JP2007314330A - Tray separation unit, tray separation device with tray separation unit and tray separation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stably separate and take out a tray upward from an upper end of a tray group 100 even when the height of the uppermost tray 1A of the tray group 100 varies. <P>SOLUTION: A tray separation unit 25 is provided with a rotating separation part 27 having an upper semilunar plate 28 selectively inhibiting upward movement of an inside outer end part 1b of the uppermost tray 1A of the tray group 100 and a lower semilunar plate 29 arranged below the upper semilunar plate 28 by predetermined quantity in side view and inserted into plan view of an outer edge collar part 1a of a tray 1B immediately below the uppermost tray 1A when rotated at a predetermined angle; and with a rotating drive part 26a for rotating the rotating separation part 27 at a predetermined angle. When the uppermost tray 1A is separated and taken out upwardly, the rotating separation part 27 is rotated at the predetermined angle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a tray separation unit, a tray separation apparatus including the tray separation unit, and a tray separation method.

  2. Description of the Related Art Conventionally, various separation and extraction devices have been proposed in which various containers and trays (hereinafter referred to as trays) are stacked one above the other to prepare a tray group, and the lowermost tray in the tray group is separated downward.

Patent Document 1, a container separation and take-out device that drops a lowermost container downward, and integrally rotates an upper support member and a lower support member and a separation member formed on an inclined surface in a cross-sectional view direction, A conveyor that is not shown in the figure, with the separation member coming into contact with the upper part of the lowermost container that was previously supported by the lower support member while the upper container was supported by the upper support member, and pressed down from above to drop and separate And so on.

Patent Document 2 is also a rotation mechanism that drops and takes out the lowermost tray of the tray group in substantially the same manner as Patent Document 1, and includes an arc-shaped rotation collar that is inclined with respect to the rotation axis that coincides with the stacking direction of the trays. This rotating hook is inserted between the lowermost tray and the upper tray, and the inclined upper end of the arcuate rotating hook is inserted between the lowermost tray and the upper tray, and rotates with rotation. The bottom end tray is dropped and taken out by the engagement of the flange portion and the bottom end tray flange portion shifting to the inclined lower side of the rotary flange portion.

Patent Document 3 is also a thin plate separation device that drops and removes the thinnest lowermost plate from a group of thin plate trays in which thin plate materials are stacked in substantially the same manner as Patent Document 1, and includes a pair of disks with respect to a rotating shaft. A notch where the edge of the thin plate comes off and falls at a part of the peripheral edge of each disk is formed at a position different from each other by a predetermined angle in the circumferential direction. The first and second discs fall to the lower disc and finally fall from the lower disc, and the thin plates are sequentially separated from the thin plate tray group.

Japanese Utility Model Publication No. 53-22940 (claims for registration of utility model, see Fig. 2-8) Japanese Utility Model Laid-Open Publication No. 1-164108 (see Claims for Utility Model Registration, Fig. 1 and Fig. 2) Japanese Patent Laid-Open No. 53-100530 (refer to claims, FIGS. 10 to 12)

In each of the above patent documents, the lowermost tray is separated and taken out from the tray group in which the trays are stacked.
Therefore, the tray taken out downward as described above needs to be disposed below the storage container in which the transport device for transporting the tray to the next step stores the tray group. This transport device is, for example, a belt conveyor as seen in Patent Document 1. Since the transport device is required to be disposed below the separation / removal device, the lower portion of the tray separation / removal device must have a structure that does not interfere with the placement and transport work of the transport device. Therefore, the installation base of the separation / extraction device is likely to be unstable, and the lower structure of the separation / extraction device is likely to be fragile.

  Furthermore, since the trays are stacked as seen in each of the above-mentioned patent documents, the separation and take-out device supports the lowermost tray or the tray immediately above the tray group until it is dropped downward. For example, in Patent Literature 1, the upper support member or the lower support member temporarily supports the lowermost container or a container immediately above it. The lowermost container or the container immediately above it will receive and support the weight of the container stacked above it, depending on the material, size and thickness of the container, or depending on the item to be stored in the container, It can be heavy. Therefore, the upper support member or the lower support member is likely to be damaged, or an expensive material is selected by securing the strength and the thickness is increased, so that an expensive and large separation device is easily obtained. In addition, when the upper support member or the lower support member rotates, it frictionally engages with the lowermost container or the container immediately above it, but in that case, it becomes under high pressure, causing wear and heat generation, damage to the separation device, and separation. There is a problem of increased power consumption during work.

The present invention solves the above-mentioned problems, realizes that the tray is taken out from the upper end of the tray group, reduces the restrictions on the installation and transportation work of the tray separated from the tray group, and It is an object of the present invention to realize a tray separating and taking out unit and the apparatus with less damage and power.
It is another object of the present invention to stably separate and take out even when the height of the uppermost tray in the stacked tray group varies.

  In the tray separating unit according to Embodiment 1 of the present invention, the tray including the outer edge flange portion and the inner outer end portion formed with a step on the inner side in a plan view of the outer edge flange portion and above the side view is seen in the side view. A tray group is formed by stacking a plurality of trays in the vertical direction of the tray, and a tray separating unit that can separate each tray upward from the tray group in a side view. An upper meniscus plate that can selectively prevent the inner outer end of the uppermost tray disposed on the upper side from moving upward, and a lower half moon disposed below the upper half moon plate by a predetermined amount in a side view A rotation separation unit including a plate, and a rotation drive unit that has a rotation shaft integrated with the rotation separation unit and rotates the rotation separation unit by a predetermined angle via the rotation shaft, The upper half-moon plate of the separation part is the upper half-moon nail part And an upper cutout portion in which the upper half-moon nail portion is not formed, and the lower half-moon plate includes a lower half-moon nail portion and a lower cutout portion in which the lower half-moon nail portion is not formed. The upper half-moon plate and the lower half-moon plate are overlapped with the inner outer end portion of the uppermost tray in a plan view when the rotation shaft rotates to the first predetermined position. In addition, it is possible to prevent upward movement by abutting against the upper surface of the inner outer end portion in a side view, and in this case, the lower meniscus claw portion is an outer portion that does not overlap the outer edge flange portion of the uppermost tray in a plan view. Is located in a gap formed between the outer edge collar of the uppermost tray and the outer edge collar of the immediately lower tray in a side view, and the rotation drive unit During the intermediate rotation in which the rotation shaft rotates to the second predetermined position, the upper half-moon claw portion Is capable of overlapping the inner outer end portion of the uppermost tray in plan view and abutting against the upper surface of the inner outer end portion in side view to prevent the upward movement. Is positioned in the gap in a side view and overlaps with the outer edge flange portion of the tray directly below in a plan view, and when the tray is separated when the rotation shaft is rotated to a third predetermined position by the rotation drive unit, The claw-shaped claw portion is located on the outer side so as not to overlap with the outer edge flange portion of the uppermost tray in plan view, and the lower half-moon claw portion overlaps with the outer edge flange portion of the immediately lower tray in plan view and the gap in side view. It is located inside, and the uppermost tray is formed so that it can be separated upward from the upper cutout portion of the upper meniscus plate.

  According to the configuration of the first embodiment of the present invention, the tray separating unit can separate the tray from the upper part of the tray group. Therefore, when the tray is separated and taken out, the tray separating unit needs only to contact only the uppermost tray, and it is not necessary to receive the weight of the entire tray group as in the case of separating and taking out the tray from the lower portion of the tray group. . Therefore, the tray separation unit and the tray to be taken out are prevented from being damaged. In addition, when the upper meniscus plate is in rotational contact with the inner outer edge of the uppermost tray, the tray separation unit does not receive such a large weight as to receive the weight of the entire tray group. There is little friction at the time, and the driving force is also reduced, thereby saving power.

Further, when the uppermost tray is separated, it is only necessary to prevent the lower half-moon claw portion of the tray separation unit from moving upward on the outer edge flange portion of the directly below tray. Therefore, the lower half-moon nail is prevented from being damaged and high strength is not required. Therefore, it is possible to use a low-priced material such as a plastic that is thin and usually used.
Further, the tray separation unit can separate the uppermost tray from the tray group at a rotation angle as small as about 90 degrees from the initial time to the intermediate separation time until the tray separation time. From this point of view, power saving can be achieved.

A tray separation apparatus according to Embodiment 2 of the present invention includes a tray separation unit support frame including a plurality of tray separation units described in Embodiment 1 of the present invention, and moves the tray separation unit support frame in a vertical direction in a side view. And a vertical movement means.

  According to the above configuration, the tray separating apparatus according to the second embodiment of the present invention separates and removes the tray from the upper side of the tray group as described above. The placement and operation of the tray transport unit that transports the tray that has been transported hardly interferes with the installation of the tray separation device or the separation operation thereof. That is, since the tray transport unit can be disposed above the tray separating apparatus, it can be freely disposed above the tray separating apparatus, and the transport operation hardly disturbs the tray separating apparatus as described above.

Furthermore, the tray separating apparatus according to Embodiment 2 of the present invention is provided with the above-described tray separating unit support frame, and the tray separating unit supporting frame is provided with a plurality of the tray separating units. The tray can be separated, and the top tray can be easily separated and removed.
In addition, since the tray separation unit support frame is moved up and down in a side view, when the upper half-moon claw portion of the tray separation unit comes into contact with the upper surface of the inner outer edge of the uppermost tray, By moving the moving means downward, the upper half-moon claw can be pressed further downward. For this reason, even when the uppermost tray of the tray group is not kept level depending on the location in plan view, the uppermost lunar claw portions of the plurality of tray separating units can ensure the levelness of the uppermost tray. Accordingly, the separation operation of the uppermost tray by the plurality of tray separation units can be performed reliably.

A tray separating apparatus according to Embodiment 3 of the present invention is the tray separating apparatus according to Embodiment 2 of the present invention, further comprising a pushing-up means for pushing up the tray group in a side view. .

  According to the above configuration, since the tray group is pushed up by the pushing-up means, the uppermost tray is pushed up as described above even when the number of trays stacked in the tray group is small. The separation operation of the uppermost tray by the separation unit is performed well.

  A tray separation device according to Embodiment 4 of the present invention is the tray separation device according to Embodiment 2 or Embodiment 3 of the present invention, and is a vertical separation in a side view of the uppermost tray in the tray group. A position detection device for detecting a position, wherein the lifting means pushes the tray group upward until the position detection device detects that the uppermost tray is at a predetermined position, or the vertical movement means is the And a control unit that moves the tray separation unit support frame downward.

According to the said structure, the side view height of the said uppermost tray among the said tray groups is reliably detected by the said position detection apparatus.
For this reason, the push-up means pushes the tray group upward until the position detecting device and the control means detect that the uppermost tray is at a predetermined position, or the vertical movement means is the tray. The separation unit support frame can be moved downward, and the height position of the tray separation unit can be secured within a predetermined range with respect to the height position of the uppermost tray. Accordingly, the uppermost tray can be separated more reliably by the tray separating unit.
For example, the raising means pushes up the tray group by the control means until the position detecting device detects that the height position of the uppermost tray has reached a predetermined position. Alternatively, the vertical movement means moves the tray separation unit support frame downward by the control means to the height position of the uppermost tray detected by the position detection device.

  A tray separating apparatus according to Embodiment 5 of the present invention is the tray separating apparatus according to any one of Embodiments 2 to 4 of the present invention, wherein, at the initial stage, the upper meniscus claw portion is When the upper half-moon-like claw portion is in contact with the upper surface of the inner outer end portion in a side view, the upper half moon claw portion is provided with a push-down means for pushing the inner outer end portion relatively downward with respect to the side view.

According to the above configuration, in the initial stage, when the upper half-moon claw is in contact with the upper surface of the inner outer end portion in a side view, the upper half-moon nail portion has a lower side view in the side view. As a result, the upper half-moon claw is kept in contact with the upper surface of the inner outer end. Therefore, in the rotation operation from the initial time to the intermediate rotation time, the upper half-moon claw portion overlaps the inner outer end portion of the uppermost tray in a plan view and contacts the upper surface of the inner outer end portion in a side view. The height position of the lower half-moon claw is almost unchanged while in contact with the upward movement, and the lower half-moon claw is in a plan view while being located in the gap in a side view. Thus, the operation of rotating to the planar view position overlapping the outer edge flange of the tray immediately below is surely performed smoothly. That is, at the initial time, when the upper half-moon nail portion comes into contact with the upper surface of the inner outer end portion in a side view, the upper half-moon nail portion relatively moves the inner outer end portion downward in a side view. If not pushed down, the upper half-moon-like claw part is separated upward from the inner outer end part, and the height position of the lower half-moon-like claw part is also moved upward. Therefore, the lower half-moon claw is removed from the gap, the lower half-moon claw cannot be inserted into the gap, and it is impossible to prevent the upper edge of the outer edge collar of the direct tray from being moved upward. The tray alone cannot be separated. According to Embodiment 5 of the present invention, such a problem can be reliably prevented.

  Specifically, any means may be used as the pressing means for the upper half-moon claw portion to press the inner outer end portion relatively downward relative to the side view. For example, the tray separating unit may be configured to be pushed downward with respect to the holding member (for example, a U-shaped arm) by a coil spring, a leaf spring, a magnet spring using the magnetic force of the magnet, or the like in a side view. Or you may make it provide the raising means which pushes up a tray group. Alternatively, the pressing means and the lifting means may be used in combination.

  A tray separator according to Embodiment 6 of the present invention is the tray separator according to any one of Embodiments 2 to 5 of the present invention, wherein the tray separation unit has a third rotating shaft. At the time of separating the tray rotated to a predetermined position, the tray is disposed at a predetermined position outside the moving range of the transport device that supports the uppermost tray in a plan view and transports it from the tray group.

  According to the above configuration, the tray separating unit is placed at a predetermined position outside the moving range of the transport device that supports the uppermost tray and transports it from the tray group during tray separation when the rotation shaft rotates to the third predetermined position. Since they are arranged, the tray transport operation of the transport device is not hindered and a good tray transport operation can be realized.

  A tray separating apparatus according to Embodiment 7 of the present invention is the tray separating apparatus according to any one of Embodiments 2 to 6 of the present invention, wherein the tray separating unit is the top tray in plan view. One unit is arranged at a position opposed to the center of each unit.

  According to the above configuration, the tray separation units are arranged one unit at a position facing the center of the uppermost tray in plan view, so that the level of the uppermost tray is easily secured, Separation can be performed stably.

  In the tray separating method according to the eighth embodiment of the present invention, the tray having the outer edge flange portion and the inner outer end portion formed with a step inwardly in the plan view and in the side view upper side of the outer edge flange portion is seen in the side view. A plurality of trays are stacked in the vertical direction to form a tray group, and an upper half-moon plate that can selectively prevent the inner outer end of the uppermost tray disposed at the top of the tray group from moving upward. And a lower half-moon plate disposed below the upper half-moon plate by a predetermined amount in a side view, and a rotation drive unit that integrally rotates the upper half-moon plate and the lower half-moon plate, The meniscus plate has an upper half-moon nail portion and an upper notch portion in which the nail portion is not formed, and the lower half-moon plate has a lower half-moon nail portion and a lower notch portion in which the nail portion is not formed. Use the provided tray separation unit to raise each tray from the tray group in side view. A tray separating method that separates the tray group or the tray separating unit to a predetermined vertical position in a side view, and the upper half-moon-shaped claw portion in a plan view. It overlaps the inner outer edge of the uppermost tray and abuts against the upper surface of the inner outer edge in a side view to prevent the upper tray from moving upward. The first located in the gap formed between the outer edge flange of the uppermost tray and the outer edge flange of the immediately lower tray located immediately below the outer edge flange of the uppermost tray in a side view, and not located on the outer edge flange. The rotation separation unit initial position setting step that is rotated by the rotation drive unit to a predetermined position, and the upper half-moon claw portion overlaps the inner outer end portion of the uppermost tray in a plan view and the inner outer end portion in a side view. While touching the top surface, A rotation separation unit intermediate rotation position setting step in which the moon-like claw portion is rotated by the rotation driving unit to a second position located in the gap in a side view and overlapping with the outer edge flange portion of the tray immediately below in plan view; The upper half-moon claw portion is located on an outer side so as not to overlap with the outer edge flange portion of the uppermost tray in a plan view, and the lower half moon claw portion overlaps with the outer edge flange portion of the immediately lower tray in a plan view and in a side view. After the rotation separation unit tray separation position setting step rotated by the rotation driving unit to a third predetermined position located in the gap, and after the rotation separation unit tray separation position setting step, the uppermost tray is viewed from the tray group in a side view. And an uppermost tray separating step for separating upward.

  According to the said structure, it has the same effect as the effect mentioned above as a tray separation apparatus using the tray separation unit of the said Embodiment 1 of this invention.

According to the present invention, it is possible to take out the tray upward from the upper end of the tray group, reduce the restrictions on the installation and transfer work of the transfer device of the extracted tray, and enable separation of the tray with less damage and power. can do.
Furthermore, even if the height of the uppermost tray in the stacked tray group varies, it can be stably separated and can be easily taken out.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]

  FIG. 1 shows that a tray group 100 in which trays 1 are stacked in a side view direction is stored in a tray storage container 2, and the uppermost tray 1A positioned at the top of the tray group 100 is transported to a predetermined position. 2 is a cross-sectional view of the main part in a state where it is adsorbed by 3, and FIG. 2 shows a view in which the uppermost tray 1 </ b> A shown in FIG. 1 is adsorbed by the tray transport unit 3, and FIG. FIG. 4B is a plan view before transporting when the tray transport unit 3 is adsorbed, and FIG. 5B is a plan view after transporting the tray 1 and the tray transport unit 3 transported to a predetermined position.

Here, the tray 1 is made of a hard plastic material, for example, for storing a semiconductor bare chip in a predetermined storage block in the tray 1.
The material of the tray 1 is not limited to the above, and may be a soft plastic, may be a foamed polystyrene resin, or may be other than plastic, for example, paper, glass, wood, or a mixture or It may be a synthetic material. The object to be stored or placed on the tray 1 may be any object, such as a semiconductor mounted product in which a semiconductor is molded, an electronic component, a capsule-shaped or granular drug, or the like. Further, the tray 1 may be a lunch box or a container for storing food.

As shown in FIG. 1, the tray 1 has a substantially rectangular shape in plan view. This planar view shape may be any shape, for example, an elliptical shape, a substantially triangular shape, or other polygonal shapes.
The tray 1 includes an outer edge flange 1a at the outermost end and an inner outer end 1b formed inward in a plan view. The upper surface of the inner outer end 1b has a level difference h1 with the upper surface of the outer edge flange 1a, and the outer periphery of the inner outer edge 1b is inward from the outer edge of the outer edge flange 1a by a distance b1. Is formed in a shape substantially similar to the outer edge flange 1a and has a side wall. In addition, although the side wall of the said outer edge collar part 1a is a surrounding wall with which the perimeter was continuous, you may be formed discontinuously. The term “discontinuously formed” means, for example, a case where a cylinder or a prism is protruded inward so as to ensure a distance b1 from the outer end of the outer edge flange 1a.

A large number of the trays 1 are stacked in the vertical direction in a sectional view to form a tray group 100. When the stacks are stacked, the trays 1 are not displaced in the plane view direction, and as described above, the upper surface of the inner outer end 1b and the upper surface of the outer edge flange 1a have a step h1. On the back surface of the tray 1, a recess (not shown) is formed so that the inner outer end 1 b of the immediately below tray is fitted. Even if this dent is not provided, a partial hole or dent may be provided on the upper surface side of the inner outer end portion 1b, and a convex portion or a protruding pin portion may be provided facing the back side of the outer edge collar portion. On the contrary, you may make it provide a convex part or a protrusion pin part on the upper surface side of the said inner side outer edge part 1b, and a hole or a dent facing the back surface side of the said outer edge collar part.

As described above, the plurality of trays 1 are stacked to obtain the tray group 100.
The tray group 100 is stored in the tray storage container 2. The uppermost tray 1A separated from the tray group 100 stored in the tray storage container 2 by a tray separation unit 25, which will be described later, is chucked by the tray transport unit 3 and transported to a predetermined position. is there.
The tray transfer unit 3 has a transfer arm 4 that is operated by a robot, and a vacuum chuck 6 that is attached to the lower end of the transfer arm 4 via a spring 5 so as to be elastically movable in the vertical direction. After the vacuum chuck 6 is attracted to the upper surface of the uppermost tray 1A, the transfer arms 4 and 4 move upward, and then move to FIG. 2B which is a predetermined position, and after that movement, FIG. The vacuum chuck 6 separates the uppermost tray 1A and places it on a predetermined position.

Next, a tray separating apparatus 200 including the tray separating unit 25 according to an embodiment of the present invention will be described.
3 to 5 show the entire tray separating apparatus 200. FIG. The tray separating unit 25 is incorporated in the tray separating apparatus 200.
FIG. 3 is a plan view showing the main part of the tray separating apparatus 200, with the tray transport unit 3 of FIG. 1 removed, and FIG. 4 is a main part with a partial cross section seen from the direction A of FIG. FIG. 5 is a left side view of the main part with a partial cross section viewed from the direction B of FIG.

In each figure, 7 is a base frame made of metal, and holds a metal U-shaped arm 8 so as to be movable in the vertical direction in a side view of FIG. The protrusions 8a and 8a of the U-shaped arm 8 are inserted into the slide grooves 7a and 7a of the base frame 7, and are held by the steel balls 9 and 9 so as to be able to move smoothly in the vertical direction.
As shown in FIG. 3, the U-shaped arm 8 includes a left arm portion 8b and a right arm portion 8c, and the tray storage container 2 and the above-described tray storage container 2 are interposed between the left arm portion 8b and the right arm portion 8c. A tray group 100 housed therein is arranged.

Under the tray group 100, a tray group mounting table 10 is disposed. A push-up member 11 that is guided by a guide member (not shown) and can be moved up and down is disposed below the tray group mounting table 10. The tray group mounting table 10 is mounted on the push-up member 11. A tooth mold 11 a is formed on the outer wall of the push-up member 11, and the tooth mold 11 a is engaged with a gear 12 that is rotationally driven by the drive motor M, and the push-up member 11 is moved by the rotation of the drive motor M. As a result, the tray group mounting table 10 moves upward or downward.
Instead of the tooth mold 11a and the gear 12, a rack and a pinion may be used. Alternatively, the worm is rotated by the rotation of the drive motor M using the worm gear and the worm, and the worm gear engaged with the worm is decelerated. You may comprise so that it may rotate.

The rotational speed and rotational speed of the drive motor M are controlled by the control unit 13. The control unit 13 receives the detection signal when the upper surface position of the uppermost tray 1A is raised to a predetermined position. Control is performed to stop the drive motor 11.
The detection signal when the upper surface position of the uppermost tray 1A is raised to a predetermined position is transmitted as follows.
At a height position corresponding to a predetermined position of the uppermost tray 1A, a light-emitting diode 14 that emits detection light and a light-receiving element 15 that receives the detection light are arranged.
As shown in FIG. 3, the light emitting diode 14 and the light receiving element 15 are arranged so as to face each other so that the detection light passes through a position passing through an intermediate portion in the longitudinal direction of the uppermost tray 1A.
The light emitting diode 14 is installed on the left column 16 and the light receiving element 15 is installed on the right column 17.

  On the other hand, as shown in FIG. 5, the aforementioned U-shaped arm 8 is structured so as to be movable in the vertical direction (the horizontal direction in FIG. 5) within the slide groove 7 a of the base frame 7. The movement is performed by a U-shaped arm drive unit 18 disposed below in a side view of the U-shaped arm 8. The U-shaped arm driving portion 18 is composed of an air cylinder, and is connected to the U-shaped arm 8 by a connecting member 19 and can move in the slide groove 7a in the vertical direction (left-right direction in FIG. 5). is there.

  4 and 5, the tray storage container 2, the base frame 7, the drive motor M, the gear 12, the left support column 16, the right support column 17, the U-shaped arm drive unit 18, etc. Is installed.

Here, the structure around the tray separation unit 25 will be described.
In the U-shaped arm 8 described above, the left arm portion 8b and the right arm portion 8c are branched and arranged on the left and right sides of the tray group 100 as shown in FIG.
In FIG. 3, in the left arm portion 8b and the right arm portion 8c, a fixture 21 for attaching the tray separating unit is attached to the inner wall on the side facing the tray group 100 by a small screw (not shown) or an adhesive. And are joined by welding.

The fixture 21 is provided with separate fixtures 21 and 21 on the base side (upper side in FIG. 3) and the tip side (lower side in FIG. 3) of the left arm portion 8b, and the right arm portion 8c. Separate fixtures 21, 21 are also arranged on the base side (upper side in FIG. 3) and the tip side (lower side in FIG. 3). The fixtures 21, 21 arranged on the respective base sides are opposed to each other with the tray group 100 interposed therebetween, and the fixtures 21, 21 arranged on the distal end side are arranged to face each other with the tray group 100 interposed therebetween. Yes. Further, the fixtures 21 and 21 arranged on the base side and the fixtures 21 and 21 arranged on the tip side include the light-emitting diode 14 and the light-receiving element 15 that constitute the position detection device of the uppermost tray 1A. Are arranged symmetrically with respect to the detection position in a plan view connecting the two, that is, the center position in a plan view of the tray group 100.
In addition, the said fixture 21 is a block shape, and is comprised with the synthetic resin or the metal.

Each of the fixtures 21 is provided with two guide holes 22 in plan view. In this guide hole 22, a connecting rod 23 fixed to the aforementioned tray separating unit is guided so as to be movable in the vertical direction in the sectional view of FIG. The connecting rod 23 is formed with a flange at the lower end, and a coil spring 24 is inserted between the flange and the lower surface of the fixture 21, and the coil spring 24 moves the connecting rod 23 downward in a sectional view. Is pushed down. In addition, the said collar part may be formed, for example by a nut, and it may be formed by screwing in the screw formed in the lower end of the connecting rod 23, or by other methods.
Although the spring means will be described later, when the upper half-moon claw portion comes into contact with the upper surface of the inner outer end portion in a side view at the initial time, the upper half-moon claw portion pushes the inner outer end portion. A pressing means for pressing down relative to the lower side of the side view.
The upper end of the connecting rod 23 is integrally attached to the lower surface of the air cylinder of the tray separating unit, which will be described in detail later.

The tray separation unit 25 is arranged and configured on the upper end side of the connecting rod 23 as shown in FIGS. Accordingly, the tray separating unit 25 is guided by the connecting rods 23 and can be moved up and down in the sectional view of FIG. 4 and is arranged to receive the elastic force downward in the sectional view by the coil spring 24.
In plan view, as shown in FIG. 3, the trays 100 are arranged around the tray group 100. The placement location of the tray separation unit 25 in plan view is the same as the placement location of each fixture 21 as described above.

The tray separation unit 25 includes an air cylinder 26 to which the upper end of the connecting rod 23 is fixed, and a rotation separation unit 27 that is integrated with an air cylinder rotating shaft 26a protruding from the air cylinder 26 and rotates by a predetermined angle. ing.
The tray separation unit 25 is illustrated in detail in FIG. 6A is a plan view of the tray separation unit 25, FIG. 6B is a right side view of the tray separation unit 25 of FIG. 6A viewed from the right direction, and FIG. 6C is a view of the tray separation unit 25 of FIG. It is the lower side view seen from the lower direction.

The rotary separation unit 27 described above is made of a synthetic resin and is made of a material having low friction, high strength, and no charging, such as nylon (registered trademark of US DuPont).
The rotation separation unit 27 is attached to the tray separation device of the present invention, and moves the inner outer end 1b of the uppermost tray 1A upward as described later when separating the uppermost tray 1A from the tray group 100 described above. An upper half-moon plate 28 for selectively preventing the lower half-moon plate 28 disposed below the upper half-moon plate 28 by a predetermined amount in a side view, and the upper and lower half-moon plate 28 and the lower half-moon And a connecting portion 30 that connects the plate 29 to each other.
The upper half-moon plate 28 includes an upper half-moon nail portion 28a and an upper notch portion 28b in which the upper half-moon-like nail portion 28a is cut (not formed). The lower half-moon-shaped claw portion 29a and the lower half-moon-shaped claw portion 29a are provided with a cutout portion 29b that is cut (not formed).

The upper half-moon claw portion 28a is formed in an arc shape with a radius R, and the lower half-moon claw portion 29a is also formed in an arc shape with a radius r. The radius R is larger than the radius r.
In addition, the upper half-moon-shaped claw portion edge 28c, which is a boundary edge with the upper cut-out portion 28b in the upper-moon shape claw portion 28a, is the lower half-moon, which is a boundary edge with the lower cut-out portion 29b in the lower half-moon shape claw portion 29a It arrange | positions substantially at right angle with respect to the nail | claw part edge 29c. 6A and 7A, the lower half-moon claw edge 29c is formed at a position advanced approximately 90 degrees clockwise relative to the upper half-moon claw edge 28c in the plan view. It will be.

The upper half-moon plate 28 and the lower half-moon plate 29 are formed as follows.
In the following description, when separating the uppermost tray 1A from the aforementioned tray group 100 attached to the tray separating apparatus of the present invention, FIG. 3 which is a plan view and the air cylinder rotating shaft 26a are in a first predetermined position. FIG. 7 (a), which is a plan view of the related member at the initial stage of rotation up to FIG. 7, and its side view (b), the relationship at the time of intermediate rotation in which the air cylinder rotating shaft 26a is rotated to the second predetermined position. FIG. 7C, which is a plan view of the members, and FIG. 7D, which is a side view thereof, are plan views of the related members at the time of tray separation when the air cylinder rotating shaft 26a is rotated to the third predetermined position. (E) and a side view thereof (d).

That is, at the initial stage when the air cylinder rotating shaft 26a is rotated to the first predetermined position (shown in FIG. 3 or (a) and (b) in FIG. 7), the upper half moon claw portion 28a is viewed in a plan view. The uppermost tray 1A can be prevented from moving upward by overlapping the inner outer end 1b of the uppermost tray 1A and contacting the upper surface of the inner outer end 1b of the uppermost tray 1A in a side view. The lower half-moon-shaped claw portion 29a is located on the outer side so as not to overlap the outer edge flange portion 1a of the uppermost tray 1A in a plan view, and the outer edge flange portion 1a of the uppermost tray 1A and the outer edge flange of the immediately lower tray 1B immediately below the upper edge tray 1A in a side view. It is located in a step (gap) h1 secured between the portion 1a.

Further, during the intermediate rotation in which the air cylinder rotating shaft 26a is rotated to the second predetermined position (in FIGS. 7 (c) and 7 (d), the upper half-moon-shaped claw portion 28a is located inside the uppermost tray 1A in plan view). When overlapped with the outer end 1b, in side view, abuts on the upper surface of the inner outer end 1b of the uppermost tray 1A, and the lower half-moon-shaped claw portion 29a overlaps with the outer edge flange 1a of the immediately below tray 1B in plan view. And located in the gap h1.

When the air cylinder rotating shaft 26a is rotated to the third predetermined position (the angle θ of FIG. 7 (c) is about 30 to 60 degrees, preferably 45 degrees) during tray separation ((e) and (d) of FIG. ), The upper half-moon-shaped claw portion 28a is located on the outer side so as not to overlap the outer edge flange 1a of the uppermost tray 1A in plan view, and the lower half-moon-shaped claw portion 29a The uppermost tray 1A is separated upward from the upper cutout portion 28b of the upper meniscus plate 28. In this case, the uppermost tray 1A is separated from the upper cutout portion 28b. obtain,
The upper half-moon plate 28 and the lower half-moon plate 29 are formed in such a shape and height that the above-described operation is realized.

In performing the above-described operation, the shapes of the upper half-moon plate 28 and the lower half-moon plate 29 will be described in detail with reference to FIG.
The amount of overlap c1 in plan view between the upper meniscus claw 28a and the inner outer edge 1b of the uppermost tray 1A is determined from the arc radius R of the upper crescent claw 28a in FIG. The distance e from the arc center point of the half-moon claw portion 28a (the rotation axis of the air cylinder rotation shaft 26a) to the outer edge flange 1a of the uppermost tray 1A, and the outer edge flange 1a to the inner outer edge 1b of the uppermost tray 1A. This is the width obtained by subtracting the distance b1.
The overlapping amount c4 of the lower half-moon claw portion 29a in FIG. 7 (e) and the outer edge flange portion 1a of the direct tray 1B in a plan view is calculated from the arc radius r of the lower half-moon claw portion 29a. Distance e from the arc center point of the claw portion 29a (the rotation axis of the air cylinder rotation shaft 26a) to the outer edge flange 1a of the immediately lower tray 1B, and from the outer edge flange 1a to the inner outer edge 1b of the immediately lower tray 1B. Is a width obtained by subtracting the distance b1.

The amount of overlap c1 in plan view between the upper half-moon claw portion 28a of FIG. 7A and the inner outer end 1b of the uppermost tray 1A is larger than the same amount of overlap c2 of FIG. Become.
The overlap amount c4 in plan view between the lower half-moon-shaped claw portion 29a of FIG. 7E and the outer edge flange portion 1a of the direct tray 1B is larger than the similar overlap amount c3 of FIG. .
A gap d1 in a plan view between the lower half-moon-shaped claw edge 29c of the lower half-moon plate 29 of FIG. 7A and the outer edge flange 1a of the uppermost tray 1A is the upper half-moon-like shape of FIG. It is ensured to be approximately the same as the gap d2 in plan view between the upper half-moon-shaped claw edge 28c of the plate 28 and the outer edge flange 1a of the uppermost tray 1A.
Further, the overlap amount c1 in FIG. 7A is secured larger than the gap d1, and the overlap amount c4 in FIG. 7E is secured larger than the gap d2, taking account of variations in plan view. Even so, the above-mentioned c1 and c4 are prevented from becoming zero or less.
Further, the overlap amount c3 in FIG. 7C and the overlap amount c4 in FIG. 7E are set to be smaller than the distance b1 from the outer edge flange 1a of each tray 1 to the inner outer end 1b. .
If the above action is realized, the shapes of the upper and lower meniscus plates 28 and 29 do not have to be arcuate as shown in the drawings.

Next, the operation of the tray separating apparatus 200 will be described.
First, before the tray storage container 2 is set at a predetermined location as illustrated in FIGS. 3, 4, and 5, each tray 1 is packed from the upper side of the tray storage container 2. Since the tray group mounting table 10 is placed on the bottom of the tray storage container 2, the tray 1 is stacked on the tray group mounting table 10 and the tray group 100 is mounted.
The tray storage container 2 in which the tray group 100 is stored in this manner is slid by the user from the near side to the upper side in FIG. 3, and the predetermined container as shown in FIGS. Set in place. In order for the tray storage container 2 to be inserted and set in the predetermined place, a guide portion (not shown) such as a rail is formed on the base table 20, and a positioning member (not shown) is guided and slid to the predetermined place. Is omitted).

Before the slide, the push-up portion 11 is moved downward by the drive motor M so as not to protrude from the upper surface of the base table 20.
When the tray container 2 is inserted and set at the predetermined location, the height of the uppermost tray 1A of the tray group 100 is lower than the height connecting the light emitting diode 14 and the light receiving element 15 described above. In the tray group 100, the loading amount of each tray 1 is defined so as to have the height described above.

The U-shaped arm 8 is moved to a standby position above the tray storing container 2 by the U-shaped arm driving unit 18 before the tray storing container 2 is inserted and set at the predetermined position. Accordingly, the tray separation unit 25 attached to the U-shaped arm 8 is also waiting above the uppermost tray 1A of the tray group 100 stored in the tray storage container 2.
In this standby position, the positions of the upper half-moon plate 28 and the lower half-moon plate 29 of the tray separating unit 25 attached to the left arm portion 8b and the right arm portion 8c of the U-shaped arm 8 in plan view are as shown in FIG. The air cylinder rotating shaft 26a is rotated and set until the position 3 is reached. This rotation set may be configured such that the control unit 13 controls the air cylinder 26 to control the rotation of the air cylinder rotation shaft 26a by a predetermined angle.

  After that, when the driving switch of the driving motor M is turned on by the operator, the driving motor M rotates, and the tray group mounting table 10 rises together with the push-up portion 11, and thus the tray group 100 also rises. In this state, when the uppermost tray 1A is raised to a predetermined position, the uppermost tray 1A prevents light emission of the light emitting diode 14 described above, so that the light receiving element 15 cannot receive light. Then, the control unit 13 stops the drive of the drive motor M in response to the detection signal that the light receiving element 15 can no longer receive light. Therefore, the uppermost tray 1A is set at a predetermined position.

  When the control unit 13 receives a detection signal indicating that the light receiving element 15 cannot receive light, the control unit 13 also controls the U-shaped arm driving unit 18 to start driving. For this reason, the U-shaped arm 8 starts to descend toward the uppermost tray 1A. As described above, the fixture 21 is fixed to the U-shaped arm 8, the connecting rod 23 is held on the fixture 21 so as to be movable up and down, and the tray separation unit 25 is disposed at the upper end thereof. In the tray separating unit 25, the upper half-moon shaped plate 28 and the lower half-moon shaped plate 29 are positioned at the positions shown in FIGS. 3 and 7A in plan view.

Accordingly, when the U-shaped arm 8 begins to descend toward the uppermost tray 1A, the tray separation unit 25 also begins to descend in the same manner.
Eventually, in the upper half-moon shaped plate 28 of the tray separating unit 25, the above-described upper half-moon-shaped claw portion 28a hits the inner outer end 1b of the uppermost tray 1A. In this case, the tray separating unit 25 is disposed at two places on the left side and two places on the right side as shown in FIG. 3, so that the tray group 100 is tilted in a side view (usually tilted). ), The upper crescent-shaped claw portion 28a that opposes the location of the inner outer end 1b that is the highest in side view comes into contact. Further, the U-shaped arm 8 continues to descend, but the upper half-moon-shaped claw portion 28a that first contacts the inner outer end is in contact with the spring force of the lower coil spring 24 as it is bent. The part 1b is pushed down. When further lowered, the upper half-moon claw 28a facing the next highest inner outer end 1b comes into contact with the lower coil spring 24, and the spring force pushes down the inner outer end 1b. In this way, all four upper half-moon claws 28a push down the opposed inner outer end 1b, so that the four inner outer ends 1b of the uppermost tray 1A are substantially horizontal in a side view. It will be arranged.

The U-shaped arm driving unit 18 is driven so that the U-shaped arm 8 is lowered to a predetermined position where the inner outer end 1b facing all the upper half-moon-shaped claws 28a can be pushed down. When the U-shaped arm 8 reaches a predetermined position, the control of the U-shaped arm driving unit 18 is controlled by the control unit 13 to stop.
In addition, the drive control for driving the U-shaped arm drive unit 18 to the predetermined position detects that the upper outer lunar claw portion 28a pushes down the opposite inner outer end 1b in addition to the above. Then, the U-shaped arm driving unit 18 may be controlled to stop. For example, if a pressure sensor for detecting that the coil spring 24 is bent is disposed immediately below the coil spring 24 and a new pressing force is generated at all four pressure sensors, the U-shaped arm The drive unit 18 may be controlled to stop.

As described above, the U-shaped arm 8 is lowered to the predetermined position described above, and the inner outer end 1b opposed to the upper half-moon-shaped claw portions 28a of all the four locations is pushed down, and the U-shaped arm driving unit 18 is in the initial state as described above, and the relationship between the tray group 100 and the rotation separation unit 27 of the tray separation unit 25 is as shown in FIGS. 3 and 7A and 7B. Yes.
That is, the upper half-moon-shaped claw portion 28a overlaps the inner outer end portion 1b of the uppermost tray 1A in a plan view and abuts on the upper surface of the inner outer end portion 1b of the uppermost tray 1A in a side view. At the same time, the lower half-moon-shaped claw portion 29a is located on the outer side so as not to overlap the outer edge flange 1a of the uppermost tray 1A in a plan view, and the outer edge of the uppermost tray 1A in a side view. It is located within a step (gap) h1 secured between the flange 1a and the outer edge flange 1a of the tray 1B immediately below it.
In the plan view of FIG. 3, the two rotation separation parts 27, 27 on the right side have upper cutouts 28b, 28b located on the near side in FIG. 3, and the two rotation separation parts 27, 27 on the left side. The upper notches 28b and 28b are located on the back side in FIG. Each of the lower notches 29b and 29b is arranged in parallel to the side of the tray 1.

Thereafter, the air cylinder rotation shaft 26a of each air cylinder 26 rotates by a predetermined angle to the second predetermined position. With respect to the rotation direction, the two rotation separation units 27 and 27 on the right in the plan view of FIG. 3 are clockwise, and the two rotation separation units 27 and 27 on the left in the plan view of FIG. 3 are also clockwise.
The state in which the air cylinder rotating shaft 26a is rotated to the second predetermined position is the above-described intermediate rotation. In this state, the plan view positions in the two rotation separation units 27, 27 on the right in the plan view of FIG. 3 are as shown in FIGS. 7C and 7D. Further, at the time of the intermediate rotation, the plan view positions of the two left rotation separation portions 27 and 27 in the plan view of FIG. 3 are point-symmetric with the two right rotation separation portions 27 and 27. .
In the rotation separating units 27 and 27, the second predetermined position is a position rotated clockwise from 30 degrees to 60 degrees, preferably 45 degrees (θ angle in FIG. 7C) with respect to the initial position. It is.
At the time of the intermediate rotation, the upper half moon claw portion 28a overlaps with the inner outer end portion 1b of the uppermost tray 1A in a plan view and contacts the upper surface of the inner outer end portion 1b of the uppermost tray 1A in a side view, The lower half-moon-shaped claw portion 29a overlaps with the outer edge flange portion 1a of the direct tray 1B in a plan view and is positioned in the gap h1 in a side view. Therefore, the uppermost tray 1A is restricted from moving upward in a side view.

Thereafter, the air cylinder rotation shaft 26a of each air cylinder 26 rotates by a predetermined angle to the third predetermined position. With respect to the rotation direction, the two rotation separation units 27 and 27 on the right in the plan view of FIG. 3 are clockwise, and the two rotation separation units 27 and 27 on the left in the plan view of FIG. 3 are also clockwise.
The state in which the air cylinder rotating shaft 26a is rotated to the third predetermined position is the above-described tray separation. In this state, the planar view positions at the two rotation separating portions 27, 27 on the right in the plan view of FIG. 3 are as shown in FIGS. 7 (e) and 7 (f). Further, at the time of the tray separation, the two-left rotational separation portions 27 and 27 in the plan view of FIG. 3 are point-symmetric with the two right-hand rotation separation portions 27 and 27. .
In the rotation separation units 27, 27, the first predetermined position is a position rotated approximately 90 degrees clockwise with respect to the initial position.

At the time of tray separation, the upper half-moon-shaped claw portion 28a is located on the outer side so as not to overlap the outer edge flange portion 1a of the uppermost tray 1A in plan view, and the lower half-moon-shaped claw portion 29a is directly below the plan view. It overlaps with the outer edge flange 1a of the tray 1B and is located in the gap h1 in a side view. In this case, the upper cutout portion 28b is located outside the outer edge flange 1a of the uppermost tray 1A, and is substantially parallel to the outer edge flange 1a in plan view. The positional relationship between the uppermost tray 1A and the directly below tray 1B and the upper half-moon plate 28 and the lower half-moon plate 29 in the plan view and the side view is the above-described two positions on the right and left in the plan view of FIG. The same applies to the rotation separation units 27, 27, 27, and 27.
Accordingly, the uppermost tray 1A can be separated upward from the upper cutout portion 28b of the upper meniscus plate 28.
Further, the lower tray 1B is prevented from moving upward by the four lower half-moon-like claws 29a.

As described above, when the tray separation unit 25 is set at the position at the time of tray separation, the tray transport unit 3 described with reference to FIGS. 1 and 2 transports the uppermost tray 1A to an appropriate transport destination.
That is, as shown in FIG. 1, the tray transport unit 3 descends from above the uppermost tray 1A, and the vacuum chucks 6 and 6 attached to the lower surfaces of the transport arms 4 and 4 are located on the inner outer end 1b of the uppermost tray 1A. By adsorbing the upper surface and then raising the tray transport unit 3, the uppermost tray 1A is separated from the lower tray 1B and rises.
At the time of the separation, the uppermost tray 1A passes through the upper cutout portion 28b, so that it can be lifted together with the tray transport unit 3, and the immediately lower tray 1B has an outer edge flange portion 1a formed by the lower half-moon claw portion 29a. Since the upward movement is prevented, the tray group 100 remains. Therefore, the uppermost tray 1A is separated from the tray group 100.

  The tray transport unit 3 that picks up the uppermost tray 1A and lifts it upward is transported to the transport destination set as shown in FIG. 2B, and the uppermost tray 1A is placed there, thus a series of transports. The work will end.

When the transport operation is finished, each tray separation unit 25 is rotated about 90 degrees counterclockwise by each air cylinder 26 and returned to the arrangement location in FIG. Each tray separation unit 25 in FIG. 3 is in the initial initial time.
Note that each tray separation unit 25 after the completion of the above-described transport operation may be configured to return to the initial position in FIG. 3 in a clockwise direction.

[Second Embodiment]
The second embodiment is different from the first embodiment in that the tray separation unit 25 is arranged at four places, whereas the tray separation unit 125 is arranged at two places.
FIG. 8 shows a plan view of the main part of the tray separating apparatus according to the second embodiment.

In FIG. 8, the tray separation unit 125 is disposed at one place on each of the left arm portion 8b and the right arm portion 8c. The tray separation unit 125 is disposed on the front side of the left arm portion 8b and the back side of the right arm portion 8c, and each is disposed in a symmetrical positional relationship with respect to a line connecting the light emitting diode 14 and the light receiving element 15. Others are the same as in the first embodiment.
Accordingly, the tray separation unit 125 is reduced and the apparatus is simplified. Further, since each tray separation unit 125, 125 is disposed at a position symmetrical to the central line in the plan view of the tray group 100, when each tray separation unit 125, 125 presses the uppermost tray 1A, the plan view Since the balance is achieved, each step of FIG. 7 can be performed reliably.

[Third Embodiment]
In the third embodiment, the U-shaped arm 8 is guided and supported by one base frame 7 in the first embodiment, whereas the U-shaped arm is provided up and down and both are integrated. The difference is that the integrated U-shaped arm (integrated U-shaped arm) 208 is guided and supported by base frames 207 and 207 provided at two locations.
FIG. 9 shows a plan view of the main part of the tray separating apparatus according to the third embodiment.

In FIG. 9, one base frame 207 is installed at the same location as in the first embodiment, and the other base frame 207 is installed on the near side of FIG.
In the integrated U-shaped arm 208, one protrusion 208a is formed on each of the front side and the back side in FIG. 9, and each base frame 207 is provided on the front side and the back side, respectively. , 207 and 207 are supported.
This guide support is the same as in the first embodiment, and is supported by a metal ball.

Although the tray separating units 225 and 225 are arranged on the integrated U-shaped arm 208, one place is arranged on the right side on the near side and one place on the left side on the far side in the plan view of FIG. .
Each tray separation unit 225, 225 is arranged at a symmetrical position with respect to the center line in the width direction of the tray group 100 (left-right direction in FIG. 9) in plan view of FIG. Similarly, when the tray separation units 225 and 225 press the uppermost tray 1A, a balance is obtained in plan view. Therefore, each process of FIG. 7 is performed reliably.
Note that the tray separating unit is not limited to the above two places, and may be installed in the left arm portion 208b and the right arm portion 208c of the integrated U-shaped arm 208, for example.

Next, modified examples applicable to each embodiment will be described.
[Modification 1]
Each tray separation unit 25, 125, 225 is installed on the fixture 21 so as to be vertically movable, but may be installed on the U-shaped arm 8 or the integrated U-shaped arm 208 so as to be directly movable up and down.
That is, the guide hole 22 is formed in the U-shaped arm 8 or the integrated U-shaped arm 208 as in the case of the first embodiment, penetrates the connecting rod 23, and is connected to the upper end of the connecting rod 23 via the coil spring 24. Each tray separation unit 25, 125, 225 is attached.

[Modification 2]
The plan view shapes of the upper half-moon plate 28 and the lower half-moon plate 29 of the tray separation units 25, 125, and 225, and the plan view shapes of the upper cut portion 28b and the lower cut portion 29b are limited to the shapes described above. Instead, any shape is possible as long as the operations of (a), (b), (c), (d), (e), and (f) in FIG. 7 can be realized.
For example, the plan view shape of the upper half-moon plate 28 and the lower half-moon plate 29 may be a polygonal shape or an elliptical shape instead of an arc shape. Similarly, the planar view shape of the upper cut portion 28b and the lower cut portion 29b may be a polygonal shape or an elliptical shape instead of an arc shape.

The U-shaped arm drive unit 18 and the air cylinder 26 are not limited to the above-described air cylinder, and may be other drive devices.
For example, the air cylinder 26 may be a stepping motor. The U-shaped arm driving unit 18 may be an electromagnetic rotary motor.

[Application Example 1]
The tray separation unit described above separates and conveys the uppermost tray 1 </ b> A upward in a side view of the tray group 100.
As an application example of the tray separation unit of the present invention, the tray group 100 may be disposed in the reverse direction in a side view and applied to the one that separates and extracts the lowermost lowermost tray downward.
That is, in the tray separating unit of Application Example 1, the tray including the outer edge flange portion and the inner outer end portion formed with a step inwardly in a plan view of the outer edge flange portion and below in the side view is seen in the side view. A tray group is configured by stacking a plurality of trays in the upward direction, and each tray can be separated downward from the tray group in a side view. A lower meniscus plate that can selectively prevent the inner outer edge of the lowermost tray disposed in the lower portion from moving downward, and an upper portion disposed a predetermined amount above the lower half moon plate in a side view. A rotation separation unit including a semicircular plate, a rotation drive unit having a rotation shaft integrated with the rotation separation unit, and rotating the rotation separation unit by a predetermined angle via the rotation shaft, The lower half-moon plate of the rotation separation part is a lower half-moon nail part And a lower cutout portion in which the lower half-moon nail portion is not formed, and the upper half-moon plate has a top cutout portion in which the upper half-moon nail portion and the upper half-moon nail portion are not formed. The lower half-moon plate and the upper half-moon plate are arranged so that the lower half-moon claw portion is in an inner outer end portion of the lowermost tray in a plan view when the rotation shaft is rotated to the first predetermined position. Overlapping and abutting against the lower surface of the inner outer end portion in a side view can prevent downward movement, and the upper half-moon claw portion overlaps with the outer edge collar portion of the lowermost tray in a plan view. The outer edge of the lowermost tray and the outer edge of the upper tray disposed immediately above the lower edge of the lower tray in a side view. During the intermediate rotation in which the rotation shaft is rotated to the second predetermined position by the drive unit, the lower half-moon-shaped claw portion Can overlap the inner outer edge of the lowermost tray in a plan view and abut against the lower surface of the inner outer edge in a side view to prevent the downward movement. The portion overlaps with the outer edge flange portion of the immediately above tray in a plan view and is positioned in the gap in a side view, and when the tray is separated when the rotation shaft is rotated to the third predetermined position by the rotation drive unit, The half-moon-shaped claw portion is located on the outer side so as not to overlap with the outer edge collar portion of the lowermost tray in a plan view, and the upper half-moon-shaped claw portion overlaps with the outer edge collar portion of the immediately above tray in a plan view and Located in the gap, the lowermost tray is formed such that it can be separated downward from the lower notch of the lower meniscus plate.

[Application 2]
Application example 2 is a tray separation apparatus using the tray separation unit of application example 1 described above.
In this case, the tray group mounting table 10, the push-up portion 11, the gear 12, the motor M, the control unit 13, the light emitting diode 14, the light receiving element 15, the left column 16, the right column 17, and the right column 17, which are illustrated in FIGS. The U-shaped arm driving portion 18, the connecting member 19, the fixture 21, the connecting rod 23, the coil spring 24, and the like are unnecessary. In order to hold the tray separating unit, the U-shaped arm 8 described above is necessary, but it is not necessary to move it up and down in a side view, and may be fixed to the base table 20, for example. The tray storage container 2 has no bottom wall and is opened downward.
The tray separation unit separates the lowermost tray downward by rotating as shown in each of FIGS.

  It should be noted that the above-described embodiments, modifications, and application examples may be varied without departing from the spirit of the present invention.

  The tray separation unit, the tray separation apparatus including the tray separation unit, and the tray separation method according to the present invention can be applied to the separation of various trays as described above. The tray may be, for example, a semiconductor bare chip, a semiconductor mounted product, an electronic component, a container such as a capsule or granular medicine, a lunch box, or a container for storing food.

FIG. 3 is a cross-sectional view of the main part in a state where the uppermost tray is transported from the tray group of the tray storage container 2 to a predetermined position by the tray transport unit in the first embodiment of the present invention. The top view of the state in which an uppermost tray is conveyed by a tray conveyance unit is shown, (a) is a top view before conveyance, (b) is a top view after conveyance. The top view which showed the principal part of the said tray separation apparatus, and the top view which removed the tray conveyance unit of FIG. The front side view of the principal part which gave the partial cross section seen from the A direction of FIG. The left view of the principal part which gave the partial cross section seen from the B direction of FIG. FIG. 6 is a diagram illustrating a tray separation unit, where (a) is a plan view of the tray separation unit 25; FIG. 6B is a right side view of the tray separation unit 25 in FIG. It is the figure which showed the tray separation unit, (c) is the lower side view which looked at the tray separation unit 25 of (a) from the downward direction. It is an operation | movement diagram which shows isolation | separation operation | movement with each tray and tray separation unit of a tray group, (a) is a top view at the time of an initial stage. It is an operation | movement figure which shows isolation | separation operation | movement with each tray and tray separation unit of a tray group, (b) is a side view at the time of an initial stage. It is an operation | movement figure which shows isolation | separation operation | movement with each tray and tray separation unit of a tray group, (c) is a top view at the time of intermediate rotation. It is an operation | movement figure which shows isolation | separation operation | movement with each tray and tray separation unit of a tray group, (d) is a side view at the time of intermediate rotation. It is an operation | movement diagram which shows isolation | separation operation | movement with each tray and tray separation unit of a tray group, (e) is a top view at the time of tray separation. FIG. 6 is an operation diagram illustrating a separation operation between each tray of the tray group and the tray separation unit, and (f) is a side view at the time of tray separation. The top view of the principal part of the tray separation apparatus in 2nd Embodiment of this invention. The top view of the principal part of the tray separation apparatus in 3rd Embodiment of this invention.

Explanation of symbols

    1: tray, 1a: outer edge flange, 1b: inner outer edge, 1A: uppermost tray, 1B: directly below tray, 2: tray storage container, 3: tray transport unit, 4: transport arm, 5: spring, 6: Vacuum chuck, 7, 207: Base frame, 7a: Slide groove, 8, 108: U-shaped arm, 8a, 208a: Projection part, 8b, 208b: Left arm part, 8c, 208c: Right arm part, 9: Ball 10: Tray group mounting table, 11: Pusher, 11a: Tooth shape, 12: Gear, 13: Control unit, 14: Light emitting diode, 15: Light receiving element, 16: Left column, 17: Right column, 18: Co Character-shaped arm drive unit, 19: connecting member, 20: base base, 21: mounting tool, 22: guide hole, 23: connecting rod, 24: coil spring, 25, 125, 225: tray separating unit, 26: air cylinder, 26a: Air 27: Rotation separation part, 28: Upper half-moon plate, 28a: Upper half-moon nail part, 28b: Upper notch part, 28c: Upper half-moon nail part edge, 29: Lower half-moon board, 29a: Lower half moon claw part, 29b: Lower notch part, 29c: Lower half moon claw part edge, 30: Connecting part, 100: Tray group, 200: Tray separating device, 208: Integrated U-shaped arm, M: Drive Motor, R, r: radius, h1: tray step (gap), b1: distance, c1 to c4: overlap amount, d1, d2: gap, e: distance, θ: rotation angle

Claims (8)

A plurality of trays each having an outer edge flange portion and an inner outer end portion formed with a step on the inner side in a plan view of the outer edge flange portion and in an upper side view are stacked in the vertical direction in the side view. Is a tray separation unit that can separate each tray from the tray group in a side view in an upward direction.
The upper half-moon plate that can selectively prevent the inner outer edge of the uppermost tray disposed in the uppermost portion of the tray group from moving upward, and a predetermined amount lower than the upper half-moon plate in a side view A rotation separation unit comprising a lower meniscus plate arranged in
A rotation shaft integrated with the rotation separation unit, and a rotation drive unit that rotates the rotation separation unit through a predetermined angle through the rotation shaft;
The upper half-moon plate of the rotation separation unit includes an upper half-moon nail portion and an upper notch portion in which the upper half-moon nail portion is not formed, and the lower half-moon plate includes the lower half-moon nail portion and the It has a lower notch where the lower half-moon claw is not formed,
The upper half-moon plate and the lower half-moon plate are:
At an initial stage when the rotation shaft rotates to the first predetermined position, the upper half-moon claw portion overlaps the inner outer end portion of the uppermost tray in a plan view and abuts on the upper surface of the inner outer end portion in a side view. In this case, the lower half-moon-shaped claw portion is located on the outer side so as not to overlap the outer edge flange portion of the uppermost tray in a plan view and the outer edge flange portion of the uppermost tray in a side view. Is located in a gap formed between the outer edge flange portion of the tray directly below and
During the intermediate rotation in which the rotation shaft is rotated to the second predetermined position by the rotation driving unit, the upper half moon claw portion overlaps the inner outer end portion of the uppermost tray in a plan view and the inner outer end portion in a side view. The lower half-moon-like claw portion overlaps with the outer edge flange portion of the immediately below tray in a plan view and is positioned in the gap in a side view. And
At the time of tray separation in which the rotation shaft is rotated to the third predetermined position by the rotation driving unit, the upper half-moon-shaped claw portion is located on the outer side so as not to overlap the outer edge flange portion of the uppermost tray in a plan view. The claw portion overlaps with the outer edge flange portion of the immediately below tray in a plan view and is located in the gap in a side view, and the uppermost tray can be separated upward from the upper notch portion of the upper meniscus plate ,
The tray separation unit is formed as described above. A tray separation unit support frame comprising a plurality of tray separation units according to claim 1;
Vertical movement means for moving the tray separation unit support frame in a vertical direction in a side view;
A tray separating apparatus comprising: A tray separating apparatus according to claim 2,
Furthermore, a push-up means for pushing up the tray group in a side view,
A tray separating apparatus comprising: A tray separator according to claim 2 or claim 3, wherein
A position detection device that detects a vertical position in a side view of the uppermost tray in the tray group;
The lifting means pushes the tray group upward until the uppermost tray is detected by the position detection device, or the vertical movement means moves the tray separation unit support frame downward. A control unit;
A tray separating apparatus comprising: A tray separator according to any one of claims 2 to 4,
Further, at the initial time, when the upper half-moon claw portion contacts the upper surface of the inner outer end portion in a side view, the upper half-moon claw portion has the inner outer end portion relative to the lower side view in a side view. Press down means to press down,
A tray separating apparatus comprising: A tray separating apparatus according to any one of claims 2 to 5,
The tray separating unit is disposed at a predetermined position outside a moving range of a transport device that supports the uppermost tray in a plan view and transports it from the tray group during tray separation when the rotation shaft rotates to a third predetermined position. A tray separator characterized by comprising: A tray separating apparatus according to any one of claims 2 to 6,
The tray separating unit is disposed one by one at a position facing the center of the uppermost tray in the plan view. A plurality of trays each including an outer edge flange portion and an inner outer end portion formed with a step inwardly in a plan view of the outer edge flange portion and in an upper side view are stacked in the vertical direction in the side view. An upper meniscus plate configured to selectively prevent the inner outer end of the uppermost tray disposed in the uppermost portion of the tray group from moving upward, and a side view of the upper meniscus plate A lower half-moon plate disposed below by a predetermined amount, a rotation drive unit that integrally rotates the upper half-moon plate and the lower half-moon plate, and the upper half-moon plate includes an upper half-moon nail portion and The upper half-moon plate is provided with a lower half-moon nail portion and a lower cut-out portion in which the nail portion is not formed.
A tray separation method for separating each tray from the tray group in an upward direction in a side view,
A predetermined position moving step of moving the tray group or the tray separation unit to a predetermined vertical position in a side view;
The upper half-moon-shaped claw portion overlaps the inner outer end portion of the uppermost tray in a plan view and abuts against the upper surface of the inner outer end portion in a side view to prevent the upper tray from moving upward. A claw portion is located on an outer side that does not overlap with the outer edge flange portion of the uppermost tray in a plan view, and an outer edge flange portion of the uppermost tray that is positioned directly below the outer edge flange portion of the uppermost tray in a side view. A rotation separation unit initial position setting step of rotating by the rotation drive unit to a first predetermined position located in a gap formed between;
The lower half-moon claw is in plan view while the upper half-moon claw overlaps with the inner outer edge of the uppermost tray in plan view and is in contact with the upper surface of the inner outer edge in side view. A rotation separation unit intermediate rotation position setting step that is rotated by the rotation drive unit to a second position that overlaps with the outer edge flange of the tray immediately below and is located in the gap in a side view;
The upper half-moon claw portion is located on an outer side so as not to overlap with the outer edge flange portion of the uppermost tray in a plan view, and the lower half moon claw portion overlaps with the outer edge flange portion of the immediately lower tray in a plan view and in a side view. And a rotation separation unit tray separation position setting step that is rotated by the rotation drive unit to a third predetermined position located in the gap,
An uppermost tray separating step for separating the uppermost tray upward from the tray group in a side view after the rotating separation unit tray separation position setting step;
A tray separation method comprising:

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