Apparatus and process for handling a machine tray assembly

Abstract

The present invention relates to an apparatus and a process for handling equipment tray assemblies. The present invention relates in particular to the fields of bioburden testing, water quality testing, pharmaceuticals, cosmetics, food processing, semiconductor manufacturing, electronic equipment, and environmental monitoring of closed processing areas.

Description

Technical Field

[0001] The present invention relates to an apparatus and a process for handling equipment trays. The present invention relates in particular to the fields of bioburden testing, water quality testing, pharmaceuticals, cosmetics, food processing, semiconductor manufacturing, electronic equipment, and environmental monitoring of closed processing areas.

Background Art

[0002] In related processes, laboratory test equipment such as filter funnels, filters, cups, collection media (e.g., in the form of Petri dishes, media plates, sediment plates) (the term "equipment" is consistently used collectively herein to refer to all such devices used in testing, where "filter funnel" is used later as a specific example to illustrate the concept of the present invention) is preferably repeatedly moved between workplaces or between closed manufacturing areas by an automated system and removed therefrom for further processing and evaluation. Even now, this is generally done by a manual process, where one or more pieces of equipment are manually transported into or removed from the processing area or manufacturing area, for example, through a sterile transfer port.

[0003] However, when handling such equipment manually, there is a risk of contamination during handling, such as after the lids, covers, and seals are opened, especially when the equipment is filled with substances, or when multiple substances are set, batched, or grouped, for example, stacked and handled together at once, there is a risk that the media plates will be transferred in an unsafe state during introduction, installation, removal, and further handling.

[0004] Furthermore, managing multiple pieces of equipment, such as Petri dishes, together during a series of processing steps is a complex task and requires measures such as taping or bundling multiple Petri dishes together and marking them.

[0005] Furthermore, individual pieces of equipment such as a filtration assembly (usually including a membrane support that holds a filtration membrane and a filtration funnel removably attached to the membrane support), a membrane support, a filtration funnel, or a Petri dish are not particularly suitable for automated processing in batches or stacks. In automated handling equipment, it is difficult to firmly grip, hold, and transfer the smooth outer peripheral surfaces of cylindrical parts such as devices and lids / covers. A predetermined position and orientation are required for grasping, and there is a high risk that the lid may accidentally open, shift, be removed, or the contents may spill during handling at various stages of the process, thus compromising the detection results.

[0006] Therefore, in order to facilitate and secure the handling of multi-piece equipment, one or more of such equipment, particularly not only the filtration assembly, but also individual parts of the above type, are removably and firmly mechanically held in respective receiving parts of a tray or a support frame (the term "tray" is consistently used collectively in this specification and refers to all devices that provide support for the handling, particularly transportation and / or storage (e.g., during cultivation), of one or more pieces of equipment held removably), forming an equipment tray assembly.

[0007] Furthermore, in the following disclosure, the term "piece of equipment" collectively refers to the above-mentioned test equipment or its parts typically used in the above application fields, and the most preferred application relates to the handling of a filtration assembly. In this context, more specifically, as described below, it relates to separating a filtration funnel (representing a part of the filtration assembly) from a membrane support. However, it is understood that the present invention is also applicable to separating the entire filtration assembly from the tray, or separating other parts such as the membrane support, or other types of equipment as described above, from engagement with the tray or from engagement with other components while held within the tray.

[0008] Machine E is, for example, clipped or snap - fastened to a tray for storage and transportation purposes, and the force required to overcome the holding or frictional force to remove individual pieces of the machine from the receiving parts on the tray, or to remove parts of an assembly such as a filtration funnel from other parts of the assembly such as the membrane support to which it is assembled, may be, for example, on the order of about 80 N. An example of such a machine - tray assembly A in the form of an array of four filtration assemblies FA on a tray or frame T is shown in FIGS. 1a through 1c. Each filtration assembly FA is formed as a unit by a bottom membrane support S that holds a filtration membrane (not shown) on the upper side and a filtration funnel F removably attached above the membrane support S. The filtration funnel F is usually closed at its upper open end by a lid L. The filtration assembly FA, the membrane support S, the filtration funnel F, and the lid L are each referred to as "pieces of machine E".

[0009] Pieces of the machine or its parts are usually separated one by one by an operator. These tasks are very important in the process, and due to risks such as cross - contamination and accidental disassembly of units (e.g., filtration assemblies), a high level of care and consideration is required to perform the tasks correctly and repeatedly. Handling devices (such as robotic arms) may be used, but the integrity of the machine also needs to be maintained during the process. For example, parts of the machine such as the filtration funnel must not be disassembled or contaminated (even partially) while being separated from the membrane support held on the tray, and the membrane support must not be accidentally removed from the receiving part while separating the filtration funnel.

[0010] Automation is becoming, for example, a preferred approach used by pharmaceutical companies in important processes to reduce the risk of cross - contamination, improve quality, and enhance throughput. Across the industry, there is a trend towards fully automating processes.

[0011] However, automating processes requires significant investment to comply with regulations and available space. An automated cell may potentially become a large-scale system equipped with dangerous devices.

[0012] Therefore, for a specific process that automates a particular process, it is necessary to design a small integrated dedicated module that can perform specific tasks. Such a system is designed to be compatible with the existing laboratory infrastructure and can greatly facilitate its integration. As yet another example, collaborative robots can be mentioned. Since collaborative robots can safely interact with humans, they can be easily integrated into laboratories and production environments.

[0013] Desired is an apparatus and process that is at least partially or preferably fully automated for handling the above-described instrument tray assembly, in which one or more test instruments are grouped and securely held in respective receiving portions of the tray for transportation and handling, and that does not involve human handling procedures or interactions for installing the instrument tray assembly or separating individual devices or parts of such individual piece of equipment from the receiving portions on the tray or from an assembly combining two or more such pieces. Summary of the Invention Problems to be Solved by the Invention

[0014] The present invention provides an apparatus for handling an instrument tray assembly defined in claim 1 and a process for handling an instrument tray assembly defined in claim 11. Preferred embodiments are defined in each of the dependent claims.

[0015] Accordingly, the present invention provides an apparatus for handling an equipment tray assembly having preferably one or more pieces of equipment held in respective receiving portions on the tray, the apparatus comprising a support for accommodating the equipment tray assembly, the support comprising locking means for releasably and mechanically fixing the tray in a predetermined working position; and a separating mechanism for mechanically removing / separating one or more pieces of equipment from the receiving portions on the tray against the holding force / resistance, or for mechanically removing / separating parts of one or more pieces of equipment from other parts engaged to form a unit while other parts remain held against the holding force / resistance within the receiving portions on the tray.

[0016] Preferably, the locking means for releasably and mechanically fixing the tray in the working position engages the tray and is configured to actively position the tray in the predetermined working position.

[0017] Preferably, the locking means for releasably and mechanically fixing the tray in the predetermined working position includes a suction device for generating a pressure lower than the ambient pressure to grip the surface of the tray and move the gripped tray to the predetermined working position.

[0018] Preferably, the apparatus further includes means for monitoring the pressure state lower than the ambient pressure of the suction device.

[0019] Preferably, the locking means for releasably and mechanically fixing the tray in the predetermined working position includes a mechanical latch for releasably locking the tray in the predetermined working position.

[0020] Preferably, the separating mechanism includes a pressing member for selectively applying a pressing force to the bottom or periphery of a piece of equipment or a part of a unit to overcome the holding force / resistance for holding the equipment in the receiving portion of the tray or the holding force / resistance for engaging parts of the equipment with other parts to form a unit.

[0021] Preferably, the pressing member is configured to first apply a pressing force at an eccentric position on the bottom or periphery of a piece of the device or a part thereof.

[0022] Preferably, the pressing member preferably includes one or more ejector pins configured to be selectively, preferably phase-shifted, pressed against the bottom or periphery of a piece of the device, and preferably, the one or more ejector pins are moved by a linear actuator configured to move the one or more ejector pins relative to the bottom or periphery of a piece of the device or a part thereof, or by a rotary actuator combined with a cam mechanism configured to linearly drive the one or more ejector pins, or by a linear actuator combined with a lever arm supporting the ejector pins, and are pressed.

[0023] Preferably, the apparatus further includes a sensor arrangement for monitoring the presence of the tray at a predetermined working position and / or for monitoring / detecting the presence / absence of one or more pieces of the device in the receiving portion on the tray.

[0024] Preferably, the apparatus further includes a controller configured to issue a warning in response to the monitoring / detection result of the sensor arrangement and / or to operate locking means and / or a separating mechanism.

[0025] The present invention also provides a process for handling a device tray assembly having one or more pieces of the device held in respective receiving portions on the tray, preferably using the apparatus according to the present invention, the process comprising placing the device tray assembly on a support and mechanically and releasably fixing the tray at a predetermined working position; and mechanically removing / separating one or more pieces of the device from the receiving portion on the tray against the holding force / resistance, or mechanically removing / separating parts of one or more pieces of the device from other parts engaged to form a unit while other parts are held in the receiving portion on the tray against the holding force / resistance.

[0026] Preferably, the removal / separation of one or more pieces of equipment involves selectively applying a pressing force to the bottom or periphery of the piece of equipment or its parts to overcome the holding force / resistance that holds the piece of equipment within the receiving portion of the tray, or the holding force / resistance that engages the parts of the piece of equipment with other parts to form a unit.

[0027] Preferably, the pressing force is first applied at an eccentric position to the bottom or periphery of the piece of equipment or its parts.

[0028] Preferably, this process further includes monitoring the presence of the tray at a defined working position on the support, and / or monitoring / detecting the presence / absence of one or more pieces of equipment in the receiving portion on the tray.

[0029] Preferably, this process further includes issuing a warning, and / or fixing the tray to a predetermined working position, and / or removing one or more pieces of equipment from its receiving portion, or removing its parts from the other parts of their respective units, depending on the monitoring / detection results.

[0030] Preferably, mechanically and releasably fixing the tray to a predetermined working position is done by generating a pressure lower than the ambient pressure to grip the tray and moving the gripped tray to the predetermined working position, and / or by placing the tray on the support and engaging a mechanical latch.

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 accompanying exemplary schematic diagrams.

[0032]

Figure 1a-1c

Figure 2a-2b

Figure 2c-2d

Figure 2e-2f

Figure 2g

Figures 3-4

Figure 5

[0033] The apparatus and process for handling a device tray assembly of the present invention provide means for handling, partially or preferably fully automatically, a device tray assembly and one or more pieces of equipment held in the tray receiving part (i.e., a filtration assembly including a membrane support and a filtration funnel removably attached to the membrane support to form a unit), and reduce or preferably avoid the disassembly of the pieces (units) of the equipment when handling the entire piece of equipment as a unit or separating its parts (e.g., the filtration funnel).

[0034] This device in particular supports placing the tray according to certain mechanical criteria suitable for automating the handling of pieces of equipment, and physically or mechanically fixes the tray in a predetermined position. Thus, the pieces of equipment can be mechanically and safely separated and removed from the receiving part or unit without human operation, and can be passed to robots, automated machines, or even human operators in a controlled, safe, and highly repeatable process without the risk of the equipment being lost from the tray or the unit being disassembled.

[0035] In a preferred embodiment, information regarding process steps, such as whether the tray or a piece of equipment is in a predetermined position, remains in a predetermined position, or the equipment is properly disassembled, is collected, and this information can be used to warn, document, or control the operation of the components of the device in order to improve the safety and reliability of the process.

[0036] An apparatus 1 for handling an equipment tray assembly A (including one or more pieces of equipment E held in respective receiving parts R on a tray T, as described above in connection with FIGS. 1a to 1c) is schematically shown in FIG. 2a, and includes a support 3 for receiving the equipment tray assembly A, locking means 4 for releasably and mechanically fixing the tray T in a predetermined working position, and a separating mechanism 6 for mechanically removing / separating one or more pieces of equipment E from the receiving parts R on the tray or, as in this example, removing / separating parts (i.e., a filtering funnel representing a piece of equipment E) from other parts of a filtering assembly representing a unit (i.e., a membrane support remaining attached to the receiving part R on the tray) against the holding force / resistance (see FIGS. 2d and 2e).

[0037] The support 3 of the tray includes mechanical references for accurate positioning, means for placing the tray in space, and means for holding the tray in a predetermined position. The shape of the support 3 is not particularly limited. The equipment tray assembly A can be placed on the support 3 of the device manually, by gravity in combination with a conventional automatic conveyor, or by means of a dedicated actuator or robotic arm.

[0038] As schematically shown, the support 3 includes a base or post 3a on which the tray can be placed, thereby defining the vertical position of the tray. The tray is placed in space and is mechanically referenced by a number of spaced-apart protrusions or stoppers 3b located at predetermined positions around the tray, and when the tray is in the desired position, it cooperates with a defined section of the tray, for example by mechanical engagement, thereby defining the position of the tray in the horizontal plane (see Fig. 2b).

[0039] The locking means 4 is provided in the form of, for example, one or more movable mechanical latches 4a and is adapted to selectively engage with the tray when the tray is in the correct position on the support 3. Fig. 2c shows an example where the latch 4a is rotated or pivoted from the standby position on the side of the tray to extend above the upper surface of the tray, thereby preventing the tray from being lifted vertically from the support 3.

[0040] Locking means 4 for releasably and mechanically fixing the tray T in the working position is configured to selectively engage with the tray T. Also, the tray T can be configured to be actively arranged in the working position in the lateral direction (i.e., in the horizontal plane) and / or in the vertical direction. In the exemplary device shown in FIGS. 2a to 2c, the locking means 4 for mechanically fixing the tray T in the working position comprises a suction device 5 in the form of one or more vacuum or suction cups or suction pads, which suction device 5 generates a pressure lower than the ambient pressure and grasps the lower surface of the tray resting on the support 3, for example pulling down the tray held only by suction or moving the tray to the working position until the tray is fully seated on the support 3 by the active movement of the suction device 5 by electrical or pneumatic actuation (see FIG. 2c). In this position, the mechanical latch 4a can completely pass through the upper surface of the tray and can releasably lock the tray in the working position. The suction device 5 may be connected by a connection 5a, for example a tube or pipe, to a vacuum pump (not shown) or other means capable of generating a pressure lower than the ambient pressure within the suction device 5.

[0041] As described below, when a relatively high force (for example, about 80 N) is required to remove the piece of equipment from the receiving part by the separation mechanism 6, if the tray can be held in place only by the holding force of the suction device 5, the mechanical latch 4a can be omitted. However, in order to prevent the tray from being accidentally released when the sealed state deteriorates over time due to contamination, temperature change, failure of the vacuum source, etc., and the pressure level lower than the ambient pressure is lost, it is preferable to additionally provide a mechanical latch.

[0042] Of course, the latch 4a may engage with a dedicated recess or protrusion formed on the peripheral edge of the tray rather than the upper surface of the tray. On the contact surface between the latch 4a and the tray T, or vice versa, there is an inclined surface or cam surface formed so as to gradually push the tray laterally and / or downward into a defined working position on the support 3 during the engagement process (e.g., by rotating the latch 4a), thereby assisting or replacing the function of the suction device 5.

[0043] The device may include means for monitoring the suction device 5, i.e., a pressure level lower than the ambient pressure around each suction cup, in order to confirm that the gripping state is normal. The monitoring result can be used as a trigger or input signal to activate the locking means 4, thereby providing an automated process for fixing the tray in the working position.

[0044] Throughout the process, the vacuum state of the suction cups can be monitored. For example, if the appropriate vacuum level is not reached within a certain time after placing the tray on the support, it is possible that the tray is placed in the wrong location or is damaged or cracked. Alternatively, for example, if the vacuum is lost during the separation process, it may indicate that the tray has been damaged or detached during operation. The appropriate vacuum level ensures the correct mechanical positioning and integrity of the tray.

[0045] The separation mechanism 6 of the device selectively applies a pressing force from below the tray T to the bottom of the piece of the device E or its parts (in this example, the filter funnel of the filtration assembly) to overcome the holding force / resistance that holds the piece of the device E within the receiving portion R of the tray T, or to overcome the holding force / resistance that holds the parts attached to other parts of the unit (in this example, the membrane support of the filtration assembly), and the other parts remain held within the receiving portion of the tray. The pressing member 7 includes one or more pressing members 7. The pressing member 7 can be provided for each position of the receiving portion, provided in association with the receiving portion, or provided in common for a plurality of receiving portions, and the plurality of pressing members 7 can be configured to operate independently or jointly.

[0046] In the embodiments of FIGS. 2a to 2g, the pressing member 7 is formed as a protruding pusher 7a that can linearly move parallel to the vertical direction perpendicular to the plane of the tray. The protruding pusher 7a can be in the shape of a cup when it is necessary to separate the entire piece of the device from the receiving portion, and also, as in the example, in the case of removing parts from other parts of the unit, it can be in the shape of a base member having one or more pin-shaped protrusions (two of which are shown in the cross-sectional views of FIGS. 2a to 2g) that can pass through the corresponding openings of the tray. When providing a plurality of pin-shaped protrusions, the piece of the device is engaged below at a plurality of positions evenly distributed around the center of the piece of the device and pushed upward parallel to the vertical direction (see FIGS. 2d and 2e). This arrangement functions well when the holding force within the receiving portion of the piece of the device (or other parts of the unit) is not very high, or when the holding force is mainly generated by friction.

[0047] However, particularly when the parts are locked or clipped to some extent in the receiving part or other parts of the unit by a shape-fixed elastic snap connection, it is preferred that the pressing member 7 is configured to first apply a pushing force at an eccentric position (e.g., one position) to the bottom of the piece of the device E within each receiving part. Thereby, the piece (part) of the device is first tilted while remaining held in the tray or in other parts of the opposite unit, and is first released and lifted on one side. In this case, the pressing member does not need to provide the force required to release the entire piece (part) of the device at once (e.g., in one step), but only needs to provide the force for that part, so that the piece is pushed out beyond the snap connection and is prevented from suddenly "popping out" uncontrollably from the receiving part or other parts of the unit. Applying the pressing force asymmetrically is also preferred in the aforementioned situation of removing the part from other parts of the unit. This is because the other parts (the membrane support in this example) remain held in the tray so as not to come off when the part is removed (the holding force between the parts of the separated unit is usually designed to be lower than the holding force between the receiving part of the tray and the other parts, but note that the required force level cannot be accurately predicted and varies depending on changes in the dimensions of the fitting engagement portion of the part and environmental influences).

[0048] As shown in the examples of FIGS. 2a - 2g, instead of a pusher 7a that is cup-shaped or has a plurality of protrusions of the same height, the pressing member 7 may preferably include one or more ejector pins 8 configured to be pressed from below against the bottom of a piece (or part) of the device by an actuator. The embodiment of FIG. 3 includes a linear actuator 9 configured to move a plate 9a vertically up and down. In this case, the plate 9a is provided with a number of ejector pins 8 standing upright on the plate 9a at distributed positions adapted to the lateral positions of the bottom or the periphery of the piece or part. The ejector pins 8 may be of the same height (in which case the piece is pushed in symmetrically with respect to the center), or the heights of the pins may vary slightly (in which case the pressing force is initially applied to an eccentric position of the piece and the aforementioned initial inclination is created even though all the pins move upward synchronously).

[0049] When a linear actuator is provided for each ejector pin 8 (not shown), the actuators are operated simultaneously and synchronously, or sequentially (phase shift), and pressed against the bottom or the periphery of a piece or part (not shown) of the device. From the perspective of stability, three ejector pins 8 at equal intervals may be preferred, but for the purposes of the present invention, the number and particularly the shape are not particularly limited.

[0050] In the embodiment of FIG. 4, the actuator is a rotary actuator 10 (i.e., an electric rotary servo motor) that rotates a cam mechanism including a plate 10a and a number of cam surfaces 10b erected on the plate 10a and configured to engage with the lower ends 8a of the respective ejector pins 8, thereby moving the pins 8 individually up and down in the vertical direction. Also, the arrangement and shape of the cam surfaces 10b can be adjusted so that all the pins are pushed up simultaneously or with a phase shift to create an initial inclination of the piece or part. This embodiment produces a smooth movement of the pins and thus of the piece / part. For example, a servo motor enables precise control and adjustment of the stroke, speed, and strength.

[0051] In the embodiment of FIG. 5, the actuator is a linear actuator 11 provided in combination with a lever arm 11a that supports the ejector pin 8. When the linear actuator 11 extends, the lever arm 11a, which is rotatably supported on the device by a pivot 11b at one end, causes one or more pins or protrusions 8 (which may be relatively short if the pivot arm is provided near the support of the tray) to push up from below against the bottom or periphery of a piece or part (in this example, a filtering funnel), and rotate until the piece or part is pushed at an angle and gradually pushed. In the embodiment of FIG. 5, the support 3 and the locking means 4 are provided as a simple mechanical holder without movable parts and are formed by a pair of upright side rails 4c having pointed portions or protrusions 4d protruding from the opposite side. In this case, the tray can be slid under the pointed portion or protrusion and attached to and held by the support 3 with the lever arm 11a retracted and the pin or protrusion 8 located below the surface 3c of the support 3.

[0052] The apparatus may further include a sensor arrangement for monitoring the presence of the tray T at a predetermined working position of the support 3 and / or for monitoring / detecting the presence / absence of one or more pieces of equipment E in / on the receiving portion R on the tray T. Suitable sensors are contact sensors (i.e., microswitches) or non-contact sensors or switches (i.e., ultrasonic sensors, optical sensors, image pickups), and the sensors may be selected and arranged according to the respective situations, environments, and accessibility. FIGS. 2a and 2d illustrate a plurality of non-contact optical sensors for detecting the presence or absence of a funnel in each receiving portion as a sensor arrangement 12 below the support 3 and the tray T.

[0053] The controller may be provided and configured to issue a warning and / or operate the locking means and / or the separating mechanism to create an automatic process in response to the monitoring / detection results of the various sensors in the sensor arrangement.

[0054] After a piece of the machine has been removed from the tray and discharged by a conventional conveyor, a robotic arm, or manually, the (empty) tray is released from the locking means 4 (by interrupting the vacuum with the suction device 5 as illustrated in FIG. 2f) and lowered from the support 3 by a discharge arm, a robotic arm, a conventional conveyor, or manually again.

[0055] An exemplary process for processing a device tray assembly using a tray T with a piece of device E in the form of a filtration assembly or unit removably attached to and combined with a membrane holder to form a unit, as shown in FIGS. 1a to 1c, is schematically shown in FIGS. 2a to 2g.

[0056] FIG. 2a shows the present apparatus 1 for handling the device tray assembly in an initial or starting state, i.e., with the locking means 4 open, i.e., in the standby position.

[0057] Subsequently, as shown in FIG. 2b, a tray T containing one or more pieces of device E held in respective receiving portions is placed on the support 3 at a predetermined (correct) position on the support 3, preferably with the aid of the base or post 3a.

[0058] Thereafter, as schematically shown in FIG. 2c, the locking means 4 engages to position and hold the tray T in the working position. For this purpose, the latch 4a of the locking means 4 can selectively engage with the tray T as described above, for example, by rotating or pivoting the latch 4a from a standby position (e.g., the side of the tray) until it extends above the upper surface of the tray T (as shown by the circular arrow in FIG. 2c). Alternatively or additionally, before, after, or in parallel with the engagement of the latch 4a with the tray T, the suction device 5 is moved from the standby position, contacts the lower surface of the tray T, and generates a pressure lower than the ambient pressure, and then moves the tray T gripping the lower surface of the tray T to the operating position.

[0059] As described above, the latch 4a and the suction device 5 can be used in combination or individually to position and hold the tray T in the working position. When the tray T is locked in the working position as shown in Fig. 2c, as schematically shown in Figs. 2d and 2e, the pressing member 7 selectively applies a pressing force from below the tray T to the bottom or periphery of the piece of the device E (the filtration assembly or its parts), and this force is sufficient to overcome the holding force / resistance that holds the piece of the device E within the respective receiving portion R of the tray T, or the holding force / resistance that holds the portion of the unit engaged with other parts that remain held within the receiving portion, and then the piece of the device is removed, for example, by a robot.

[0060] It should be noted that for two or more devices E held in each receiving portion R of the tray T, the pressing members 7 associated with each receiving portion may be actuated sequentially or simultaneously. As illustrated in Fig. 2f, after removing the piece of the device E and relieving the pressure, if any, that is lower than the ambient pressure, the locking device 4 (if used), the suction device 5 (if used), and the pressing member 7 are returned to the standby position or the starting position. Finally (see Fig. 2g), the tray T is removed and the apparatus 1 returns to the initial state or the starting state.

Claims

1. An apparatus (1) for handling an equipment tray assembly (A) having equipment (E), preferably one or more pieces, held in respective receiving parts (R) on a tray (T), said apparatus (1) comprising: A support (3) for accommodating the equipment tray assembly (A), said support (3) comprising locking means (4) for releasably and mechanically fixing the tray (T) in a predetermined working position; and A separating mechanism (6) for mechanically removing / separating one or more pieces of equipment (E) from the receiving parts (R) on the tray (T) against the holding force / resistance, or for mechanically removing / separating parts of one or more pieces of equipment (E) from other parts engaged to form a unit while other parts remain held in the receiving parts (R) on the tray (T) against the holding force / resistance.

2. The apparatus (1) according to claim 1, wherein the locking means (4) for releasably and mechanically fixing the tray (T) in the working position engages the tray (T) and is configured to actively position the tray (T) in a predetermined working position.

3. The apparatus (1) according to claim 1 or 2, wherein the locking means (4) for releasably and mechanically fixing the tray (T) in a predetermined working position includes a suction device (5) for generating a pressure lower than the ambient pressure to grip the surface of the tray (T) and move the gripped tray (T) to a predetermined working position.

4. The apparatus (1) according to claim 3, further comprising means for monitoring the pressure state lower than the ambient pressure of the suction device (5).

5. The apparatus (1) according to any one of claims 1 to 4, wherein the locking means (4) for releasably and mechanically fixing the tray (T) in a predetermined working position includes a mechanical latch (4a) for releasably locking the tray (T) in a predetermined working position.

6. The separating mechanism (6) includes a pressing member (7) that selectively applies a pressing force to the bottom or peripheral edge of the piece of the device (E) or to the unit in order to overcome the holding force / resistance for holding the piece of the device (E) within the receiving portion (R) of the tray (T), or the holding force / resistance for engaging the piece of the device (E) with other parts to form a unit. The device (1) according to any one of claims 1 to 5.

7. The device (1) according to claim 6, wherein the pressing member (7) is configured to first apply a pressing force at an eccentric position to the bottom or peripheral edge of the piece of the device (E) or a part thereof.

8. The device (1) according to claim 7, wherein the pressing member (7) is preferably one or more ejector pins (8) by a linear actuator (9) configured to move the one or more ejector pins (8) relative to the bottom or peripheral edge of the piece of the device (E), or by a rotary actuator (10) in combination with a cam mechanism (10a, 10b) arranged to linearly drive the one or more ejector pins (8), or by a linear actuator (11) in combination with a lever arm (11a) supporting the ejector pins (8), and includes one or more ejector pins (8) configured to be selectively and preferably phase-shifted and pressed against the bottom or peripheral edge of the piece of the device (E).

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

10. The device (1) according to claim 9, further comprising a controller configured to issue a warning according to the monitoring / detection result of the sensor arrangement (12), and / or operate the locking means (4) and / or the separating mechanism (6).

11. A process of handling a device tray assembly (A) having one or more devices (E) held in respective receiving parts (R) on a tray (T), preferably using the device (1) according to any one of claims 1 to 10, the process comprising: placing the device tray assembly (A) on a support (3) and mechanically fixing the tray (T) releasably in a predetermined working position; and mechanically removing / separating one or more devices (E) from the receiving parts (R) on the tray (T) against the holding force / resistance, or mechanically removing / separating parts of one or more devices (E) from other parts engaged to form a unit while other parts are held in the receiving parts (R) on the tray (T) against the holding force / resistance. The above process.

12. The process according to claim 11, wherein the removal / separation of one or more devices (E) comprises selectively applying a pressing force to the bottom or periphery of a piece of the device (E) or a part thereof to hold the piece of the device (E) in the receiving part (R) of the tray (T). Overcoming the holding force / resistance, or the holding force / resistance that engages parts of a piece of the device (E) with other parts to form a unit.

13. The process according to claim 12, wherein the pressing force is first applied at an eccentric position to the bottom or periphery of a piece of the device (E) or a part thereof.

14. The process according to any one of claims 11 to 13, further comprising monitoring the presence of the tray (T) on the support (3) at a predetermined working position and / or monitoring / detecting the presence / absence of one or more devices (E) in the receiving parts (R) on the tray (T).

15. The process according to claim 14, further comprising issuing a warning in response to the monitoring / detection result, and / or starting the fixing of the tray (T) to a predetermined working position, and / or removing / separating one or more devices (E) from their receiving parts (R), or separating parts of the devices from other parts of their respective units. Claim 16 Mechanically and releasably fixing the tray (T) in a predetermined working position is effected by generating a pressure below the ambient pressure for gripping the tray (T) and moving the gripped tray (T) to the predetermined working position; and / or The process according to any one of claims 11 to 15, effected by engaging a mechanical latch (4a) with the tray (T) placed on the support (3).

Images