Tape library cartridge manipulation gripper with z-axis translation

摘要

A cartridge manipulation gripper with bidirectional z-axis translation is mountable on an x-y positioning system for cartridge handling in a tape Library. The gripper incorporates a traction assembly for frictionally engaging a cartridge and drawing the cartridge through the gripper. The traction assembly includes a belt drive train mounted to a first side of the gripper frame and a reaction roller assembly mounted to a second side of the gripper frame opposite the belt drive train. Bidirectional translation of the gripper allows engagement by the traction and reaction roller assemblies with cartridges stored in a plurality of magazines and tape drive assemblies mounted in an opposing orientation with the x-y positioning system and gripper mounted intermediate the tape drives and magazines.