JP3983243B2 - Gripping device and bonding device including the same - Google Patents

Description

  The present invention relates to a gripping device for gripping a workpiece composed of two parts, and a bonding apparatus for bonding the component parts together with the gripping device.

  Conventionally, various shapes of gripping devices that grip a workpiece such as an electronic article have been proposed. For example, the workpiece is gripped by a pair of first claws and a pair of second claws that intersect with each other with the workpiece interposed therebetween (see Patent Document 1).

JP-A-7-171722

  However, in the conventional gripping device, the gripping surface of each nail has a flat shape, and no special consideration has been given to the gripping surface. If the workpiece is composed of one part, it is possible to grip the workpiece even if the gripping surface is flat. However, a workpiece consisting of two parts cannot reliably grip both parts and fails to grasp one part. Or it may fall. Further, when two parts are bonded with an adhesive, the adhesive may protrude from between the two parts, and when the workpiece in this state is gripped, the adhesive adheres to the gripping surface.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a gripping device capable of reliably gripping even a workpiece composed of two parts and preventing adhesion of an adhesive to a nail, and an adhesive device including the gripping device. And

In order to achieve the above object, the present invention has a lower part having a first adhesive surface on the upper surface and a second adhesive surface bonded to the first adhesive surface via an adhesive and is disposed on the upper side of the lower part. A gripping device having a pair of first claws having a first claw portion and a second claw portion for gripping a workpiece composed of an upper part, wherein the first claw portion includes a lower part and The upper part is configured to be in contact with a first workpiece gripping end surface that intersects the upper surface, and the second claw portion is composed of the lower part and the upper part, intersects the upper surface and is formed on the first workpiece gripping end surface. The second workpiece gripping end surface located on the opposite side can be contacted, and the first claw portion and the second claw portion can contact the first and second workpiece gripping end surfaces to grip the workpiece, 1 claw portion and the second claw portion includes a first lower grip portion for gripping only the lower parts, the first upper gripping portion for gripping only the upper part Have respective, a first lower gripping portion at the first claw portion and the second claw portion in a position facing the adhesive be between the first upper gripping portion gripping device is formed first recess Is provided.

  According to such a configuration, even if the adhesive protrudes from between the lower part and the upper part, the adhesive is adhered to the first and second claw parts because the first concave portion faces the adhesive. Can be prevented. In addition, since each of the first lower gripping part for gripping only the lower part and the first upper gripping part for gripping only the upper part are provided, it is possible to securely grip both the lower part and the upper part. it can.

Here, it is preferable that the 1st lower holding part protrudes in the direction of the 1st and 2nd workpiece | work holding end surface rather than the 1st upper holding part. According to this configuration, the lower part can be reliably gripped, and the upper part above the lower part can also be gripped.

Furthermore, it is preferable that an electrode part is provided on the first and second workpiece gripping end faces facing the first upper gripping part of the upper part, and the first upper gripping part is provided avoiding the electrode part. . According to such a configuration, when the electrode portion is formed by plating, the first upper grip portion does not interfere with the electrode portion, and the electrode portion can be prevented from being displaced or peeled off.

Moreover, the 1st spring for urging | biasing a 1st nail | claw part toward a 1st workpiece | work holding end surface, and the 2nd spring for urging | biasing a 2nd nail | claw part toward a 2nd workpiece | work holding end surface Furthermore, it is preferable that the first spring and the second spring have different spring constants. According to such a configuration, when the spring constants of the first spring and the second spring are the same, there is a possibility that the lower part and the upper part will jump when gripping, but this can be prevented.

  Further, it is preferable that the spring constant of the first spring is smaller than the spring constant of the second spring, and the second claw portion is disposed at a position closer to the work than the first claw portion. According to this configuration, the second claw portion comes into contact with the lower part and the upper part before the first claw part. The position of gripping them is determined by first bringing the second pawl portion biased by the second spring having a spring constant larger than that of the first spring into contact with the lower part and the upper part. Can do. Next, since the lower part and the upper part are gripped by the two pawls by bringing the first pawl portion biased by the first spring into contact, the lower part and the upper part are gripped by the first and second pawls. The parts do not jump and can be stably gripped.

Moreover, further comprising a pair of second pawl and a third pawl portion and the fourth claw portion for gripping the workpiece, the third claw portion and the fourth claw portion, the first and second workpiece gripped end face and The third workpiece gripping end surface that intersects the upper surface, the first and second workpiece gripping end surfaces, and the fourth workpiece gripping end surface that intersects the upper surface and is located on the opposite side of the third workpiece gripping end surface, respectively. a graspable and third claw portion and the fourth claw portion includes a second lower grip portion for gripping only the lower parts, and a second upper grip portion for gripping only the upper part, respectively, the third pawl A second recess is formed at a position between the second lower gripping portion and the second upper gripping portion and facing the adhesive in the first and fourth claws, and the pair of first claws and the pair of second claws Is preferably arranged so as to intersect each other with a workpiece interposed therebetween. According to this configuration, even if the adhesive hangs from between the lower part and the upper part, the second concave portion is opposed to the adhesive, so that adhesion of the adhesive to the first and second claw parts is prevented. can do. Further, since the four claws are grasped from four directions, the lower part and the upper part can be relatively positioned in the two directions.

Moreover, it is preferable that the 2nd lower holding part protrudes in the direction of the 3rd and 4th workpiece | work holding end surface rather than the 2nd upper holding part. According to this configuration, the lower part can be reliably gripped, and the upper part above the lower part can also be gripped.

Further, a third spring for urging the third claw part toward the third work gripped end surface and a fourth spring for urging the fourth claw part toward the fourth work gripped end surface. Further, it is preferable that the third spring and the fourth spring have different spring constants. According to such a configuration, when the spring constants of the third spring and the fourth spring are the same, there is a possibility that the lower part and the upper part will jump when gripping, but this can be prevented.

  The spring constant of the fourth spring is preferably smaller than the spring constant of the third spring, and the third claw portion is preferably disposed at a position closer to the workpiece than the fourth claw portion. According to such a configuration, the third claw portion contacts the lower component and the upper component prior to the fourth claw portion. The position of gripping them is determined by first bringing the third claw portion biased by the third spring having a spring constant larger than the spring constant of the fourth spring into contact with the lower part and the upper part. Can do. Next, since the lower part and the upper part are gripped by the two pawls by bringing the fourth pawl portion biased by the fourth spring into contact, the lower part and the upper part are gripped by the third and fourth pawls. The parts do not jump and can be stably gripped.

Moreover, the 1st spring for urging | biasing a 1st nail | claw part toward a 1st workpiece | work holding end surface, and the 2nd spring for urging | biasing a 2nd nail | claw part toward a 2nd workpiece | work holding end surface Furthermore, it is preferable that the first spring and the second spring have different spring constants. According to such a configuration, when the spring constants of the first spring and the second spring are the same, there is a possibility that the lower part and the upper part will jump when gripping, but this can be prevented.

  Further, it is preferable that the spring constant of the first spring is smaller than the spring constant of the second spring, and the second claw portion is disposed at a position closer to the work than the first claw portion. According to this configuration, the second claw portion comes into contact with the lower part and the upper part before the first claw part. The position of gripping them is determined by first bringing the second pawl portion biased by the second spring having a spring constant larger than that of the first spring into contact with the lower part and the upper part. Can do. Next, since the lower part and the upper part are gripped by bringing the first claw part biased by the first spring into contact, the lower part and the upper part may jump by the gripping by the first and second claw parts. Therefore, they can be gripped stably.

Moreover, it is preferable that an electrode part is provided on the third and fourth workpiece gripping end faces facing the second upper gripping part of the upper part, and the second upper gripping part is provided avoiding the electrode part. . According to such a configuration, when the electrode portion is formed by plating, it is possible to prevent the electrode portion from being displaced or peeled without interfering with the electrode portion of the second upper gripping portion.

Moreover, it is preferable that the 1st lower holding | grip part protrudes in the direction of the 1st and 2nd workpiece | work holding end surface rather than the 1st upper holding part. According to this configuration, the lower part can be reliably gripped, and the upper part above the lower part can also be gripped.

  The present invention also includes a first index table, a first supply unit, a positioning unit, an adhesive application unit, a second supply unit, a gripping / transferring unit, a second index table, and a discharge unit. An adhesive device is provided. Here, the first index table conveys the lower part having the first adhesive surface on the upper surface by intermittent rotation operation. The first supply means sequentially supplies the lower parts to the first index table. The positioning means is positioned immediately downstream of the first supply means in the rotation direction of the first index table, and positions the lower part at a desired position at the stop position of the intermittent rotation of the first index table. The adhesive application means is located immediately downstream of the positioning means, and applies the adhesive to the first adhesive surface of the lower part at the intermittent rotation stop position of the first index table. The second supply means is located immediately downstream of the adhesive application means, and has a second adhesive surface that is bonded to the first adhesive surface via the adhesive, and supplies an upper component that is disposed above the lower component. To do. The gripping / transferring means is located immediately downstream of the second supply means, and grips / transfers the workpiece composed of the lower part and the upper part. The second index table is arranged adjacent to the first index table, conveys the workpiece transferred by the gripping / transferring means by intermittent rotation operation, and solidifies the adhesive during the conveyance by the built-in heater. The discharging means discharges the work in which the adhesive is solidified from the second index table.

Further, the gripping / transferring means includes a first workpiece gripping end surface constituted by the lower part and the upper part and intersecting the upper surface, and a first workpiece gripping end face constituted by the lower part and the upper part and intersecting the upper surface. Crossing the first and second workpiece gripping end surfaces and the top surface, a first claw having a pair of first and second claw portions for gripping the second workpiece gripping end surface located on the opposite side A third workpiece gripping end surface, and a third workpiece gripping end surface that intersects the first and second workpiece gripping end surfaces and the upper surface and is located on the opposite side of the third workpiece gripping end surface . It has a pair of 2nd nail | claw which has a nail | claw part and a 4th nail | claw part. Each claw has a lower gripping part that grips only the lower part and an upper gripping part that grips only the upper part, and faces the adhesive between the lower gripping part and the upper gripping part. A concave portion is formed at the position to be.

  According to this configuration, even if the adhesive protrudes from between the lower part and the upper part, the first concave portion and the second concave portion face the adhesive. Can be prevented, and the lower part and the upper part can be gripped. Further, since the four claws are grasped from four directions, the lower part and the upper part can be relatively positioned in the two directions. Furthermore, the gripping / transferring means can position the lower part and the upper part and transfer them from the first index table to the second index table, thus simplifying the entire bonding apparatus. Can be planned.

  According to the gripping device of the present invention and the bonding device including the gripping device, even a workpiece composed of two parts can be securely gripped, and adhesion of the adhesive to the nail can be prevented.

  A bonding apparatus and a gripping apparatus according to an embodiment of the present invention will be described. First, the coil component 1 handled by the bonding apparatus and the gripping apparatus will be described with reference to FIGS. The coil component 1 is a common mode filter used for a high-speed operation signal interface, and includes a drum type magnetic core 2 and a substantially rectangular parallelepiped plate core 3 as shown in FIG. It is formed by compressing, sintering, or the like. The dimensions of the magnetic core 2 and the plate-like core 3 in the longitudinal direction L and the width direction W are substantially equal.

  The magnetic core 2 is composed of a core part 4 and a pair of flange parts 5 and 5 provided at both ends in the longitudinal direction L of the core part 4, and two conductive wires wound by bifilar around the core part 4. 6A and 6B are wound. As shown in FIG. 1B, the flange 5 is a substantially rectangular parallelepiped, and is connected to the top surface 5A, the top surface 5A, and the inner side surface 5F that is a connection surface to the core 4 and the inner side surface 5F. And a side surface 5D and a side surface 5B surrounded by the top surface 5A, the inner side surface 5F, the lower surface 5C, and the front side surface 5E.

  An electrode 7A is provided at the position adjacent to the side surface 5B across the top surface 5A, the front side surface 5E, and the lower surface 5C, and the side surface 5D across the top surface 5A, the front side surface 5E, and the lower surface 5C. An electrode 7B is provided at a position adjacent to. These electrodes 7A and 7B are formed on the surface of the flange portion 5 by plating, vapor deposition, or metal pieces. Both ends of the conducting wire 6A and the conducting wire 6B wound around the core portion 4 are connected to the electrodes 7A and 7B by thermocompression bonding on the pair of top surfaces 5A, respectively.

  FIG.1 (c) is the perspective view which reversed the plate-shaped core 3 of FIG.1 (b) in the up-down direction. Convex portions 3 </ b> B are provided on the opposing surface 3 </ b> A of the plate-like core 3 facing the magnetic core 2, at positions facing the top surfaces 5 </ b> A and the core 4. The plate-like core 3 is disposed on the magnetic core 2 so as to straddle the flanges 5 and 5 and is integrated with the magnetic core 2. As shown in FIG. 1 (d), a plate-like core 3 and a magnetic core are applied by applying an adhesive 8, which is a thermosetting resin, to the convex portion 3 </ b> B and bringing the top surface 5 </ b> A of the magnetic core 2 into contact therewith. 2 is bonded.

  Next, the bonding apparatus 9 for bonding and integrating the plate-like core 3 and the magnetic core 2 will be described. FIG. 2 is a schematic plan view of the bonding apparatus 9. As shown in FIG. 2, the bonding apparatus 9 includes a first index table 10, a first supply unit 20, a positioning unit 30, an adhesive application unit 40, an adhesive application image processing device 50, a second supply unit 60, a gripping / transferring unit. The loading unit 70, the second index table 90, and the discharge device 100 are configured. The first index table 10 is divided into eight parts, rotates in the direction of arrow A, and rotates once by eight intermittent rotation operations. In addition, on the outer edge portion of the first index table 10, component suction portions (not shown) for sucking and holding the plate core 3 are provided at eight positions at equal angular intervals.

  The first supply means 20 for supplying the plate-like core 3 to the first index table 10 is disposed so as to abut on a stop position S1 of a component suction portion (not shown) of the first index table 10. When the first index table 10 is in the stopped state, the first supply means 20 sequentially transfers one plate-like core 3 with one convex core 3B facing upward with respect to one component suction portion (not shown). To do. The positioning means 30 is located immediately downstream of the first supply means 20 in the rotation direction A of the first index table 10 and is disposed so as to contact the stop position S2 adjacent to the stop position S1. A chuck mechanism (not shown) for gripping and positioning is provided. When the first index table 10 is in a stopped state, the positioning means 30 grips the plate-like core 3 adsorbed by the component adsorption portion (not shown) of the first index table 10 by a chuck mechanism (not shown). Position to the position.

  The adhesive application means 40 is located immediately downstream of the positioning means 30 in the rotation direction A of the first index table 10 and is disposed so as to contact the stop position S3 adjacent to the stop position S2. It has a dispenser (not shown) for applying an adhesive. Specifically, the adhesive application means 40 applies to the convex portion 3B of the plate-like core 3 adsorbed by the component adsorbing portion (not shown) of the first index table 10 when the first index table 10 is in a stopped state. Then, a predetermined amount of adhesive 8 is applied as shown in FIG. The adhesive application image processing apparatus 50 is located immediately downstream of the adhesive application means 40 in the rotation direction A of the first index table 10 and is disposed so as to contact the stop position S4 adjacent to the stop position S3. . When the first index table 10 is in the stopped state, the adhesive application image processing apparatus 50 checks whether the application state of the adhesive 8 applied to the convex portion 3B is good or bad.

  The second supply means 60 is located on the downstream side of the adhesive application image processing apparatus 50 in the rotation direction A of the first index table 10 and is disposed so as to contact the stop position S5 adjacent to the stop position S4. . The second supply means 60 includes a first pallet 61 that houses a plurality of magnetic cores 2 and a supply mechanism 62 that supplies the magnetic cores 2 conveyed from the first pallet to the first index table 10. When the first index table 10 is in a stopped state, the supply mechanism 62 is a component adsorption unit (not shown) of the first index table 10 in a state where the magnetic core 2 is turned upside down as shown in FIG. The adhesive 8 adsorbed on the substrate is transferred onto the coated plate-like core 3. At this time, the top surface 5 </ b> A of the magnetic core 2 is transferred so as to face the convex portion 3 </ b> B of the plate-like core 3. In this state, since the adhesive 8 is uncured, the magnetic core 2 and the plate core 3 are not integrated.

  The gripping / transferring means 70 is located immediately downstream of the second supply means 60 in the rotation direction A of the first index table 10 and is arranged near the stop position S6. The gripping / transferring means 70 includes a gripping device 71 (FIG. 3) that grips the magnetic core 2 and the plate-like core 3 at the same time and positions them in the longitudinal direction L and the width direction W, and the gripping device 71 in the vertical direction. A vertical movement mechanism (not shown) for movement and a movement mechanism (not shown) for moving the gripping device 71 from the first index table 10 to the adjacent second index table 90 are configured.

  As shown in FIG. 3, the gripping device 71 has a disc-shaped main body 72 in which a shaft through hole 72a is formed. A pulse motor 73A is disposed above the main body 72. The pulse motor 73A is provided with a shaft 73B that rotates by the driving force of the pulse motor 73A so as to extend vertically downward. The shaft through hole 72a is defined by an inner ring of a bearing attached to the main body 72, and the shaft 73B passes through the shaft through hole 72a and is rotatably supported by the bearing. A transfer claw opening / closing cam 73C is provided at the lower end of the shaft 73B. As shown in FIG. 4A, the transfer claw opening / closing cam 73C has a substantially square shape. In addition, first to fourth spring support portions 74A, 74B, 74C (FIG. 4A) and 74D (FIG. 4A) extending vertically downward are provided at equal intervals on the outer edge portion of the main body 72. Yes. In other words, the set of the first and second spring support portions 74A and 74B and the set of the third and fourth spring support portions 74C and 74D are arranged orthogonal to each other.

  At the lower ends of the first to fourth spring support portions 74A to 74D, a first linear guide mounting portion 75A, a second linear guide mounting portion 75B extending toward the rotation axis of the shaft 73B, and a third linear guide (not shown). An attachment portion and a fourth linear guide attachment portion (not shown) are provided. First to fourth linear guides 76A to 76C (the fourth linear guide is not shown) are provided on the lower surfaces of the first and second linear guide attachment portions 75A and 75B and the lower surfaces of the third and fourth linear guide attachment portions (not shown). Are attached to each. First to fourth slider guides 77A to 77C (the fourth slider guide is not shown) are attached to the first to fourth linear guides 76A to 76C so as to be slidable.

  First to fourth claw holders 78A, 78B, 78C, 78D (FIG. 4A) are fixed to the first to fourth slider guides 77A to 77C. Accordingly, the first to fourth claw holders 78A to 78C slide and move together with the first to fourth slider guides 77A to 77C. First to fourth spring action portions 78A1, 78B1, 78C1 (FIG. 4 (a)) and 78D1 (FIG. 4 (a)) are defined on the upper portions of the first to fourth claw holders 78A to 78D. And between 1st-4th spring support part 74A, 74B and 1st-4th spring action part 78A1, 78B1, 78C1, 78D1, 1st-4th compression spring 79A, 79B, 79C (FIG. 4). (A)), 79D (FIG. 4 (a)) is interposed, and the first to fourth claw holders 78A to 78D are always urged toward the axis of the rotation shaft of the shaft 73B. The spring constants of the first and fourth compression springs 79A and 79D are configured to be smaller than the spring constants of the second and third compression springs 79B and 79C.

  The first to fourth cam followers 80A, 80B, 80C, 80D (FIG. 4A) are supported on the upper ends of the first to fourth spring acting portions 78A1 to 78D1 so as to be rotatable about their own axes, These are always urged toward the cam surface of the transfer claw opening / closing cam 73C by the first to fourth compression springs 79A to 79D. Moreover, the 1st-4th nail | claw holding | maintenance part 81A, 81B, 81C, 81D (FIG. 4 (a)) is being fixed to the lower part of the 1st-4th nail | claw holder 78A-78C. The 1st-4th nail | claw holding | maintenance part 81A-81D has 1st-4th nail | claw part 82A, 82B, 82C (FIG. 4 (a)), 82D (FIG. 4 (a)) in the downward | lower side tip, respectively. ing.

  The second and third claw portions 82B and 82C are arranged closer to the magnetic core 2 and the plate-like core 3 than the first and fourth claw portions 82A and 82D. In other words, when the magnetic core 2 and the plate-shaped core 3 are gripped by the respective claw portions, the second and third claw portions 82B and 82C are disposed before the first and fourth claw portions 82A and 82D. It is comprised so that the plate-shaped core 3 may be contact | abutted. Further, the first and second claw portions 82A and 82B that face each other constitute a first claw 821, and the third and fourth claw portions 82C and 82D that face each other constitute a second claw 822. The first to fourth claw portions 82A to 82D are shafts by the first to fourth compression springs 79A to 79D via the first to fourth claw holders 78A to 78D and the first to fourth claw holders 81A to 81D. It is biased toward the axis of the rotation shaft 73B.

  The first and second claw portions 82A and 82B are used to grip the magnetic core 2 and the plate-like core 3 from the width direction W, and the third and fourth claw portions 82C and 82D It is used for gripping the plate-like core 3 from the longitudinal direction L thereof. As shown in FIGS. 5A and 5B, the first claw portion 82A includes a first lower holding portion 82A1 for holding only the plate-like core 3 and a first lower holding portion 82A1 for holding only the magnetic core 2. 1 upper holding part 82A2. The first lower gripping portion 82A1 protrudes 0.03 mm in the direction of the plate-shaped core 3 from the first upper gripping portion 82A2. A first recess 82A3 is formed between the first lower gripping portion 82A1 and the first upper gripping portion 82A2. 1st recessed part 82A3 exists in the position which covers the boundary of the plate-shaped core 3 and the magnetic core 2 in a perpendicular direction. The second claw portion 82B has the same shape as the first claw portion 82A, and has a first lower gripping portion 82B1, a first upper gripping portion 82B2, and a first recess 82B3 (FIG. 7).

  As shown in FIGS. 6A and 6B, the third claw portion 82C includes a second lower gripping portion 82C1 for gripping only the plate-like core 3 and a second gripping portion 82C1 for gripping only the magnetic core 2. 2 upper gripping part 82C2. Since the second upper gripping portion 82C2 contacts the front side surface 5E on which the electrode 7A is provided, the second upper gripping portion 82C2 is provided so as to avoid the electrode 7A. The second lower gripping part 82C1 protrudes 0.03 mm in the direction of the plate-shaped core 3 from the second upper gripping part 82C2. A first recess 82C3 is formed between the first lower gripping part 82C1 and the second upper gripping part 82C2. The first recess 82C3 is at a position covering the boundary between the plate core 3 and the magnetic core 2 in the vertical direction. The fourth claw portion (not shown) has the same shape as the third claw portion 82C.

  Next, the operation of the grip / transfer means 70 will be described. The first index table 10 is in a stopped state, and at the stop position S6, the plate-like core 3 is attracted to a component suction portion (not shown), and the magnetic core 2 is unfixed via the uncured adhesive 8. It is placed on top. In this state, the gripping device 71 is lowered to a position where the first to fourth claw portions 82A to 82D can grip the magnetic core 2 and the plate-like core 3 by a vertical movement mechanism (not shown). At this time, as shown in FIG. 4A, the first to fourth cam followers 80A to 80D are positioned on the diagonal line of the transfer claw opening / closing cam 75 having a substantially square shape, and the first to fourth claw portions 82A. ˜82D is not in contact with the magnetic core 2 and the plate-like core 3. Next, as shown in FIG. 4B, the shaft 73B rotates 45 ° by the driving force of the pulse motor 73A. Accordingly, the first to fourth cam followers 80A to 80D are opposed to the sides of the transfer claw opening / closing cam 75 having a substantially square shape.

  Since the first to fourth cam followers 80A to 80D are urged toward the rotation center of the transfer claw opening / closing cam 75 by the first to fourth compression springs 79A to 79D, respectively, they approach each other in that direction. To move. At the same time, the first to fourth claw portions 82 </ b> A to 82 </ b> D also move toward the magnetic core 2 and the plate-like core 3. At this time, the second and third claw portions 82B and 82C are arranged closer to the magnetic core 2 and the plate-like core 3 than the first and fourth claw portions 82A and 82D. It contacts the magnetic core 2 and the plate-like core 3 before the four claw portions 82A and 82D. Thereafter, the first and fourth claw portions 82 </ b> A and 82 </ b> D also abut against the magnetic core 2 and the plate-like core 3, hold them, and relatively position the magnetic core 2 and the plate-like core 3.

  Since the four claws of the first to fourth claw portions 82A to 82D are gripped from four directions, positioning in the longitudinal direction L and the width direction W can be performed. Further, since the spring constants of the first and fourth compression springs 79A and 79D are smaller than the spring constants of the second and third compression springs 79B and 79C facing each other, the first and fourth compression springs 79A and 79D The first to fourth claw portions 82 </ b> A to 82 </ b> D grip the magnetic core 2 and the plate-like core 3 at positions where the urging force and the urging forces of the second and third compression springs 79 </ b> B and 79 </ b> C are balanced. Therefore, as shown in FIG. 4B, the first and fourth cam followers 80A and 80D urged by the first and fourth compression springs 79A and 79D, respectively, are mediated by the magnetic core 2 and the plate-shaped core 3. Separated from the transfer claw opening / closing cam 75.

  As described above, in the first to fourth compression springs 79A to 79D, the spring constants of the compression springs facing each other are different from each other. When the spring constants of the opposing compression springs are the same, when the first to fourth claw portions 82A to 82D grip the magnetic core 2 and the plate-like core 3, they may jump, but this is prevented. can do. Further, the second and third claw portions 82B and 82C biased by the second and third compression springs 79B and 79C having a spring constant larger than the spring constants of the first and fourth compression springs 79A and 79D first. By bringing the magnetic core 2 and the plate-like core 3 into contact with each other, the position where they are held can be determined. Then, the first and fourth claw portions 82A and 82D biased by the first and fourth compression springs 79A and 79D are brought into contact with each other, and the magnetic core 2 and the plate core 3 are gripped by the four claw portions. Therefore, the magnetic core 2 and the plate-like core 3 do not jump by the gripping by the first to fourth claw portions 82A to 82D, and can be gripped stably.

  Further, the first and second claw portions 82A and 82B hold the magnetic core 2 and the plate-like core 3 so as to be sandwiched from the width direction W as shown in FIG. At this time, the bottom portions of the first and second claw portions 82 </ b> A and 82 </ b> B are in a state slightly separated from the component suction portion (not shown) of the first index table 10 and the surface of the second index table 90. This avoids interference between the first lower gripping portions 82A1 and 82B1 and a component suction portion (not shown), prevents chipping due to gripping of the entire side surface of the plate core 3, and the first and second claw portions 82A and 82B Contact with a second index table 90 described later can be prevented. Furthermore, the plate core 3 can be easily gripped. About the said effect, it is the same also in the 2nd, 3rd nail | claw parts 82C and 82D. In FIG. 7, a component suction portion (not shown) passes through the first index table 10 and sucks the plate-like core 3.

  Further, as shown in FIG. 7, the first and second claw portions 82 </ b> A and 82 </ b> B grip the magnetic core 2 and the plate-like core 3 so that the first concave portions 82 </ b> A <b> 3 and 82 </ b> B <b> 3 are opposed to the position of the adhesive 8. . Therefore, even if the adhesive 8 protrudes from between the magnetic core 2 and the plate-like core 3, the first recesses 82 </ b> A <b> 3 and 82 </ b> B <b> 3 are opposed to the adhesive 8. Adhesion to the portions 82A and 82B can be prevented. This effect is the same for the third and fourth claw portions 82C and 82D. Further, as described above, since the second upper gripping portion 82C2 of the third and fourth claw portions 82C and 82D is provided so as to avoid the electrode 7A, when the electrodes 7A and 7B are formed by plating, 2 The upper gripping portion 82C2 does not interfere with the electrodes 7A and 7B, and displacement and peeling of the electrodes 7A and 7B can be prevented. Further, since the first lower gripping portions 82A1 and 82B1 protrude in the direction of the plate-shaped core 3 from the first upper gripping portions 82A2 and 82B2, the plate-shaped core 3 can be securely gripped. The magnetic core 2 located above can also be gripped. This effect is the same for the third and fourth claw portions 82C and 82D.

  The magnetic core 2 and the plate-like core 3 are transferred to the second index table 90 adjacent to the first index table 10 by a vertical movement mechanism (not shown) and a movement mechanism (not shown). In this way, the gripping / transferring means 70 can perform relative positioning between the magnetic core 2 and the plate-like core 3 and transfer them from the first index table 10 to the second index table 90. Since it is possible, simplification of the whole bonding apparatus 9 can be achieved.

  The second index table 90 shown in FIG. 2 has 48 divisions, rotates in the direction of arrow B, and rotates once by 48 intermittent rotation operations. The upper surface of the second index table 90 is a flat surface, and the second index table 90 includes a heater (not shown). The magnetic core 2 and the plate-like core 3 transferred by the gripping / transferring means 70 are placed at the stop position S7 of the second index table 90 facing the stop position S6 of the first index table 10.

  Next, the magnetic core 2 and the plate-like core 3 are transported to a stop position S8 located immediately downstream of the stop position S7 in the rotation direction B of the second index table 90. During this time, the adhesive 8 that is a thermosetting resin is cured by the heater built in the second index table 90, and the magnetic core 2 and the plate-like core 3 are integrated into the coil component 1. The discharge device 100 is disposed so as to contact the stop position S8 of the second index table 90. The discharge device 100 discharges the integrated coil component 1 from the stop position S8 of the second index table 90 and sequentially stores it on the second pallet 101 when the second index table 90 is in a stopped state. In this way, the adhesion between the magnetic core 2 and the plate core 3 is completed.

  The gripping device 71 and the bonding device 9 according to the present invention are not limited to the above-described embodiments, and various modifications and improvements can be made within the scope described in the claims.

The perspective view of the coil components handled with the adhesion | attachment apparatus by embodiment of this invention. The disassembled perspective view of the coil component of Fig.1 (a). The perspective view which reversed the plate-shaped core shown in FIG.1 (b) in the up-down direction. The front view which shows the state which mounts a magnetic core in the plate-shaped core with which the adhesive agent was apply | coated. 1 is a schematic plan view of a bonding apparatus according to an embodiment of the present invention. Explanatory drawing of a holding | gripping apparatus. The top view which shows that the 1st-4th nail | claw part by embodiment of this invention is a non-grip state of coil components. The top view which shows that the 1st-4th nail | claw part by embodiment of this invention is the holding state of a coil component. The front view of the 1st nail | claw part by embodiment of this invention. The side view of the 1st nail | claw part by embodiment of this invention. The front view of the 3rd nail | claw part by embodiment of this invention. The side view of the 3rd nail | claw part by embodiment of this invention. The front view which shows the state which the 1st, 2nd nail | claw part by embodiment of this invention clamped the magnetic core and the plate-shaped core.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Coil component 2 Magnetic core 3 Plate-shaped core 3A Opposite surface 3B Convex part 5A Top surface 5B Side surface 5D Side surface 5E Front side surface 7A, 7B Electrode 8 Adhesive 9 Bonding apparatus 10 1st index table 20 1st supply means 30 Positioning means 40 Adhesive application unit 50 Adhesive application image processing device 60 Second supply unit 70 Grasping / transferring unit 71 Gripping device 79A First spring 79B Second spring 79C Third spring 79D Fourth spring 82A First claw portion 82B Second claw Part 82C third claw part 82D fourth claw part 82A2 first upper grip part 82B2 first upper grip part 82C2 second upper grip part 82A1 first lower grip part 82B1 first lower grip part 82C1 second lower grip part 82A3 first Recess 82B3 First recess 82C3 Second recess 90 Second index table 100 Discharging device

Claims (14)

A workpiece composed of a lower part having a first adhesive surface on the upper surface and an upper part having a second adhesive surface bonded to the first adhesive surface via an adhesive and disposed on the upper side of the lower part a gripping apparatus having a pair of first pawl having a first claw portion and the second claw portion for grasping,
The first claw portion is configured by the lower part and the upper part and is capable of abutting on a first workpiece gripping end surface intersecting the upper surface, and the second claw part is formed by the lower part and the upper part. And is capable of abutting against a second workpiece gripping end surface that intersects the upper surface and is located on the opposite side of the first workpiece gripping end surface, and the first claw portion and the second claw portion are The first and second workpieces can be gripped by contacting the gripped end surfaces,
The first claw portion and the second claw portion each have a first lower grip portion that grips only the lower component and a first upper grip portion that grips only the upper component . And a gripping device in which a first recess is formed in the second claw portion between the first lower gripping portion and the first upper gripping portion and facing the adhesive. . 2. The gripping apparatus according to claim 1, wherein the first lower gripping portion protrudes in the direction of the first and second workpiece gripped end surfaces from the first upper gripping portion. Electrode portions are provided on the first and second workpiece gripping end faces of the upper part facing the first upper gripping portion,
The gripping device according to claim 1, wherein the first upper gripping portion is provided so as to avoid the electrode portion. A first spring for urging the first claw portion toward the first workpiece gripped end surface, and a second spring for urging the second claw portion toward the second workpiece gripped end surface And further comprising
The gripping device according to any one of claims 1 to 3, wherein spring constants of the first spring and the second spring are different from each other.   The spring constant of the first spring is smaller than the spring constant of the second spring, and the second claw portion is arranged at a position closer to the workpiece than the first claw portion. The gripping device according to claim 4. A pair of second claws having a third claw portion and a fourth claw portion for gripping the workpiece ;
The third claw portion and the fourth claw portion are formed on the first and second workpiece gripping end surfaces and the first and second workpiece gripping end surfaces and the top surface that intersect the first and second workpiece gripping end surfaces and the top surface, respectively. It is possible to grip the workpiece by crossing and abutting each of the fourth workpiece gripping end surfaces located on the opposite side of the third workpiece gripping end surface,
The third claw portion and the fourth claw portion each have a second lower grip portion that grips only the lower component and a second upper grip portion that grips only the upper component, and the third claw portion And a second recess is formed in the fourth claw portion between the second lower gripping portion and the second upper gripping portion and facing the adhesive,
2. The gripping device according to claim 1, wherein the pair of first claws and the pair of second claws are arranged so as to intersect each other with the workpiece interposed therebetween. The gripping apparatus according to claim 6, wherein the second lower gripping portion protrudes in the direction of the third and fourth workpiece gripped end surfaces from the second upper gripping portion. A third spring for biasing the third claw portion toward the third workpiece gripped end surface and a fourth spring for biasing the fourth claw portion toward the fourth workpiece gripped end surface And further comprising
The gripping device according to claim 6 or 7, wherein spring constants of the third spring and the fourth spring are different from each other.   The spring constant of the fourth spring is smaller than the spring constant of the third spring, and the third claw portion is arranged at a position closer to the workpiece than the fourth claw portion. The gripping device according to claim 8. A first spring for urging the first claw portion toward the first workpiece gripped end surface, and a second spring for urging the second claw portion toward the second workpiece gripped end surface And further comprising
The gripping device according to claim 8 or 9, wherein spring constants of the first spring and the second spring are different from each other.   The spring constant of the first spring is smaller than the spring constant of the second spring, and the second claw portion is arranged at a position closer to the workpiece than the first claw portion. The gripping device according to claim 10. Electrode portions are provided on the third and fourth workpiece gripped end faces of the upper part facing the second upper grip portion,
The gripping apparatus according to claim 6, wherein the second upper gripping portion is provided to avoid the electrode portion. The gripping apparatus according to claim 6, wherein the first lower gripping portion protrudes in the direction of the first and second workpiece gripped end surfaces from the first upper gripping portion. A first index table for conveying a lower part having a first adhesive surface on the upper surface by intermittent rotation operation;
First supply means for sequentially supplying the lower parts to the first index table;
Positioning means for positioning the lower part at a desired position at a position where the intermittent rotation of the first index table is located immediately downstream of the first supply means in the rotation direction of the first index table;
An adhesive application means for applying an adhesive to the first adhesive surface of the lower part at a position where the intermittent rotation of the first index table is located immediately downstream of the positioning means;
To supply an upper part which is located immediately downstream of the adhesive application means and has a second adhesive surface which is bonded to the first adhesive surface via the adhesive, and which is disposed on the upper side of the lower part A second supply means,
A gripping / transferring means for gripping / transferring a workpiece composed of the lower part and the upper part, located immediately downstream of the second supply means;
A second index which is arranged adjacent to the first index table, conveys the workpiece transferred by the gripping / transferring means by intermittent rotation operation, and solidifies the adhesive during conveyance by a built-in heater. Table,
A bonding apparatus comprising: discharge means for discharging the work solidified by the adhesive from the second index table;
The gripping / transferring means includes a first workpiece gripping end surface configured by the lower part and the upper part and intersecting the upper surface, and configured by the lower part and the upper part, intersecting the upper surface and the A first claw having a pair of first claw portions and a second claw portion for gripping a second workpiece gripped end surface located on the opposite side of the first workpiece gripped end surface; and the first and second workpieces A third workpiece gripping end surface that intersects the gripped end surface and the top surface, and a fourth workpiece that intersects the first and second workpiece gripping end surfaces and the top surface and is located on the opposite side of the third workpiece gripping end surface. A pair of second claws having a third claw portion and a fourth claw portion for gripping the gripped end surface ;
Each of the claw portions has a lower grip portion that grips only the lower component, and an upper grip portion that grips only the upper component, and is between the lower grip portion and the upper grip portion. A bonding apparatus, wherein a concave portion is formed at a position facing the adhesive.

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