (500) into the storage device carrier (550);
Operating the robotic arm (200) to deliver the storage device carrier (550) that carries the storage device (500) to the inspection slot (310);
Performing a functional test on the received storage device carrier (550) and the storage device (500) housed by the test slot (310); And
Recover the storage device carrier 550 carrying the inspected storage device 500 from the inspection slot 310 and deliver the inspected storage device 500 back to the transport station 400, Operating the robotic arm 200;
The robot arm 200 rotates along a predetermined arc about a first axis 205 formed by the robot arm 200 that is substantially perpendicular to the bottom surface 10, and radially from the first axis 205. Operating to extend the storage device. 21. The method of claim 20, further comprising operating the robotic arm (200) to place an empty storage device carrier (550) in the inspection slot (310). 22. The method of claim 20 or 21, wherein transferring the storage device carrier 550 that carries the storage device 500 to the inspection slot 310 comprises performing the inspection slot 310 in the rack 300. And inserting the storage device carrier (550) and forming an electrical connection between the storage device (500) and the rack (300). 23. The received storage device tote 450, 450A, 450B in any one of claims 20-22 between the inspection position and the service position accessible by the robotic arm 200. Rotating the device). 24. The method of any of claims 20 to 23, wherein loading the storage device 500 into the storage device tote 450, 450A, 450B
Placing the storage device 500 over the storage device supports 456A, 456B in the storage device receptacles 454A, 454B formed by the tote bodies 452A, 452B of the storage device totes 450, 450A, 450B. And the storage device supports 456A, 456B are configured to support a central portion 502 of the storage device 500 housed to allow steering of the storage device 500 along a non-centre portion. How to perform a storage device check. 25. The robot according to any one of claims 20 to 24, wherein the robot is configured to selectively deliver the inspected storage device 500 to return totes 450, 450A, 450B housed by the transport station 400. Operating the arm 200 further;
The robotic arm 200 is a storage device inspected with storage device receptacles 454A, 454B of pass return totes 450, 450A, 450B when the inspected storage device 500 has successfully passed the functional test. 500, and the robotic arm 200 passes to the storage device receptacles 454A, 454B of the fail return tote 430, 430A, 430B when the inspected storage device 500 fails the functional test. A method of performing a storage device test, characterized in that it delivers the checked storage device (500). 26. The method according to any one of claims 20 to 25, wherein performing a functional check on the received storage device 500 is carried out during operation of the storage device 500, in particular to the storage device 500. Adjusting the temperature of the test slot (310) during the writing and reading of data. 27. The storage device of any one of claims 20 to 26, further comprising circulating air through the inspection slots 310 to control the temperature of the inspection slots 310. How to carry out the test. 28. The method of any of claims 20-27, further comprising monitoring and / or adjusting power delivered to the storage device 500 contained within the inspection slot 310. To perform a storage device check. 29. The method according to any one of claims 20 to 28, wherein the test slot 310 is placed on the test slot 310 with a gaze inspection system 600 housed by the rack 300 for verifying the function of the test slot 310. And performing a self test on the storage device. 21. The method of claim 20, wherein the robotic arm 200 is protected by the protection of the robotic arm 200 and / or by aligning the robotic arm 200 with a reference mark 314 on the rack 300. Communicating with a vision system (270) disposed on the robotic arm (200) to assist in calibration of the robotic arm (200).

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