Abstract:
In general, a test slot is engaged with automated machinery to inhibit movement of the test slot, thereby inhibiting transmission of vibration from the test slot to its surroundings. While the automated machinery is engaged with the test slot, the automated machinery is actuated to insert a storage device into the test slot, or remove the storage device from the test slot.

Description:
TECHNICAL FIELD 
     This disclosure relates to engaging test slots and related devices, systems, and methods. 
     BACKGROUND 
     Storage device manufacturers typically test manufactured storage devices for compliance with a collection of requirements. Test equipment and techniques exist for testing large numbers of storage devices serially or in parallel. Manufacturers tend to test large numbers of storage devices simultaneously. Storage device testing systems typically include one or more tester racks having multiple test slots that receive storage devices for testing. In some cases, the storage devices are placed in carriers which are used for loading and unloading the storage devices to and from the test racks. 
     The testing environment immediately around the storage device is regulated. Minimum temperature fluctuations in the testing environment may be critical for accurate test conditions and for safety of the storage devices. In addition, 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 yields and increased manufacturing costs. Current disk drive testing systems employ automation and structural support systems that contribute to excess vibrations in the system and/or require large footprints. 
     SUMMARY 
     In general, this disclosure relates to engaging test slots and related devices, systems, methods, and means. 
     In one aspect, a test slot is engaged with automated machinery to inhibit movement of the test slot, thereby inhibiting transmission of vibration from the test slot to its surroundings. While the automated machinery is engaged with the test slot, the automated machinery is actuated to insert a storage device into the test slot, or remove the storage device from the test slot. 
     In another aspect, an apparatus includes at least one engaging element configured to engage a test slot to inhibit movement of the test slot, thereby inhibiting transmission of vibration from the test slot to its surroundings. The apparatus further includes an automated transporter, while the at least one engaging element is engaged with the test slot, configured to insert a storage device into the test slot; or remove the storage device from the test slot. 
     In another aspect, automated machinery includes means for engaging a test slot to inhibit movement of the test slot, thereby inhibiting transmission of vibration from the test slot to its surroundings. The automated machinery also includes means for, while the automated machinery is engaged with the test slot, inserting a storage device into the test slot, or removing the storage device from the test slot. 
     Embodiments may include one or more of the following features. The automated machinery engages the test slot with one or more actuators. The one or more actuators include one or more first engaging elements. The test slot includes one or more second engaging elements. Engaging the test slot includes causing the one first engaging elements to temporarily connect to the one or more second engaging elements. The one or more first engaging elements may include an element selected from a group consisting of: a pin, a recess, a slot, a magnet, an adhesive, a clasp, and a hook. The one or more first engaging elements may alternatively be constructed so as to present a surface to engage the test slot by friction. The one or more second engaging elements may include an element selected from a group consisting of: a pin, a recess, a slot, a magnet, an adhesive, a clasp, and a hook. The one or more second engaging elements may alternatively be constructed so as to present a surface to be engaged by friction. The automated machinery includes a robot that includes a manipulator for carrying the storage device. The actuators are coupled to the robot and/or the manipulator. The storage device is carried by a storage device transporter. The automated machinery includes a robot and a manipulator for engaging the storage device transporter, and the actuators are coupled to the robot and/or the manipulator. The at least engaging element is configured to temporarily connect to one or more second engaging elements of the test slot. The at least one engaging element includes an element selected from a group consisting of a pin, a recess, a slot, a magnet, an adhesive, a clasp, and a hook. The at least one engaging element is adapted to engage the test slot by friction. The one or more second engaging elements include an element selected from a group consisting of a pin, a recess, a slot, a magnet, an adhesive, a clasp, and a hook. The automated transporter comprises a robot that comprises a manipulator for carrying the storage device, wherein the at least one engaging element is coupled to the robot and/or the manipulator. The storage device is carried by the automated transporter. 
     The details of one or more embodiments 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 
         FIG. 1  is a perspective view of a storage device testing system. 
         FIG. 2A  is perspective view of a test rack. 
         FIG. 2B  is a detailed perspective view of a carrier receptacle from the test rack of  FIG. 2A . 
         FIGS. 3A and 3B  are front and back perspective views, respectively, of a test slot carrier. 
         FIG. 4  is a perspective view of a test slot assembly. 
         FIG. 5  is a top view of a storage device testing system. 
         FIG. 6  is a perspective view of a storage device testing system. 
         FIGS. 7A and 7B  are perspective views of a storage device transporter. 
         FIG. 8A  is a perspective view of a storage device transporter supporting a storage device. 
         FIG. 8B  is a perspective view of a storage device transporter receiving a storage device. 
         FIG. 8C  is a perspective view of a storage device transporter carrying a storage device aligned for insertion into a test slot. 
         FIG. 9  is a schematic view of test circuitry. 
         FIGS. 10A and 10B  are perspective views of a front portion of a test slot. 
         FIG. 11  is a perspective view of a front portion of a test slot being engaged by actuators. 
         FIGS. 12A and 12B  are perspective views of actuators. 
         FIG. 13  is a perspective views of a transporter being inserted into a test slot while the test slot is engaged by actuators. 
     
    
    
     Like reference symbols in the various drawings indicate like elements. 
     DETAILED DESCRIPTION 
     System Overview 
     As shown in  FIG. 1 , a storage device testing system  10  includes a plurality of test racks  100  (e.g., 10 test racks shown), a transfer station  200 , and a robot  300  (sometimes referred to as an “automated transporter”). As shown in  FIGS. 2A and 2B , each test rack  100  generally includes a chassis  102 . The chassis  102  can be constructed from a plurality of structural members  104  (e.g., formed sheet metal, extruded aluminum, steel tubing, and/or composite members) which are fastened together and together define a plurality of carrier receptacles  106 . 
     Each carrier receptacle  106  can support a test slot carrier  110 . As shown in  FIGS. 3A and 3B , each test slot carrier  110  supports a plurality of test slot assemblies  120 . Different ones of the test slot carriers  110  can be configured for performing different types of tests and/or for testing different types of storage devices. The test slot carriers  110  are also interchangeable with each other within among the many carrier receptacles  106  within the testing system  10  allowing for adaptation and/or customization of the testing system  10 , e.g., based on testing needs. 
     A storage device, as used herein, includes disk drives, solid state drives, memory devices, and any device that benefits from asynchronous testing. A disk drive is generally a non-volatile storage device which stores digitally encoded data on rapidly rotating platters with magnetic surfaces. A solid-state drive (SSD) is a data storage device that uses solid-state memory to store persistent data. An SSD using SRAM or DRAM (instead of flash memory) is often called a RAM-drive. The term solid-state generally distinguishes solid-state electronics from electromechanical devices. 
     As shown in  FIG. 4 , each test slot assembly  120  includes a storage device transporter  400 , a test slot  500 , and an associated air mover assembly  700 . The storage device transporter  400  may be used for capturing storage devices  600  (e.g., from the transfer station  200 ) and for transporting the storage device  600  to one of the test slots  500  for testing. The test slot includes a rear portion  500 B and a front portion  500 A. The front portion  500 A defines a test compartment  526  for receiving one of the storage device transporters  400 . The rear portion  500 B carries a connection interface board  520 , which carries a connection interface circuit  182  ( FIG. 9 ). 
     Referring to  FIGS. 5 and 6 , the robot  300  includes a robotic arm  310  and a manipulator  312  ( FIG. 5 ) disposed at a distal end of the robotic arm  310 . The robotic arm  310  defines a first axis  314  ( FIG. 6 ) normal to a floor surface  316  and is operable to rotate through a predetermined arc about and extends radially from the first axis  314  within a robot operating area  318 . The robotic arm  310  is configured to independently service each test slot  500  by transferring storage devices  600  between the transfer station  200  and the test racks  100 . In some embodiments, the robotic arm  310  is configured to remove a storage device transporter  400  from one of the test slots  500  with the manipulator  312 , then pick up a storage device  600  from the transfer station  200  with the storage device transporter  400 , and then return the storage device transporter  400 , with a storage device  600  therein, to the test slot  500  for testing of the storage device  600 . After testing, the robotic arm  310  retrieves the storage device transporter  400 , along with the supported storage device  600 , from one of the test slots  500  and returns it to the transfer station  200  (or moves it to another one of the test slots  500 ) by manipulation of the storage device transporter  400  (i.e., with the manipulator  312 ). In some embodiments, the robotic arm  310  is configured to pick up a storage device  600  from the transfer station  200  with the manipulator  312 , then move the storage device  600  to a test slot  500 , and deposit the storage device  600  in the test slot  500  by means of depositing the storage device  600  in the storage device transporter  400  and then inserting the storage device transporter in the test slot  500 . After testing, the robotic arm  310  uses the manipulator  312  to remove the storage device  600  from the storage device transporter  400  and return it to the transfer station  200 . 
     Referring to  FIGS. 7A and 7B , the storage device transporter  400  includes a frame  410  and a clamping mechanism  450 . The frame  410  includes a face plate  412 . As shown in  FIG. 7A , along a first surface  414 , the face plate  412  defines an indentation  416 . The indentation  416  can be releaseably engaged by the manipulator  312  ( FIG. 5 ) of the robotic arm  310 , which allows the robotic arm  310  to grab and move the transporter  400 . In use, one of the storage device transporters  400  is removed from one of the test slots  500  with the robot  300  (e.g., by grabbing, or otherwise engaging, the indentation  416  of the transporter  400  with the manipulator  312  of the robot  300 ). The frame  410  defines a substantially U-shaped opening  415  formed by sidewalls  418  and a base plate  420 . 
     Referring to  FIGS. 8A ,  8 B, and  8 C, with the storage device  600  in place within the frame  410  of the storage device transporter  400 , the storage device transporter  400  and the storage device  600  together can be moved by the robotic arm  310  ( FIG. 5 ) for placement within one of the test slots  500 . The manipulator  312  ( FIG. 5 ) is also configured to initiate actuation of a clamping mechanism  450  disposed in the storage device transporter  400 . Actuating the clamping mechanism  450  inhibits movement of the storage device  600  relative to the storage device transporter  400 . Releasing the clamping mechanism  450  allows for insertion of the storage device transporter  400  into one of the test slots  500 . The clamping mechanism  450  may also be configured to engage the test slot  500 , once received therein, to inhibit movement of the storage device transporter  400  relative to the test slot  500 . In such implementations, once the storage device  600  is in the test position, the clamping mechanism  450  is engaged again (e.g., by the manipulator  312 ) to inhibit movement of the storage device transporter  400  relative to the test slot  500 . The clamping of the transporter  400  in this manner can help to reduce vibrations during testing. Additional details of the transporter  400  and the clamping mechanism  450  and other details and features combinable with those described herein may be found in the following U.S. patent application filed Jul. 15, 2009, entitled “CONDUCTIVE HEATING”, with, inventors: Brian S. Merrow et al., and having assigned Ser. No. 12/503,593, the entire contents of the which are hereby incorporated by reference. 
     Referring to  FIG. 9 , in some implementations, the storage device testing system  10  can also include at least one computer  130  in communication with the test slots  500 . The computer  130  may be configured to provide inventory control of the storage devices  600  and/or an automation interface to control the storage device testing system  10 . Test electronics  160  are in communication with each test slot  500 . The test electronics  160  are in electrical communication with connection interface circuits  182  that are disposed within each the test slots  500 . These connection interface circuits  182  are arranged for electrical communication with a storage device  600  received within the associated test slot  500 , and thereby provide for communication between the test electronics  160  and storage devices  600  within the test slots  500 , e.g., for executing test routines. The test routines may include a functionality test, which can include testing the amount of power received by the storage device  600 , the operating temperature, the ability to read and write data, and the ability to read and write data at different temperatures (e.g. read while hot and write while cold, or vice versa). The functionality test may test every memory sector of the storage device  600  or only random samplings. The functionality test may test an operating temperature of the storage device  600  and also the data integrity of communications with the storage device  600 . 
     As shown in  FIG. 9 , a power system  170  supplies power to the storage device testing system  10 . The power system  170  may monitor and/or regulate power to the received storage device  600  in the test slot  500   
     Engaging the Test Slot 
     As mentioned above, storage devices (e.g., storage device  600 ) are susceptible to shock and vibration during operation and testing. Shock and vibration events can also occur, for example, when a storage device is inserted or removed from a test slot  500 . During testing, storage devices are frequently swapped out for different storage devices while the surrounding storage devices are operating or being tested. In some examples, it can be difficult to insert or remove a storage device from the test slot  500  without causing a frame (e.g., frame  502 ) of the test slot  500  from bumping into the chassis  102  of the test rack  100  ( FIGS. 2A and 2B ). An impact produced in this way can create a shock or vibration even that is transmitted to adjacent storage devices in other test slots, which degrades the isolation scheme of the test rack  100 . This problem can be amplified by the high density of the test rack  100 , as the test slots can be located in close proximity to one another to conserve space. 
     In some examples, additional shock or vibration events can be created while the storage device  600  is pushed against or pulled away from one or more electrical connecting elements located in the test slot  500 . In order for the storage device  500  to mate or un-mate with the electrical connecting elements, some degree of force (e.g., 45 Newtons) must be exerted on the storage device  600 . This force can be greater than the force require to insert the storage device  600  into the test slot  500 . 
     One way to reduce the likelihood of causing shock or vibration events is to use precision automation. As described above, an automated transporter (e.g., the robot  300  ( FIG. 3 ) can be more precise than a human in precisely inserting or removing a storage device with the correct amount of force. In some examples, however, the location of the test slot  500  may change with loading and with temperature, as the isolators associated with the test slot  500  change shape under stress or with temperature. The automated transporter may thus need to be augmented with a camera, laser position sensors, or the like, to sense the location of the frame. These sensors may slow down the operation, and may still be insufficient, as the mounting frame may move in three linear and three rotary dimensions, and it is difficult to measure and compensate for all of these cost-effectively and quickly. 
     In some examples, a portion of the robot  300  can engage (e.g., grab, pinch, hug, stabilize, attach to, or the like) a frame of the test slot  500  in order to reduce shock and vibration events caused by inserting or removing a storage device. Engaging the frame of the test slot inhibits movement of the test slot relative to a chassis supporting the test slot, including inhibiting movement in the direction used to insert or remove a storage device from the test slot. By holding on to the test slot  500 , the robot  300  can push or pull the storage device relative to the test slot  500  without moving the test slot  500 . Thus, forces exerted on the test slot  500  are transmitted to the robot  300 , rather than to the chassis  102  and adjacent storage devices. 
     Certain features of the test slot  500  or the robot  300  can allow the robot  300  to more easily or more effectively engage the test slot  500 . These features can also allow the robot  300  to approximately register relative to the test slot  500 , and then engage the test slot  500  while moving it into a precise alignment with the robot  300 . 
       FIGS. 10A and 10B  illustrate opposite sides of the test slot  500  (only the front portion  500 A of the test slot  500  is shown for clarity). The test slot  500  includes sidewalls  502 ,  504  with engaging elements  506 ,  508 , and  510  mounted thereon. The engaging elements  506 ,  508 , and  510  are configured to assist the robot  300  in temporarily engaging the test slot  500  before, during, or after the insertion or removal of a storage device. The engaging elements  506 ,  508 , and  510  are configured to engage corresponding engaging elements  512 ,  514  ( FIG. 11 ) located on actuators  516 ,  518  ( FIG. 11 ) associated with the robot  300 . In this example, the engaging elements  512 ,  514  are recesses in surfaces  513 ,  515  of the actuators  516 ,  518 . 
     In the example of  FIGS. 10A ,  10 B,  11 , and  12 , the engaging elements  506 ,  508 , and  510  are kinematic pins that are configured to mate with recesses  512 ,  514  of actuators  516 ,  518 , respectively. Both of the actuators  516 ,  518  are associated with the robot. For example, as shown in  FIG. 13 , the actuators  516 ,  518  are arranged on opposing sides of the manipulator  312  of the robot  300 . As shown in  FIGS. 11 and 12 , the actuator  516  includes an inner surface  513  that is arranged to face the sidewall  502  of the test slot  500 . The inner surface  513  includes the engaging element  512 , which in this example is a recess configured to mate with the engaging element  506  (a kinematic pin) when the robot  300  engages the test slot  500 . Similarly, the actuator  518  includes an inner surface  515  that includes engaging element  514 , which in this example is a v-shaped recess configured to mate with engaging elements  508  and  510  when the robot  300  engages the test slot  500 . The V-shaped groove and engaging elements  508  and  510  are shaped to form a kinematic connection. 
       FIG. 13  illustrates an example in which the robot  300  inserts the storage device transporter  400  (which contains storage device  600 ) into the test slot  500 . The actuators  516 ,  518  are arranged on opposing sides of, and extend outward from, the manipulator  312  of the robot  300 . Thus, as the robot  300  moves in the direction of the test slot  500 , the actuators  516 ,  518  protrude in front of the manipulator  312  such that they may contact the test slot  500  before the transporter  400  is inserted into the test slot  500 . 
     In some examples, after the robot  300  extends the manipulator  312  (and the attached actuators  516 ,  518 ) toward the test slot  500 , the robot  300  may use cameras or other sensors to crudely align the manipulator  312  and actuators  516 ,  518  with the test slot  500 . Once the actuators are in a position to engage the test slot  500  (e.g., by aligning the engaging element  506  with the recess  512  and by aligning the engaging elements  508 ,  510  with the recess  514 ), the actuators  516 ,  518  can “grab” the test slot  500  by causing the actuators  516 ,  518  to move in directions  520 ,  522 , respectively. While in some examples, this force can be applied pneumatically, hydraulically, or mechanically, the dimensions of the actuators  516 ,  518  relative to the test slot  500  can be design such that the actuators  516 ,  518  simply “slip” over the engaging elements. 
     Once the engaging elements  506 ,  508 ,  510  have mated with the recesses  512 ,  514 , an indication can be sent to the robot  300  that the robot  300  has successfully engaged the test slot  500 . After this indication has been received, the manipulator  312  can begin to insert the transporter  400  into the test slot  500  by applying force to the transporter  400  in a direction  524 . The manipulator  312  may continue to apply force to the transporter  400  until the transporter  400  or storage device  600  has successfully mated with one or more connectors (not shown) located near the distal end  526  of the test slot  500 . Again, an indication can be sent to the robot  300  when the transporter and storage device have been successfully inserted into the test slot  500 . 
     By gripping the test slot  500  prior to inserting the transporter  400  into the test slot  500 , any impact of the transporter  400  or storage device  600  against a frame of the test slot  500  will not transmit vibration energy to the chassis  102 . Instead, because the actuators  516 ,  518  are engaged with the test slot  500 , any shock or vibration energy will be absorbed by the actuators  516 ,  518 , the manipulator  312 , and the robot  300 . If the robot  300 , the manipulator  312 , and the actuators  516 ,  518  are mechanically isolated from the test rack  100 , this energy will not be transferred to the test rack  100  or the other storage devices being tested therein. 
     Similar techniques can be used to remove the transporter  400  and/or the storage device  600  from the test slot  500 . In that case, the robot  300  first engages the test slot  500  with the actuators  516 ,  518  to stabilize the test slot  500 . Once the actuators  516 ,  518  have successfully engaged the test slot  500 , the manipulator  312  can begin removing the transporter  400  and/or storage device  600  from the test slot  500  (e.g., the manipulator can being engaging the transporter  400 , or can begin to remove a transporter  400  with which the manipulator  312  is already interfacing). 
     While in the examples above there are two actuators  516 ,  518 , any number or type of actuators can be used. 
     While in the examples above the engagement elements  506 ,  508 , and  510  are described as kinematic pins, other types of engagement elements can be used. For example the engaging elements may be self-aligning, kinematic, non self-aligning, non kinematic, or a combination thereof. Exemplary engagement elements may include pins, pegs, recesses, slots, holes, detents, grooves, friction elements, or magnets. In the case where the engagement elements use friction to engage the test slot, the engagement elements may include one or more friction pads, or one or more textured surfaces of the engagement elements. In some examples, the engagement elements may engage the test slot using a native friction associated with the engagement elements. Similarly, while the actuators  516 ,  518  have been described as including recesses  512 ,  514 , any suitable engagement element can be used to correspond with the engagement elements of the test slot  500 . Moreover, the test slot  500  and the actuators  516 ,  518  can include any number, shape, size, or type of engagement elements. The test slot can also be engaged in locations on the test slot in addition to or instead of the side walls of the test slot  500 . For example, the test slot can be engaged at side and the front, the side and the top, the side and the bottom, the top and the bottom, or any combination thereof. 
     In some examples, the actuators  516 ,  518  can engage the test slot  500  after a portion of the storage device  600  or transporter  400  has already been inserted into or removed from the test slot  500 . Stated differently, the robot  300  may not use the actuators  516 ,  518  to “grip” the test slot  500  until at least part of the insertion or removal action has been completed. 
     In some examples, automated machinery such as the robot  300  ( FIG. 1 ) can be configured to transport storage devices (e.g., disk drives) without the need for a storage device transporter. For example, the robot (or other automated machinery) may directly contact a storage device in order to transport it to, and deposit it in, a test slot (e.g., test slot  500  (FIG.  4 )), without requiring that the storage device be arranged within a storage device transporter. 
     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. For example, the protrusions on the test slots that interface with the isolators in the body could be embodied as protrusions on the body that interface with isolators on the test slots. Accordingly, other implementations are within the scope of the following claims.