Apparatus and process for processing appliance tray assembly

Abstract

The invention relates to an apparatus and a process for handling an appliance tray assembly. The invention relates in particular to the field of bioload testing, water testing, pharmacy, cosmetics, food processing, semiconductor production, electronics and environmental monitoring of closed processing areas.

Description

Technical Field

[0001] The present invention relates to an apparatus and process for treating a utensil tray assembly. The present invention particularly relates to the fields of bioburden testing, water testing, pharmaceuticals, cosmetics, food processing, semiconductor production, electronics and environmental monitoring of closed processing areas. Background Art

[0002] In the relevant process, laboratory test utensils such as filter funnels, filters, cups, collecting media (e.g. in the form of culture dishes, culture plates or sedimentation plates) (the term "utensils" will be used consistently and uniformly in this specification to refer to all such devices used for testing, wherein "filter funnels" will be used as a specific example later to illustrate the concept of the invention) must be repeatedly transferred between workplaces, preferably by automated systems, or repeatedly transferred into and removed from closed production areas for further processing and evaluation. Today, this is still generally done in a manual process, in which one or more parts of such utensils are manually transferred into and out of the interior of a processing or production area, for example through a sterile transfer port.

[0003] However, manual handling of such utensils involves the risk of contamination during handling (e.g. after opening a lid, cover or seal), and unsafe transfer of the culture medium during introduction, installation, removal and further handling, particularly when the utensils are filled with substances and / or multiple utensils are handled simultaneously as a set or batch or group (e.g. in a stack).

[0004] Furthermore, keeping several parts of a kit, such as a culture dish, grouped together during a series of processing steps is also a complex task and requires measures such as taping or strapping several culture dishes together and / or marking them.

[0005] Furthermore, individual components of the apparatus such as the filter assembly (which typically includes a membrane support holding a filter membrane and a filter funnel releasably attached to the membrane support), the membrane support, the filter funnel or the culture dish itself are not particularly suitable for automated processing in batches or piles. For automated processing of apparatus, it is difficult to firmly grasp, hold and convey the typically smooth cylindrical peripheral surfaces of the apparatus or parts thereof (such as the lid / cover) because they require a defined position and orientation for grasping, and during processing at various stages of the process, there is a high risk of the lid being accidentally opened, displaced or removed or the contents being spilled, thereby affecting the test results.

[0006] Therefore, in order to facilitate and ensure the handling of the several parts of the appliance, one or more parts of this appliance (in particular the filter assembly and individual parts of the type described above) are releasably but firmly mechanically retained in corresponding receptacles on a tray or a support frame (the term "tray" will be used consistently and uniformly in this specification to refer to all such devices that provide support for handling, in particular for transport and / or storage (for example, also during incubation) of one or more parts of the appliance that are releasably retained) to form a appliance tray assembly.

[0007] Furthermore, in the disclosure hereinafter, the term "component of a tool" collectively refers to a component or part thereof of the above-mentioned test tool commonly used in the above-mentioned application fields, whereby the most preferred application relates to the processing of the filter assembly, and in this context, more specifically to the separation of the filter funnel (representing a part of the filter assembly) from the membrane support as described below. However, it is to be understood that the present invention is also applicable to the separation of the entire filter assembly from the tray, or to the disengagement of other parts (such as the membrane support) or other types of tools as described above from the engagement with the tray, or from the engagement with other elements still retained in the tray.

[0008] For example, for storage and transport purposes, components of the appliance E are clipped or stuck on a tray, and the force required to overcome the retaining force or friction to release an individual component of the appliance from its receptacle on the tray or to release a part of an assembly (such as a filter funnel) from another part of the assembly with which it is assembled (such as a membrane support) is, for example, in the order of about 80N. Figures 1a to 1c An example of such an appliance tray assembly A in the form of an array of four filter assemblies FA on a tray or frame T is shown in FIG. The filter assemblies FA are each formed as a unit by a membrane support S at the bottom and a filter funnel F releasably attached to the top side of the membrane support S, which holds a filter membrane (not shown) on its top side. The filter funnel F is usually closed at its upper open end by a cover L. The filter assembly FA, ​​the membrane support S, the filter funnel F and the cover L are each referred to as a "component of the appliance E".

[0009] Components or parts thereof of the appliance are usually separated one by one by an operator. These tasks are critical in the process and require a high degree of care and attention in order to be able to perform the tasks repeatedly without failures due to risks such as cross contamination or accidental disassembly of units such as filter assemblies. Handling devices such as robotic arms may be used, but the integrity of the appliance must also be maintained during the process. For example, a part of the appliance such as a filter funnel must not be disassembled (even partially) or contaminated when being separated from a membrane support held on a tray and / or the membrane support must not be accidentally removed from its housing during the separation of the filter funnel.

[0010] Automation is becoming a preferred approach, for example, adopted by pharmaceutical companies in their key processes in order to reduce the risk of cross contamination, increase quality and improve yield. There is an overall industry trend towards fully automated processes.

[0011] However, automation of processes requires significant investments and available space to comply with regulations. Automated cells can be large systems with potentially hazardous devices.

[0012] That is why specific ways of automating certain processes require the design of small integrated dedicated modules capable of performing specific tasks. Such systems can be designed to fit into existing laboratory infrastructures and greatly facilitate their integration therein. As another example, collaborative robots can be mentioned, since these robots can interact safely with humans and can therefore be more easily integrated into laboratory or production environments.

[0013] What is desired is an at least partially or preferably fully automated apparatus and process for handling the above-described kit tray assembly on which one or more components of a test kit are grouped and securely held in respective receptacles of the tray for transport and handling, wherein the apparatus and process do not involve human handling steps or interactions for installing the kit tray assembly and for separating individual components of the kit or portions of these individual components of the kit from their receptacles on the tray or from assemblies combining two or more such portions. Summary of the invention

[0014] The present invention therefore provides an apparatus for handling a utensil tray assembly as defined by claim 1 and a process for handling a utensil tray assembly as defined by claim 11. Preferred embodiments are defined in the respective dependent claims.

[0015] Therefore, the present invention particularly provides an apparatus for handling a utensil tray assembly, which preferably has one or more parts of utensils held in corresponding receptacles on the tray, the apparatus comprising a support for receiving the utensil tray assembly and provided with a locking device for releasably fixing the tray in a defined working position; and a separation mechanism for mechanically removing / separating one or more parts of the utensil from one / more receptacles on the tray against a holding force / resistance, or for mechanically removing / separating a part of one or more parts of the utensil from another part with which the part is engaged to form a unit against a holding force / resistance, while the other part is still held in one / more receptacles on the tray.

[0016] Preferably, the locking means for releasably mechanically securing the pallet in the working position is configured to engage the pallet and positively position the pallet in the defined working position.

[0017] Preferably, the locking means for releasably mechanically fixing the pallet in the defined working position comprises suction means for gripping the surface of the pallet by generating a subnormal pressure and for moving the gripped pallet into the defined working position.

[0018] Preferably, the apparatus further comprises means for monitoring the sub-normal pressure state of the suction means.

[0019] Preferably, the locking means for releasably mechanically securing the tray in the defined working position comprises a mechanical latch for releasably locking the tray in the defined working position.

[0020] Preferably, the separation mechanism includes a pushing member for selectively applying a pushing force to the bottom or periphery of a part of the utensil or a unit to overcome a retaining force / resistance holding the part of the utensil in the receiving portion of the tray or to engage the part of the utensil with the other part to form a unit.

[0021] Preferably, the pushing member is configured to initially apply a pushing force to a bottom or periphery of the component of the appliance or that portion thereof at an off-centre position.

[0022] Preferably, the pushing member comprises one or more ejection pins, which are configured to be pushed selectively, preferably in phase shift, against the bottom or periphery of a part of the tool, preferably by a linear actuator configured to move the one or more ejection pins against the bottom or periphery of a part of the tool or a part thereof, or by a rotary actuator combined with a cam mechanism arranged to linearly drive the one or more ejection pins, or by a linear actuator combined with a lever arm carrying one / more ejection pins.

[0023] Preferably, the device further comprises a sensor arrangement for monitoring the presence of the tray at the support at a defined working position and / or for monitoring / detecting the presence / absence of one or more parts of the utensil at a receptacle on the tray.

[0024] Preferably, the device further comprises a controller configured to issue a warning and / or operate the locking device and / or the separation mechanism based on the monitoring / detection results of the sensor arrangement.

[0025] The present invention also provides a process for handling a utensil tray assembly, preferably using an apparatus according to the present invention, the utensil tray assembly having one or more components of a utensil held in corresponding receptacles on a tray, the process comprising placing the utensil tray assembly on a support and releasably mechanically fixing the tray in a defined working position; and mechanically removing / separating one or more components of the utensil from one / multiple receptacles on the tray against a retaining force / resistance, or mechanically removing / separating a portion of one or more components of the utensil from another portion with which the portion is engaged to form a unit against a retaining force / resistance, while the other portion remains held in one / multiple receptacles on the tray.

[0026] Preferably, removal / separation of one or more components of the utensil comprises selectively applying a pushing force to the bottom or periphery of a component of the utensil or a portion thereof to overcome a retaining force / resistance holding the component of the utensil in a receptacle of the tray or a retaining force / resistance engaging one portion of the component of the utensil with the other portion to form a unit.

[0027] Preferably, the thrust is initially applied to the base or periphery of the component of the appliance or that part thereof at an off-centre location.

[0028] Preferably, the process further comprises monitoring the presence of the tray at the support, at a defined working position and / or monitoring / detecting the presence / absence of one or more parts of the utensil at a receptacle on the tray.

[0029] Preferably, the process further comprises issuing a warning based on the monitoring / detection results, and / or initiating fixing of the tray in a defined working position, and / or disassembling / separating one or more parts of the appliance from its one / more receptacles or disassembling / separating parts thereof from other parts of the corresponding unit.

[0030] Preferably, releasable mechanical fixing of the pallet in a defined working position is accomplished by generating a sub-normal pressure to grip the pallet and move the gripped pallet to the defined working position, and / or by engaging a mechanical latch with the pallet placed on a support. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be described in detail below based on preferred but non-limiting embodiments with reference to the attached exemplary schematic drawings, in which

[0032] Figures 1a to 1c is a schematic example illustration of a perspective view of an example of a utensil tray assembly in the form of an array of four filter assemblies held in respective receptacles on a tray or frame, and a side view of the filter assembly in isolation;

[0033] Figure 2a to Figure 2g is used Figure 1a to Figure 1c A schematic illustration of a series of sequential process steps performed by an apparatus for processing a utensil tray assembly as an example of a tray with a filter assembly;

[0034] Figure 3 is a schematic example illustration of a locking device and a separation mechanism of an apparatus for handling a utensil tray assembly according to an embodiment;

[0035] Figure 4 is a schematic illustration of a locking device and a release mechanism of an apparatus for handling a utensil tray assembly according to another embodiment; and

[0036] Figure 5 is a schematic illustration of a locking device and a separation mechanism of an apparatus for handling a utensil tray assembly according to yet another embodiment. DETAILED DESCRIPTION

[0037] The apparatus and process for handling a utensil tray assembly of the present invention provides a device for partially or preferably fully automating the handling of a utensil tray assembly and one or more components of a utensil (i.e., a filter assembly comprising a membrane support and a filter funnel releasably attached to the membrane support to form a unit) held on a receptacle of the tray so as to reduce or preferably avoid disassembly of components of the utensil (unit) during separation and handling of the entire utensil or a portion thereof (e.g., a filter funnel) as a unit.

[0038] The device notably supports placing the tray in a defined mechanical reference system suitable for automated handling of the components of the appliance and physically or mechanically locking the tray in place. Thus, without human action, the components of the appliance can be safely separated and disassembled mechanically from their housing or from the unit and presented to a robot or automated machine or even a human operator in a controlled, safe and highly repeatable process without the risk of losing them from the tray and / or disassembling the unit.

[0039] In a preferred embodiment, information about process steps can be collected, for example, whether parts of a tray or tool are in / remain in place and whether the tool has been properly disassembled, and this information can be used to alert or record or control the operation of elements of the equipment to improve the safety and reliability of the process.

[0040] Figure 2a Schematically shows a tray assembly A for handling utensils (which has a tray assembly A) held in the above-mentioned combination Figures 1a to 1cThe invention relates to a device 1 for mechanically removing / separating one or more components of an appliance E from one / more of its receptacles R on the tray T as described, and comprising a support 3 for receiving an appliance tray assembly A, a locking device 4 for releasably fixing the tray T in a defined working position, and a separating mechanism 6 for mechanically removing / separating one or more components of the appliance E from its one / more receptacles R on the tray against a holding force / resistance, or (as in this example) for mechanically removing / separating one part (i.e., a filter funnel representing a component of the appliance E) from another part of the filter assembly representing the unit (i.e., from a membrane support still attached to one / more receptacles R on the tray) (see Figure 2d and 2e ).

[0041] The support 3 for the tray includes a mechanical reference system for accurate positioning, means for positioning the tray in space, and means for holding the tray in place. The shape of the support 3 is not particularly limited. The utensil tray assembly A can be placed on the support 3 of the device manually, by gravity in conjunction with a conventional automated conveyor, or by a dedicated actuator or robot arm.

[0042] As schematically shown, the support 3 may include a base or column 3a on which the pallet may be placed to define its position in the vertical direction. The pallet may be located in space and mechanically referenced by a plurality of spaced apart protrusions or stops 3b in defined positions around the pallet so as to define the position of the pallet in the horizontal plane by cooperating, for example, by mechanical engagement, with defined sections of the pallet when the pallet is in the desired position (see Figure 2b ).

[0043] Locking means 4 (for example in the form of one or more movable mechanical latches 4a) are provided to selectively engage with the tray when the tray is in the correct position on the support 3. Figure 2c An example is shown in FIG. 4 , in which the latch 4 a is rotated or pivoted from a standby position on one side of the pallet until it extends over the upper surface of the pallet, thereby preventing the pallet from being lifted from the support 3 in a vertical direction.

[0044] Thus, the locking device 4 for releasably mechanically fixing the tray T in the working position is configured to selectively engage the tray T. It can also be configured to actively position the tray T in the working position in the lateral direction (ie in the horizontal plane) and / or in the vertical direction. Figures 2a to 2cIn the exemplary device shown in , the locking device 4 for mechanically fixing the tray T in the working position comprises a suction device 5 in the form of one or more vacuum cups or vacuum pads, or suction cups or suction pads, which are configured to grasp the lower surface of the tray resting on the support 3 by generating a subnormal pressure, and to move the grasped tray to the working position, for example by pulling it downwards only by suction or by actively moving it under electric or pneumatic activation of the suction device 5 until the tray is completely resting on the support 3 (see Figure 2c ). In this position, the mechanical latch 4a can perfectly pass over the top surface of the tray for releasably locking the tray in the working position. It is worth noting that the suction device 5 can be connected to a vacuum pump (not shown) or any other device capable of generating a sub-normal pressure in the suction device 5 by means of a connection 5a (e.g., by a pipe or a tube).

[0045] If the holding force of the suction device 5 alone is sufficient to hold the tray in place, the mechanical latch 4a may be omitted, even if the tool component requires a relatively high force (e.g. in the range of 80N) to be ejected from its housing by the separation mechanism 6 described below. However, it is preferred to additionally provide a mechanical latch in order to avoid accidental release of the tray in the event of a loss of sub-atmospheric pressure levels due to a failure of the sealing state over time, either due to contamination or temperature changes or failure of the vacuum source.

[0046] Of course, the latch 4a may also engage with a dedicated recess or protrusion formed on the periphery of the tray instead of the top surface. The contact surface of the latch 4a with the tray T (or vice versa) may also be provided with an inclined surface or a cam surface formed so as to gradually push the tray in the lateral direction and / or downward direction to its defined working position on the support 3 during the gradual engagement process (e.g. by pivoting the latch 4a), thus assisting or replacing the function of the suction device 5.

[0047] The device may include a device for monitoring the sub-normal pressure state or pressure level of the suction device 5 (i.e. each suction cup) to confirm whether the grasping state is successful. The monitoring result can be used as a trigger or input signal for activating the locking device 4, thus providing an automated process for fixing the pallet in the working position.

[0048] The vacuum level of the suction cups may be monitored throughout the process. For example, failure to achieve the correct vacuum level within a certain period of time after placing the tray on the support may indicate that the tray has been misplaced or damaged or broken. Or, for example, loss of vacuum during the separation process may indicate that the tray has been damaged or disassembled during operation. The correct vacuum level ensures the correct mechanical positioning and integrity of the tray.

[0049] The separation mechanism 6 of the device includes one or more pushing members 7 for selectively applying a pushing force to the bottom of a component of the appliance E or to a part thereof (in this example, the filter funnel of the filter assembly) from below the tray T, so as to overcome the holding force / resistance that holds the component of the appliance E in the receptacle R of the tray T, or to overcome the holding force / resistance that holds the part attached to another part of the unit (in this example, the membrane support of the filter assembly) while the other part remains in the receptacle of the tray. The pushing member 7 may be provided for each position of the receptacle, or associated with the receptacle, or used in common for several receptacles, and several pushing members 7 may be configured to be activated independently or jointly.

[0050] Figures 2a to 2g The push member 7 in the embodiment of the present invention is formed as a protruding pusher 7a which is linearly movable parallel to a vertical direction perpendicular to the plane of the tray. The protruding pusher 7a may take the form of a cup in the case where the entire piece of utensil is to be separated from the receiving part, or as in the example, in the case where the part is to be detached from the other part of the unit, with one or more pin-like protrusions (two of which are in the example). Figures 2a to 2g In the case where a plurality of pin-shaped projections are provided, the component of the utensil engages at its underside at several locations evenly distributed around the center of the component and is pushed upwards parallel to the vertical direction (see Figure 2d and 2e This arrangement may work satisfactorily if the retention force of the appliance component in its housing (or at other parts of the unit) is not very high, or if the retention force is mainly caused by friction.

[0051] However, it is preferred that the pushing member 7 is configured to initially apply a pushing force to the bottom of the part of the utensil E in the corresponding receptacle at (for example, one) eccentric position, in particular if the part is slightly locked or clamped in the receptacle or other part of the unit by a shape-locking resilient snap-in connection. The part (part) of the utensil is thereby tilted and initially released and lifted at one side, while initially still remaining at the tray or at another part of the unit at the other side. In this case, the pushing member does not have to provide the force required to release the entire piece of utensil (part) at once (for example in a single step), but only a part of it, thus avoiding that the part is pushed through the snap-in connection and suddenly "pops out" from the receptacle or from other parts of the unit in an uncontrolled manner. In the described situation where the one part is removed from the other part of the unit, it is also preferred to apply the pushing force asymmetrically because when the one part is removed, the other part (i.e. the membrane support in this example) will remain in the tray and may not move away (it is worth noting that the retaining force between the parts of the unit to be separated is generally designed to be lower than the retaining force between the receiving portion of the tray and the other part, but the level of force required is not precisely predictable and varies depending on dimensional changes in the mating engaging portions of the parts or environmental influences).

[0052] As Figures 2a to 2g As an alternative to the cup-shaped pusher 7a shown in the example of FIG. 7 , or having a plurality of projections of equal height, the pusher member 7 may comprise one or more ejection pins 8 configured to abut against the bottom of a component (or portion) of the utensil from below, preferably pushed by an actuator. Figure 3 The embodiment of has a linear actuator 9, which is configured to move a plate 9a in a vertical upward / downward direction, and in this case, the plate 9a has a plurality of ejection pins 8 erected on the plate 9a in a distributed position, which corresponds to the lateral position at the bottom or periphery of the component or part. The height of the ejection pins 8 can be equal (in this case, the component is pushed symmetrically around its center), or the pins can have slightly different heights (in this case, although all pins move upward synchronously, the thrust is initially applied to the component at an eccentric position to produce the initial tilt mentioned above).

[0053] If a linear actuator is provided for each ejection pin 8 (not shown), the actuators can be operated simultaneously and synchronously or sequentially (phase shifted) and pushed against the bottom or periphery of a part or portion of the appliance (not shown). In terms of stability, three ejection pins 8 with equal spacing are preferred, but the number and in particular the shape are not particularly limited for the purposes of the present invention.

[0054] exist Figure 4In the embodiment of the present invention, the actuator is a rotary actuator 10 (i.e., an electric rotary servomotor) arranged as a rotary cam mechanism, which includes a plate 10a and a plurality of cam surfaces 10b erected on the plate 10a and configured to engage with the lower ends 8a of the corresponding ejection pins 8, thereby individually moving the ejection pins 8 upward and downward in the vertical direction. Similarly, the arrangement and shape of the cam surfaces 10b can be adapted so that all pins are pushed upward simultaneously or in a phase-shifted manner to produce an initial tilt of the component or part. This embodiment produces smooth movement of the pins, and therefore smooth movement of the component / part, and the servomotor, for example, allows precise control and adjustment of the stroke, speed and intensity.

[0055] exist Figure 5 In an embodiment of the invention, the actuator is a linear actuator 11 which is provided in combination with a lever arm 11a carrying one / more ejection pins 8. Extension of the linear actuator 11 pivots the lever arm 11a which is rotatably supported on the device at a pivot 11b on one end until one or more pins or projections 8 (which may be relatively short in this case if the pivot arm is provided close to the support of the tray) push from below against the bottom or periphery of the component or part (i.e. the filter funnel in the example) and gradually push at a certain angle on the component or part. Figure 5 In the embodiment of the invention, the support 3 and the locking device 4 are provided as simple mechanical retainers without movable parts and are formed by a pair of upright side rails 4c with forks or projections 4d projecting from opposite sides. In this case, the pallet can be slid under the forks or projections to be attached and retained on the support 3 with the lever arm 11a in the retracted state so that the pin or projection 8 is located below the surface 3c of the support 3.

[0056] The device may further comprise a sensor arrangement for monitoring the presence of the tray T at the support 3 at a defined working position and / or for monitoring / detecting the presence / absence of one or more parts of the utensil E in / at its receptacle R on the tray T. Suitable sensors may be contact sensors (i.e. micro switches) or non-contact sensors or switches (i.e. ultrasonic sensors, light sensors, image pickups) and the sensors may be selected and arranged according to the respective situation and environment and accessibility. Figure 2a and 2d In the embodiment, several non-contact optical sensors are exemplified as a sensor arrangement 12 below the support 3 and the tray T to detect the presence / absence of the funnel at the corresponding housing.

[0057] A controller may be provided and configured to issue warnings and / or operate locking devices and / or release mechanisms based on monitoring / detection results of various sensors in the sensor arrangement so as to produce an automated process.

[0058] After the parts of the tool are removed from the tray and unloaded (e.g. by a conventional automated conveyor, a robot arm or manually), the (empty) tray is released from the locking device 4 (e.g. by interrupting the vacuum at the suction device 5, such as Figure 2f exemplified) and removed from the support 3 by a discharge arm, a robot arm or a conventional automated conveyor or again manually.

[0059] Figures 2a to 2g An exemplary process for handling a utensil tray assembly using a tray T is schematically shown in FIG. 1 , wherein the components of the utensil E are in the form of a filter assembly or unit formed by a filter funnel that is releasably attached to a membrane holder and thus combined with the membrane holder to form a filter assembly such as Figures 1a to 1c The unit shown in .

[0060] Figure 2a The present apparatus 1 for handling a utensils tray assembly is shown in its initial or starting state, wherein the locking device 4 is in an open or armed position.

[0061] Then, if Figure 2b As shown in , a tray T comprising one or more parts of utensils E held in respective housings is placed onto the support 3 , preferably by means of a base or column 3 a in a predetermined (correct) position on the support 3 .

[0062] In the following, Figure 2c As schematically shown in FIG. 1 , the locking device 4 is engaged to position and hold the tray T in the working position. To this end, as described above, the latch 4 a of the locking device 4 can be selectively engaged with the tray T, for example, by rotating or pivoting (e.g., from a standby position (e.g., on one side of the tray) to a position in which the tray is positioned. Figure 2c 4a) until the latch 4a is extended above the upper surface of the pallet T. Alternatively or additionally, and before, after or simultaneously with the engagement of the latch 4a with the pallet T, the suction device 5 moves from its standby position, comes into contact with the lower surface of the pallet T, and while generating a subnormal pressure, grasps the lower surface of the pallet T and moves the pallet T to the working position.

[0063] As explained above, the latch 4a and the suction device 5 can be used in combination or separately to position and hold the tray T in the working position.

[0064] like Figure 2c As shown in FIG. 1 , once the tray T is locked in the working position, the pushing member 7 selectively applies a pushing force to the bottom or periphery of the component (part thereof, if it is a filter assembly) of the appliance E from below the tray T, as shown in FIG. Figure 2d and 2eAs schematically shown in , this force is selected to be strong enough to overcome the holding force / resistance that holds a part of the tool E in the corresponding receiving portion R of the tray T or the holding force / resistance that causes one part of the holding unit to engage with another part that is still held in the receiving portion (when the part of the tool is removed by, for example, a robot).

[0065] It is worth noting that, for two or more pieces of utensils E held in respective receptacles R of the tray T, the pushing members 7 associated with each respective receptacle may be actuated sequentially or simultaneously.

[0066] like Figure 2f As exemplarily shown in FIG. 1 , after removing the components of the appliance E and (if applied) breaking the subatmospheric pressure, the locking device 4 (if used), the suction device 5 (if used) and the pushing member 7 return to their standby or starting position.

[0067] Finally (see Figure 2g ), the tray T can be removed, thereby returning the device 1 to its initial or starting state.

Claims

1. A device (1) for handling a utensil tray assembly (A), preferably having one or more components for holding utensils (E) in corresponding receptacles (R) on a tray (T), the device (1) comprising a support (3) for receiving the utensil tray assembly (A) and provided with locking means (4) for releasably mechanically fixing the tray (T) in a defined working position; and A separation mechanism (6) for mechanically removing / separating one or more components of a utensil (E) from one / more receiving portions (R) on the tray (T) against a retaining force / resistance, or for mechanically removing / separating a portion of one or more components of a utensil (E) from another portion with which the portion is coupled to form a unit against a retaining force / resistance, while the other portion is still retained in the one / more receiving portions (R) on the tray (T).

2. The device (1) according to claim 1, wherein: The locking device (4) for releasably mechanically fixing the tray (T) in the working position is configured to engage the tray (T) and actively position the tray (T) in the defined working position.

3. The device (1) according to claim 1 or claim 2, wherein: The locking device (4) for releasably mechanically fixing the pallet (T) in the defined working position comprises a suction device (5) for grasping the surface of the pallet (T) by generating a subnormal pressure and for moving the grasped pallet (T) to the defined working position.

4. The device (1) according to claim 3, further comprising a device for monitoring the sub-normal pressure state of the suction device (5).

5. The device (1) according to any one of claims 1 to 4, wherein: The locking device (4) for releasably mechanically fixing the tray (T) in the defined working position comprises a mechanical latch (4a) for releasably locking the tray (T) in the defined working position.

6. The device (1) according to any one of claims 1 to 5, wherein: The separation mechanism (6) includes a pushing member (7) for selectively applying a pushing force to the bottom or periphery of a part of the utensil (E) or a portion of the unit to overcome a retaining force / resistance holding the part of the utensil (E) in the receiving portion (R) of the tray (T) or to engage the part of the part of the utensil (E) with the other part to form a retaining force / resistance of the unit.

7. The device (1) according to claim 6, wherein: The pushing member (7) is configured to initially apply a pushing force to the bottom or periphery of the component or the portion thereof of the tool (E) at an eccentric position.

8. The device (1) according to claim 7, wherein: The pushing member (7) comprises one or more ejection pins (8), which are configured to be pushed selectively, preferably in a phase-shifted manner, against the bottom or periphery of the component or part thereof of the tool (E), preferably by a linear actuator (9) configured to move the one or more ejection pins (8) against the bottom or periphery of the component or part thereof of the tool (E), or by a rotary actuator (10) combined with a cam mechanism (10a, 10b) arranged to linearly drive the one or more ejection pins (8), or by a linear actuator (11) combined with a lever arm (11a) carrying one or more ejection pins (8).

9. The device (1) according to any one of claims 1 to 8 further comprises a sensor arrangement (12) for monitoring the presence of the tray (T) at the support (3) at the defined working position and / or for monitoring / detecting the presence / absence of one or more parts of the tool (E) at the receiving portion (R) on the tray (T).

10. The device (1) according to claim 9, further comprising a controller, which is configured to issue a warning and / or operate the locking device (4) and / or the separation mechanism (6) based on the monitoring / detection results of the sensor arrangement (12).

11. A process for handling a utensil tray assembly (A) having one or more components of utensils (E) held in corresponding receptacles (R) on a tray (T), preferably using an apparatus (1) according to any one of claims 1 to 10, the process comprising Placing the utensil tray assembly (A) on a support (3) and releasably mechanically fixing the tray (T) in a defined working position; and Mechanically detach / separate one or more parts of the utensil (E) from its one / more receiving portions (R) on the tray (T) against a retaining force / resistance, or mechanically detach / separate a portion of one or more parts of the utensil (E) from another portion with which the portion is joined to form a unit against a retaining force / resistance, while the other portion remains in the one / more receiving portions (R) on the tray (T).

12. The process of claim 11, wherein: Disassembly / separation of the one or more components of the utensil (E) includes selectively applying a pushing force to the bottom or periphery of the component or a portion thereof of the utensil (E) to overcome the retaining force / resistance holding the component of the utensil (E) in the receptacle (R) of the tray (T) or using the retaining force / resistance of engaging one portion of the component of the utensil (E) with the other portion to form the unit.

13. The process of claim 12, wherein: The thrust is initially applied to the bottom or periphery of the component or part thereof of the tool (E) at an eccentric position.

14. The process according to any one of claims 11 to 13 further comprises monitoring the presence of the pallet (T) at the support (3) at the defined working position and / or monitoring / detecting the presence / absence of one or more parts of the tool (E) at the receiving portion (R) on the pallet (T).

15. The process according to claim 14 further includes issuing a warning based on the monitoring / detection results, and / or initiating the fixing of the tray (T) in the defined working position, and / or disassembling / separating one or more components of the tool (E) from its one / multiple housing parts (R) or disassembling / separating parts thereof from other parts of the corresponding unit.

16. A process according to any one of claims 11 to 15, wherein: The releasable mechanical fixing of the pallet (T) in the defined working position is accomplished by generating a subnormal pressure to grasp the pallet (T) and move the grasped pallet (T) to the defined working position; and / or By engaging a mechanical latch (4a) with the tray (T) placed on the support (3).

Images