JP2015023077A - Tray supply device and tray supply method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide tray supply device and method that surely enable take-out of a tray at the uppermost stage from a tray group comprising plural stacked trays.SOLUTION: A lifting table 12 on which a tray group 6G is mounted is upward and downward moved to position the tray group 6G so that a tray 6P at the uppermost stage of the tray group 6G is located at a standby height H0 higher than a working height HW, and then the tray 6P at the uppermost stage of the tray group 6G is pushed down by a tray holding head 14 to position a space SP between the tray 6P at the uppermost stage and a tray 6 at the next stage to the working stage HW. A freely movable pawl member 15 is inserted into the space SP at the working height HW, and the lifting table 12 is downwards to separate the tray 6P at the uppermost stage from the tray 6 at the next stage.

Description

  The present invention relates to a tray supply apparatus and a tray supply method for taking out and supplying an uppermost tray from a tray group in which a plurality of trays storing components are stacked.

  As a component supply means in the component mounting apparatus, a tray supply device that supplies components stored in a tray to a predetermined component supply position together with the tray is used. Among these tray supply devices, a tray feeder is known in which a plurality of trays in a component storage state are stored in a magazine and the tray is horizontally removed from the magazine when the tray is supplied. (For example, patent document 1). In such a tray feeder, the tray is handled in a state of being set on a plate-like pallet. However, in recent years, a tray group in which trays in a component storage state are directly stacked is used to save the trouble of setting the tray on the pallet. There is a demand for a tray supply apparatus of the type that automatically removes the uppermost tray from the tray group one by one.

Japanese Patent Laid-Open No. 11-346091

  When removing the uppermost tray from the tray group one by one, a claw member is inserted into the space between the uppermost tray and the next tray, and one of the two trays is fixed. Need to be spaced apart from it. However, since the tray is made of resin and easily deforms, and the overlapping state is unstable, the uppermost tray to be taken out is inclined from the horizontal posture, and the uppermost tray and the next tray are Since it is difficult to accurately insert the claw member into the space between them, it is not easy to automatically take out the uppermost tray from the tray group, and it is difficult to automatically supply the tray.

  Therefore, an object of the present invention is to provide a tray supply device and a tray supply method that can reliably take out the uppermost tray from a tray group in which a plurality of trays are stacked, and that can automatically supply the tray.

  The tray supply device according to claim 1 is a tray supply device that takes out the uppermost tray from a tray group formed by stacking a plurality of trays storing components and supplies the tray to a predetermined tray supply position. A vertically movable lifting table on which the group is placed, a tray holding head that is provided so as to be movable up and down above the lifting table and holds the uppermost tray of the tray group placed on the lifting table, and a predetermined A claw member that is movable at a working height, and a control means that controls each operation of raising and lowering the lifting table, raising and lowering the tray holding head, holding the tray by the tray holding head, and moving the claw member. The control means raises and lowers the lifting table on which the tray group is placed so that the uppermost tray of the tray group has a preparation height higher than the working height. A tray group positioning control unit for positioning the tray group so as to be placed, and the uppermost tray of the tray group positioned by the tray group positioning control unit is pushed down by the tray holding head, And a tray separation work preparation control unit that positions the space between the first tray and the next tray at the work height, and a space between the uppermost tray and the next tray located at the work height. Tray separation work for separating the uppermost tray from the next tray by lowering the lifting table or raising the tray holding head holding the uppermost tray after inserting the claw member And an execution control unit.

  The tray supply device according to claim 2 is the tray supply device according to claim 1, wherein the tray group positioning control unit detects a state in which an uppermost tray of the tray group is positioned at the preparation height. The raising / lowering control of the raising / lowering table based on the output from the sensor is performed to position the tray group.

  The tray supply method according to claim 3 is a tray supply method in which the uppermost tray is taken out from a tray group formed by stacking a plurality of trays storing components and is supplied to a predetermined tray supply position. A tray group positioning step of positioning the tray group so as to raise and lower the lifting table on which the group is placed, so that the uppermost tray of the tray group is positioned at a preparation height higher than the working height; Tray separation in which the uppermost tray of the tray group positioned in the tray group positioning step is pushed down by a tray holding head so that the space between the uppermost tray and the next tray is positioned at a predetermined working height. A claw member that is movable at the work height into a space between the work preparation step and the uppermost tray positioned at the work height and the next tray. And a tray separation operation execution step of separating the uppermost tray from the next tray by lowering the lift table or raising the tray holding head holding the uppermost tray after the insertion. .

  The tray supply method according to claim 4 is the tray supply method according to claim 3, wherein, in the tray group positioning step, a state in which the uppermost tray of the tray group is positioned at the preparation height is detected. The raising / lowering control of the raising / lowering table based on the output from the sensor is performed to position the tray group.

  In the present invention, the uppermost tray of the tray group placed on the lifting table is pushed down by the tray holding head, so that the position of the space between the uppermost tray and the next tray can be moved by the claw member. Since it is positioned at the height (working height), the uppermost tray can be reliably removed from the tray group by inserting the claw member into the gap between the uppermost tray and the next tray, Automatic tray supply is possible.

Configuration diagram of component mounting apparatus in first embodiment The (a) sectional side view (b) top view of the tray which the component mounting apparatus in 1st Embodiment handles (A) (b) Side sectional view of the tray in the first embodiment The block diagram which shows the control system of the tray supply apparatus with which the component mounting apparatus in 1st Embodiment is provided. The flowchart which shows the procedure of tray supply operation | movement which the tray supply apparatus in 1st Embodiment performs. (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 1st Embodiment (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 1st Embodiment (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 1st Embodiment Operation explanatory diagram of the tray supply device in the first embodiment (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 1st Embodiment The block diagram of the component mounting apparatus in 2nd Embodiment The flowchart which shows the procedure of tray supply operation | movement which the tray supply apparatus in 2nd Embodiment performs. (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 2nd Embodiment (A) (b) Operation | movement explanatory drawing of the tray supply apparatus in 2nd Embodiment

(First embodiment)
A component mounting apparatus 1 shown in FIG. 1 is a device that mounts a component 4 on a substrate 3 held on a substrate holding table 2, and supplies a tray 6 for component storage in which the component 4 is stored by a tray supply device 5. The component is supplied to the table 7, and the mounting head 8 takes out the component 4 from the tray 6 supplied to the tray supply table 7 and mounts it on the substrate 3.

  In FIG. 1, the tray supply device 5 takes out the uppermost tray 6 (reference numeral 6P) from a tray group 6G formed by stacking a plurality of trays 6 and supplies it to the tray supply table 7. The tray supply device 5 is provided so that it can be raised and lowered by a table raising and lowering mechanism 11 fixed to a base (not shown), and can be raised and lowered by a head moving mechanism 13 and movable in a horizontal plane above the raising and lowering table 12. In addition to the tray holding head 14, a pair of claw members 15 and a tray detection sensor 16 are provided.

  The elevating table 12 has a base portion 21 that is directly raised and lowered by the table elevating mechanism 11, and a flat plate-like placement portion 23 supported above the base portion 21 via a plurality of spring members 22 as a cushion mechanism. Become. Thus, when the load from the upper side acts on the mounting part 23 in the state which fixed the base part 21, the raising / lowering table 12 becomes a structure which the mounting part 23 compresses the spring member 22 and moves below. ing.

  2 (a) and 2 (b), the tray 6 is composed of a rectangular plate-like member as a whole, and a plurality of depressions 6a are arranged in a matrix. One component 4 is stored in each recess 6a. The trays 6 can be stacked one above the other, and when two trays 6 are stacked one above the other, as shown in FIGS. 3 (a) and 3 (b), between the adjacent recesses 6a of the lower tray 6 The upper end portion of the grid-like convex portion 6b is fitted into the grid-like concave portion 6c between the adjacent recess portions 6a of the upper tray 6 from below. Even when the trays 6 are stacked one above the other in this way, the lower surface of the upper tray 6 (the bottom portion of the recess 6a) is located above the component 4 in the recess 6a of the lower tray 6. The parts 4 are not damaged by the stacking of the trays 6. The tray group 6 </ b> G formed by stacking the trays 6 on the top and bottom is placed on the placement unit 23 of the lifting table 12.

  In FIG. 1, the head moving mechanism 13 is provided with a moving stage 13b movably on a horizontal table 13a extending in the horizontal direction, and a head lifting mechanism 13c such as a cylinder is attached to the moving stage 13b. The tray holding head 14 includes a base portion 14a that is lifted and lowered by a head lifting mechanism 13c, and a plurality of tray suction portions 14b that extend downward from the base portion 14a. A pad member 14p is attached to the lower end of each tray suction portion 14b. The tray holding head 14 is lifted and lowered by the head moving mechanism 13 above the tray group 6G placed on the lifting table 12, and the pad member 14p of the tray suction portion 14b is brought into contact with the upper surface of the uppermost tray 6P of the tray group 6G. By vacuum suction, the uppermost tray 6P is sucked and held.

  Each claw member 15 is guided by a movement guide 15a, and is movable in the horizontal direction at a predetermined work height HW (FIG. 1). The pair of claw members 15 are arranged at positions where the tray group 6G placed on the placement portion 23 of the lifting table 12 is sandwiched from the side, and an initial position where the interval is larger than the lateral dimension of the tray group 6G 1) and an insertion position in which the distance between the initial positions is close to each other and the distance between the tray group 6G is narrower than that of the tray group 6G.

  In FIG. 1, the tray detection sensor 16 is provided above the lifting table 12. The tray detection sensor 16 is composed of, for example, a light detection side sensor including a projector and a light receiver. The state located at H0 is detected.

  In FIG. 4, the lifting / lowering operation of the lifting / lowering table 12 by the table lifting / lowering mechanism 11, the movement (moving up and down and moving in a horizontal plane) of the tray holding head 14 by the head moving mechanism 13, and the tray suction by the suction mechanism 14 </ b> A built in the tray holding head 14. Each control of the holding (adsorption) operation of the uppermost tray 6P via the portion 14b and the movement operation of the claw member 15 by the claw member moving mechanism 15A that moves the claw member 15 along the movement guide 15a is performed by the component mounting apparatus 1. This is performed by the control device 30 which is a control means included in the. Further, detection information on the upper surface of the uppermost tray 6P of the tray group 6G by the tray detection sensor 16 is input to the control device 30.

  As shown in FIG. 4, the control device 30 includes a tray group positioning control unit 30a, a tray separation work preparation control unit 30b, and a tray separation work execution control unit 30c. The tray group positioning control unit 30a raises and lowers the lifting table 12 on which the tray group 6G is placed so that the uppermost tray 6P of the tray group 6G is positioned at the preparation height H0 higher than the working height HW. An operation for positioning the tray group 6G (a tray group positioning step described later) is executed, and the tray separation operation preparation control unit 30b sets the uppermost tray 6P of the tray group 6G positioned by the tray group positioning control unit 30a to the tray 6P. An operation (tray separation operation preparation step described later) is performed by pushing down by the holding head 14 and positioning the space SP between the uppermost tray 6P and the next (immediately lower) tray 6 at the operation height HW. Further, the tray separation work execution control unit 30c inserts the claw member 15 into the space SP between the uppermost tray 6P located at the working height HW and the next tray 6 and then moves the lifting table 12 over. An operation of lowering and separating the uppermost tray 6P from the next tray 6 (a tray separation operation execution step described later) is performed.

  Next, a tray supply operation (tray supply method) by the tray supply device 5 provided in the component mounting apparatus 1 will be described with reference to the flowchart of FIG. 5 and the operation explanatory diagrams of FIGS. First, the control device 30 controls the lifting / lowering table 12 based on the output from the tray detection sensor 16 by the tray group positioning control unit 30a (arrow A1 shown in FIG. 6A). The tray group 6G is positioned so that the upper surface of the uppermost tray 6P of the placed tray group 6G is positioned at the preparation height H0 (the tray group positioning step in step ST1 shown in FIG. 5; FIG. 6A). Specifically, the control device 30 drives the table elevating mechanism 11 to raise the elevating table 12, and stops the driving of the table elevating mechanism 11 when the tray detection sensor 16 detects the uppermost tray 6P.

  After positioning the tray group 6G, the control device 30 controls the operation of the head moving mechanism 13 by the tray separation work preparation control unit 30b, and moves the tray holding head 14 to the height of the lower end of the pad member 14p of each tray suction unit 14b. Is lowered to a position (referred to as a reference position) having a predetermined reference height H1 shown in FIG. 6B (arrow B1 shown in FIG. 6B, step ST2), and the uppermost stage of the tray group 6G. The tray 6P is pushed down by the tray holding head 14, and the space SP between the uppermost tray 6P and the next tray 6 is positioned at a predetermined work height HW (FIG. 6B) Preparation for tray separation work. Process).

  Here, the working height HW is the same as that of the uppermost tray 6P when the tray holding head 14 is lowered to the reference position (the upper surface of the uppermost tray 6P of the tray group 6G is positioned at the reference height H1). It is set to a height at which the space SP between the next tray 6 is located (FIG. 6B). Therefore, by lowering the tray holding head 14 to the reference position, the space SP between the uppermost tray 6P and the next tray 6 can be positioned at the working height HW. This is because the uppermost tray 6P of the tray group 6G placed on the lifting table 12 is pushed down by the tray holding head 14 so that the uppermost tray 6P into which the claw member 15 is to be inserted and the next tray 6 are inserted. The position of the space SP in between is controlled. When the space SP between the uppermost tray 6P and the next tray 6 is positioned at the working height HW, the uppermost tray 6P is pushed down by the distance (H0-H1) by the tray holding head 14, The entire tray group 6G is in a compressed state. In addition, while the tray holding head 14 is lowered, each tray adsorbing portion 14b (pad member 14p) provided in the tray holding head 14 abuts on the upper surface of the uppermost tray 6P, so that the uppermost tray 6P is pushed down. Even if it is tilted from a horizontal posture, this is corrected.

  When the control unit 30 positions the space SP between the uppermost tray 6P and the next tray 6 at the predetermined work height HW, the control unit 30 next moves the claw member moving mechanism 15A from the tray separation work execution control unit 30c. The claw member 15 is moved from the initial position to the insertion position (arrow C1 shown in FIG. 7A), and the uppermost tray 6P and the next tray 6 positioned at the working height HW are moved. The claw member 15 is inserted into the space SP between (FIG. 7 (a), claw member insertion step of step ST3). Then, the lifting table 12 is lowered (arrow A2 shown in FIG. 7B), and the next tray 6 in the tray group 6G is separated from the uppermost tray 6P (FIG. 7B). Elevating table lowering process). These steps ST3 and ST4 are a tray separation work execution step for separating the uppermost tray 6P from the next tray 6. The step ST4 may be executed immediately before the start of step ST3, and the claw member 15 may be inserted in a state where the space SP between the uppermost tray 6P and the next tray 6 is enlarged.

  After separating the uppermost tray 6P and the next tray 6 from each other, the control device 30 causes the tray holding head 14 to perform vacuum suction to hold the uppermost tray 6P (the tray holding step of step ST5). ) Raise the tray holding head 14 (arrow B2 shown in FIG. 8A. Tray holding head raising step in step ST6). Then, the tray holding head 14 is moved by the head moving mechanism 13 (arrow D shown in FIG. 8B), and the adsorbed uppermost tray 6P is placed on the tray supply table 7, and then the tray holding head is placed. 14 is returned to the upper position of the tray group 6G (tray transfer step in step ST7). After executing the tray transfer step, the control device 30 operates the claw member moving mechanism 15A to separate the claw members 15 from each other (arrow C2 shown in FIG. 9), and returns the insertion position to the initial position (step) ST8 claw member returning step). This completes a series of tray supply operations.

  As described above, the elevating table 12 has the mounting portion 23 supported above the base portion 21 that is directly raised and lowered by the table elevating mechanism 11 via the spring member 22 as a cushion mechanism. When a load from above acts on the mounting portion 23 with the space being fixed, the mounting portion 23 compresses the spring member 22 and moves downward. For this reason, by removing the trays 6 from the tray group 6G one by one, the number of trays 6 constituting the tray group 6G decreases, and when the tray group 6G is pressed and contracted by the tray holding head 14 in step ST4. Even when the amount of contraction in the vertical direction of the tray group 6G becomes smaller, the working member can reduce the working space of the space SP between the uppermost tray 6P and the next tray 6 by pressing and contracting the spring member 22. It is possible to position it at the height HW (FIG. 10 (a) → FIG. 10 (b)).

(Second Embodiment)
In FIG. 11, the component mounting apparatus (reference numeral 51) in the second embodiment is different only in the tray supply apparatus (reference numeral 55), and is the same as the component mounting apparatus 1 in the first embodiment described above. These components are denoted by the same reference numerals, and description thereof is omitted. The elevating table 12 provided in the tray supply device 55 in the second embodiment is composed of a simple plate-like member, and does not include a cushion mechanism (spring member 22) like the tray supply device 5 in the first embodiment.

  The tray supply operation by the tray supply device 55 in the second embodiment is basically the same as the tray supply operation by the tray supply device 5 in the first embodiment as shown in the flowchart of FIG. There are steps (step ST1a and step ST1b) not in the first embodiment between steps ST2. That is, in the second embodiment, after positioning the tray group 6G in step ST1, the control device 30 determines whether or not to change the tray separation method (step ST1a shown in FIG. 12). This is a step of determining whether or not to change the tray separation method, that is, the method of separating the uppermost tray 6P from the next tray 6 from the method shown in the first embodiment. The thickness Hg of the tray group 6G (FIGS. 13A and 14A) is calculated, and the calculated thickness Hg of the tray group 6G is based on a predetermined thickness (referred to as switching thickness). Depending on whether it is thick or not. Here, the switching thickness is determined by the position of the space SP between the uppermost tray 6P and the next tray 6 without forcibly compressing the tray group 6G on the lifting table 12 by the tray holding head 14. The thickness Hg of the tray group 6G that can be controlled only by controlling the elevation table 12 in the height direction (elevation control) is determined by performing a test in advance. The control device 30 determines the thickness Hg of the tray group 6G as the height HL of the lift table 12 when the upper surface of the uppermost tray 6P is detected by the tray detection sensor 16 (FIGS. 13A and 14A). )).

  In step ST1a, when the current thickness Hg of the tray group 6G is thicker than the switching thickness (FIG. 13A), the control device 30 determines that the tray separation method should not be changed. Then, the process proceeds to the same step ST2 as in the first embodiment, and the tray holding head 14 is moved to the reference position (as described above, the position where the lower end of the pad member 14p of each tray suction portion 14b becomes the reference height H1). The space SP between the uppermost tray 6P and the next tray 6 is set to a working height by lowering (arrow B1 shown in FIG. 13B) and pushing the contraction of the tray group 6G by the tray holding head 14. Located in HW. Thereafter, the tray 6 is supplied in the same procedure as in the first embodiment (step ST3 to step ST8).

  On the other hand, in step ST1a, when the thickness Hg of the tray group 6G is equal to or smaller than the switching thickness (FIG. 14A), the control device 30 determines that the tray separation method should be changed, and moves the lifting table. 12 is lowered (step ST1b). Thus, when the space SP between the uppermost tray 6P and the next tray 6 is located at the working height HW (arrow A2 shown in FIG. 14B), the same steps as in the first embodiment are performed. In ST2, the tray holding head 14 is lowered to the reference position, and the inclination of the uppermost tray 6P is corrected, so that the working height of the space SP between the uppermost tray 6P and the next tray 6 is increased. Located in HW. When step ST2 is executed through step ST1b, that is, when the thickness Hg of the tray group 6G constituting the tray group 6G is equal to or less than the switching thickness, the uppermost tray 6P is controlled by the lifting control of the lifting table 12. Since the space SP between the first tray 6 and the next tray 6 can be positioned substantially at the working height HW, only the inclination of the uppermost tray 6P can be corrected by the tray holding head 14 and the uppermost tray 6P. The space SP between the next tray 6 can be accurately positioned at the working height HW.

  As described above, in the tray supply device 55 according to the second embodiment, since the thickness Hg of the tray group 6G is equal to or less than the switching thickness, the amount of vertical deformation of the entire tray group 6G is small. When the sheet cannot be lowered to the height H1 (or when it is lowered, the tray 6 is adversely affected by deformation or the like), the tray supply device in the first embodiment is lowered by lowering the lifting table 12 in advance. The cushion mechanism as provided in 5 can be omitted.

  Whether or not to change the tray separation method in step ST1a is calculated as described above by calculating the current thickness Hg of the tray group 6G, and the calculated thickness Hg of the tray group 6G is determined in advance. In addition, the height HL of the lifting table 12 and the thickness Hg of the tray group 6G have a correlation, so that the height of the lifting table 12 is high. This can be done based on whether the height HL is greater than or equal to a predetermined height. In this case, if the height HL of the lifting table 12 is lower than the predetermined height, it is determined that the tray separation method should not be changed, and the process proceeds to step ST2, and if the height HL of the lifting table 12 is equal to or higher than the predetermined height. It is determined that the tray separation method should be changed, and the process proceeds to step ST1b. In addition, if the thickness Hg of the tray group 6G can be detected by some method, the value may be compared with a predetermined reference value to make the determination in step ST1a.

  As described above, in the tray supply device 5 (or the tray supply device 55) and the tray supply method thereof shown in the above embodiment, the uppermost tray 6P of the tray group 6G placed on the lifting table 12 is used. By pushing down with the tray holding head 14, the position of the space SP between the uppermost tray 6P and the next tray 6 is positioned at a movable height (working height HW) of the claw member 15, Since the claw member 15 can be inserted into the gap between the uppermost tray 6P and the next tray 6 and the uppermost tray 6P can be reliably removed from the tray group 6G, the tray 6 can be automatically supplied. It has a configuration.

  In both of the above-described embodiments, the elevating table 12 is lowered in step ST4, and the next tray 6P of the tray group 6G is separated from the uppermost tray 6P, whereby the uppermost tray 6P is moved to the next tray 6P. However, the step of lowering the lifting table 12 in step ST4 is omitted, and then the uppermost tray is moved by step ST5 (the step of raising the tray holding head 14 holding the uppermost tray 6P). 6P may be separated from the tray 6 at the next stage. In this case, the tray separation work execution process includes step ST3, step ST5, and step ST6.

  Provided is a tray supply device and a tray supply method capable of reliably taking out the uppermost tray from a tray group in which a plurality of trays are stacked, and capable of automatically supplying the tray.

4 parts 5,55 tray supply device 6 tray 6G tray group 6P uppermost tray 7 tray supply table (tray supply position)
12 Lifting table 14 Tray holding head 15 Claw member 16 Tray detection sensor (sensor)
30 Control device (control means)
30a Tray group positioning control unit 30b Tray separation work preparation control unit 30c Tray separation work execution control unit SP space HW work height H0 preparation height

Claims (4)

A tray supply device that takes out the uppermost tray from a tray group in which a plurality of trays containing components are stacked and supplies the tray to a predetermined tray supply position,
A freely elevating lifting table on which the tray group is placed;
A tray holding head that is provided so as to be movable up and down above the elevating table and holds the uppermost tray of the tray group placed on the elevating table;
A claw member movable at a predetermined working height;
Control means for controlling each operation of raising and lowering the lifting table, raising and lowering the tray holding head, holding the tray by the tray holding head, and moving the claw member,
The control means includes
Tray group positioning control for positioning the tray group so that the uppermost tray of the tray group is positioned at a preparation height higher than the working height by raising and lowering the lifting table on which the tray group is placed. And
The uppermost tray of the tray group positioned by the tray group positioning control unit is pushed down by the tray holding head so that the space between the uppermost tray and the next tray is positioned at the working height. A tray separation work preparation control unit,
The tray in which the claw member is inserted into the space between the uppermost tray and the next tray located at the working height, and then the lifting table is lowered or the uppermost tray is held. A tray supply apparatus, comprising: a tray separation work execution control unit that raises a holding head and separates the uppermost tray from a next tray.   The tray group positioning control unit performs the lifting control of the lifting table based on an output from a sensor that detects a state in which the uppermost tray of the tray group is positioned at the preparation height, thereby positioning the tray group. The tray supply device according to claim 1. A tray supply method for taking out the uppermost tray from a tray group formed by stacking a plurality of trays containing components and supplying the tray to a predetermined tray supply position,
A tray group positioning step of positioning the tray group by moving up and down a lifting table on which the tray group is placed so that the uppermost tray of the tray group is positioned at a preparation height higher than the working height; ,
A tray in which the uppermost tray of the tray group positioned in the tray group positioning step is pushed down by a tray holding head so that the space between the uppermost tray and the next tray is positioned at a predetermined working height. Separation work preparation process;
After inserting a claw member movable at the working height into a space between the uppermost tray and the next tray positioned at the working height, the lifting table is lowered or the uppermost tray is lowered. A tray supply method comprising: a tray separation operation execution step of raising the tray holding head holding the upper tray and separating the uppermost tray from the next tray.   In the tray group positioning step, positioning of the tray group is performed by performing lifting control of the lifting table based on an output from a sensor that detects a state where the uppermost tray of the tray group is positioned at the preparation height. The tray supply method according to claim 3.

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