JP4029982B2 - Bonding device - Google Patents

Description

The present invention, ferrite, relates the members together such as ceramics to bonding apparatus for bonding with high precision, especially Oite the manufacture of such wire-wound common mode choke coil, and a plate-shaped ferrite core and windings already ferrite drum core The present invention relates to a bonding apparatus that bonds with high accuracy using an adhesive and stores it in a pallet.

  2. Description of the Related Art A wound common mode choke coil is known in which a flat ferrite core is bonded to the upper side of a wound ferrite drum core. The flat ferrite core is provided to form a closed magnetic circuit and to form a flat upper surface so that it can be sucked and held by a suction nozzle. The conventional wound common mode choke coil has a size of 2.5 × 2.0 mm or more, and a flat ferrite core and a wound ferrite drum core are bonded by an adhesive device having the following configuration.

1. The flat ferrite core and the coiled ferrite drum core were transported using an index table in which the division accuracy and position accuracy of the work suction nozzle depend on the machining accuracy.
2. A linear feeder is used in a structure that is easily affected by back pressure at the supply portion of the flat ferrite core and the wound ferrite drum core.
3. An air cylinder is used for the positioning operation with respect to the flat ferrite core and the wound ferrite drum core.
4). The method of applying the adhesive to the flat ferrite core was a pin transfer method using a screen.
5. An air cylinder was used for the operation of the transfer hand of the bonded work (adhesive product of the flat ferrite core and the wound ferrite drum core).
6). The belt conveyor which does not have a workpiece | work regulation was used for the workpiece conveyance system used for drying of an adhesive agent.

  By the way, in the above-mentioned conventional apparatus, the size of the target workpiece is 2.5 × 2.0 mm, which is relatively large. However, in the recent wound type common mode choke coil, the size is 2 × 1.2 mm. The projected area ratio is 0.48 times, and it is difficult to assemble with the conventional apparatus.

That is, the above 1. As a problem of the above, since the division accuracy and position accuracy of the workpiece suction nozzle depend on the processing accuracy, it is difficult to maintain accuracy and maintenance is difficult because maintenance is difficult. In addition, the variation in the position of the work suction nozzle cannot be ignored in ultra-compact parts.
2. As a problem, when the core is subjected to back pressure, there are occurrences of adsorption mistakes (work popping out, scattering to the surroundings), cracking, and chipping.
3. above. As a problem, if an impact is applied to the core, damage such as cracking or chipping of the core may occur.
4. above. As a problem, it is difficult to maintain the quality of the adhesive in the pin transfer method. That is, air bubbles may be mixed in the adhesive when scraping with a squeegee, and since the adhesive is exposed to the outside air, it tends to deteriorate and requires frequent cleaning work.
5. above. As a problem, since the air cylinder is used for the operation of the transfer hand of the bonded workpiece, the workpiece may be damaged with an impact when the conveyance claw contacts the workpiece. In addition, the transfer timing may fluctuate due to the influence of pressure fluctuation of compressed air in the factory piping and the work may be dropped.
Above 6. Since the use of a belt conveyor that does not have a workpiece regulation is used as a problem of the above, it frequently occurs that the workpiece is deformed on the belt and cannot be aligned near the exit of the belt conveyor and cannot be transferred to the storage pallet side.

  The following Patent Document 1 is a known example of a transport mechanism using a rotor, the following Patent Documents 2 and 3 are known examples of a workpiece positioning mechanism, and the following Patent Documents 4 and 5 are known examples of an adhesive curing mechanism. is there.

JP 2001-313204 A JP-A-7-171722 JP 2002-166330 A Japanese National Patent Publication No. 8-510963 JP 2001-322841 A

  Patent Document 1 discloses that a rotor of a chip separating and conveying apparatus has a hard material insert part (part directly contacted with a workpiece) that is excellent in friction resistance such as zirconia, which is a separate material from the rotor body only at the chip concave part of the rotor. It is provided as. In this case, the positional accuracy of the fitting recess in the rotor depends on the processing accuracy. When the insert part is replaced by initial adjustment or wear, the position accuracy of the work transfer position is the sum of the processing accuracy of the index table and the insert part, and stable transfer cannot be obtained for a minute work.

  Patent Document 2 is a centering type four-way chuck mechanism that chucks a workpiece at a center position with four chuck claws arranged orthogonally on a table. The cylinder-driven link and cam system is chucked by the cylinder pressure, so the impact at the end of the chuck stroke is large.

  Patent Document 3 is a workpiece positioning device. When the cam slider is pushed up, its upward movement is converted into the horizontal movement of the cam, the claw is opened, and when the work is installed and the cam slider is lowered, the claw is It is a mechanism that moves toward the center by a return spring. In this case, the chuck operation method is based on cylinder drive and cam mechanism or solenoid drive and cam mechanism. Due to the structure, the chuck cam has a constant velocity curve, and the impact at the end of the chuck stroke is large in the case of the cylinder / solenoid drive system. Even if a cam is used for driving, since the stopper is provided on the chuck, there is a high possibility that an impact will be applied to the workpiece.

  Patent Document 4 is a core bonding apparatus, a packing assembly having a conveyor that operates between a delivery station and a transfer station of a core shooting apparatus, a bonding assembly machine including at least one manipulator, and an adhesive applicator. And a core joining apparatus having an adjacent immersion tank and, if necessary, a downstream drying furnace, the first manipulator functions to grab the core and place and stack the core on the carriage or traveling gear. Stacked together, the core is placed on a pallet associated with the conveyor in the delivery station. In this case, as an example of core adhesion drying, a typical example is shown in which the core is gripped and transferred, and further conveyed by a conveyor and a pallet.

  Patent Document 5 discloses a bonding and fixing device that bonds one or a plurality of glass pieces using an adhesive that is cured through drying and heating, positioning means that positions the glass pieces to be bonded, and the adhesive as the glass. Application means for applying to the bonding part of the piece, drying means for drying the adhesive applied by the application means, heating and curing means for heating and curing the adhesive dried by the drying means, and heating by the heating and curing means Reheating means for reheating the cured adhesive. An example is shown in which the workpiece is moved to each of the coating, drying, heat curing, and reheating stations with the workpiece positioned, but many positioning and conveying means are not described.

An object of the present invention is to provide an automated bonding apparatus capable of stably bonding a core member such as an ultra-small bulk type wound coil component as a workpiece.

  Other objects and novel features of the present invention will be clarified in embodiments described later.

In order to achieve the above object, the invention of claim 1 of the present application is an adhesive device for adhering the second core member to the first core member via an adhesive,
A first index table for intermittently conveying the first core member or the adhesive product of the first and second core members;
A first core member supply means, a first core member positioning means, an adhesive application means for the first core member, respectively, provided at a stop position of intermittent rotation conveyance of the first index table; A second core member supplying means for supplying two core members to be placed on the first core member, and a positioning means between the first and second core members;
A second index table with a built-in heater for intermittently conveying the adhesive product;
Transfer means for transferring the adhesive product from the first index table to the second index table;
E Bei and discharge means for discharging the adhesive article to which the adhesive is solidified by the heater during conveyance by the second index table from the second index table,
The supply means for the first or second core member has a linear feeder, and a fixed rail having a guide side surface for guiding the core member on one side is attached to a tip of the linear feeder, and the core member on the fixed rail is attached A stopper that presses against the guide side surface from a side surface, and a work lifting prevention lid that is integrated with the stopper,
A movable rail provided in front of the fixed rail is provided, and the core member that has passed through the fixed rail is stopped by a step provided on the movable rail, and a core is provided by an adsorption function provided on the step. With the member held on the moving rail, the core member on the fixed rail is pressed against the side of the guide by the stopper, and the moving rail is moved in the opposite direction of the fixed rail to move the core member. It is characterized by separation .

The bonding apparatus according to claim 2 of the present application is characterized in that, in claim 1 , the first core member has a flat plate shape, and the second core member has a drum core provided with a winding. Yes.

The bonding apparatus according to a third aspect of the present invention is the bonding apparatus according to the first or second aspect of the present invention, wherein the first index table includes a nozzle that adsorbs the first core member, and the nozzle of the first index table is arranged with respect to the first index table. The position is adjustable in the XYZθ direction.

A bonding apparatus according to a fourth aspect of the present invention is characterized in that, in the first, second, or third aspect , the adhesive application means is a pneumatic dispenser unit that is freely moved by a single-axis robot and has a temperature adjustment function. It is said.

A bonding apparatus according to a fifth aspect of the present invention is the bonding apparatus according to the first, second, third, or fourth aspect , wherein the second index table is provided with a thermocouple for measuring a surface temperature, and is connected to the heater through a rotary joint. And supplying an electric signal of the thermocouple to the outside.

The bonding apparatus according to claim 6 of the present application is the first, second, third, fourth, or fifth aspect , wherein the first core member positioning means or the first and second core member mutual positioning means comprises: It is composed of a chuck mechanism that grips and positions the core member from two or more directions with a plurality of gripping tools ,
The chuck mechanism includes a cam that is rotatable or swingable, and a number of slide mechanisms that are slidable via a member that contacts the cam, and that corresponds to the gripping tool. Provided,
The cam is connected to an electric motor having a variable rotational speed through a transmission mechanism.
The bonding apparatus according to the seventh aspect of the present invention is the bonding device according to the sixth aspect, wherein each slide mechanism is biased by a spring in the direction of the core member, and the biasing force of the spring corresponding to one slide mechanism among the opposed slide mechanisms is It is characterized by being set weaker than other springs.
A bonding apparatus according to an eighth aspect of the present invention is the bonding apparatus according to the sixth or seventh aspect, wherein the center of rotation or swing of the cam substantially coincides with the center position of the core member holding, and the cam is made hollow. The core member held by the gripping tool can be observed through the hollow portion of the cam.

According to the bonding apparatus according to the present invention ,
a. A first index table for intermittently conveying the first core member or the adhesive product of the first and second core members;
b. A first core member supply means, a first core member positioning means, an adhesive application means for the first core member, respectively, provided at a stop position of intermittent rotation conveyance of the first index table; A second core member supplying means for supplying two core members to be placed on the first core member; a positioning means for mutual positioning of the first and second core members; and the adhesive product being rotated intermittently. A second index table with a built-in heater;
c. Transfer means for transferring the adhesive product from the first index table to the second index table;
d. Discharging means for discharging from the second index table an adhesive product in which the adhesive is solidified by the heater during conveyance by the second index table;
Therefore, it is possible to stably perform adhesion between core members such as ultra-compact bulk type wound coil parts as workpieces.
Further, according to the chuck mechanism used in the bonding apparatus according to the present invention, when a workpiece is gripped or positioned from two or more directions by a plurality of gripping tools, a cam that can rotate or swing and a member that comes into contact with the cam are provided. And a number of slide mechanisms corresponding to the gripping tool, and the gripping tool is provided in the slide mechanism, and the cam is driven at a variable speed by an electric motor having a variable rotational speed, The impact of the gripping tool upon contact with the workpiece can be substantially eliminated, and breakage such as cracking, chipping or bending of the workpiece can be prevented. Further, since the cam is configured to be connected to the electric motor having the variable rotation speed via a transmission mechanism, the workpiece can be observed by making the cam a hollow structure.

Hereinafter, as the best mode for carrying out the present invention, an embodiment of a bonding apparatus will be described with reference to the drawings.

  FIG. 1 shows an overall configuration of an embodiment of a bonding apparatus according to the present invention, FIG. 2 shows a first index table and a mechanism associated therewith, and FIG. 3 shows workpiece adsorption on the first index table. 4 shows a nozzle mounting structure, FIG. 4 shows a mechanism on the tip side of a linear feeder as a work supply means, FIGS. 5 and 6 show a chuck mechanism used as a work positioning means, and FIG. 7 shows an adhesive application means. 8 and 9 show a chuck mechanism as a workpiece transfer means, and FIGS. 10 and 11 show a second index table for curing and drying the adhesive. And the associated mechanism.

  Before the description of the bonding apparatus shown in FIGS. 1 to 11, the configuration of a wound common mode choke coil as a work (target product) handled by the bonding apparatus will be described with reference to FIGS. . In this figure, 1 is a flat ferrite core as a first core member. Reference numeral 2 denotes a drum core with winding as a second core member, which is provided with a winding 3 at the drum core core portion and its terminal 3a is connected to the electrode 4 of the drum core collar portion. A stepped portion 1 a having a small thickness is formed along both edges of the flat ferrite core 1 so as to avoid the terminal 3 a of the winding 3.

  The size of the wound common mode choke coil of this target product is 2 × 1.2 mm, and the core material (ferrite) is easily damaged (cracked, chipped, broken, etc.) because of the ultra-small bulk type wound coil. Therefore, it is necessary to reduce abnormal loads and impacts during transfer and transfer. In addition, the adhesion between the ferrite drum core and the flat ferrite core includes the following management items in addition to the generally considered defective items such as disconnection.

a. The flat ferrite core does not protrude from the square circumscribing the drum core.
b. If the adhesive protrudes from the outer periphery, it is defective.
c. The adhesive needs to protrude from the winding portion in order to obtain strength.

  The bonding apparatus shown in FIGS. 1 to 11 satisfies the control items and bonds the first core member 1 (flat ferrite core) and the second core member 2 (winded drum core) to bond them. A product is stored in a pallet. In actual bonding operation, the flat ferrite core 1 and the wound drum core 2 of FIG. 12C are processed in an inverted state, and the adhesive 5 is applied to the flat ferrite core 1 side.

  1 to 11, a first index table 10 is an index table that intermittently rotates in a horizontal plane in 16 divisions, and a work piece (the first core member or the first and second core members) is arranged on the outer edge thereof. Sixteen workpiece adsorbing portions 11 for adsorbing and holding (adhesive products) are provided at equiangular intervals as shown in FIG.

  A flat ferrite core supply means 20 as a first core member is disposed at a stop position S1 of intermittent rotation conveyance of the first index table 10, and a chuck as a flat ferrite core positioning means is disposed at the stop position S2. A mechanism 30 is arranged, a dispenser unit 40 as an adhesive application means to the flat ferrite core is arranged at the stop position S3, and a wound drum core as a second core member is supplied to the stop position S4. A winding drum core supply means 50 placed on the flat ferrite core is disposed, and the entire position of the bonded product is determined by placing the wound drum core on the flat ferrite core at the stop position S5. Chuck mechanism 6 as an adhesive positioning means for performing mutual positioning of the shaped ferrite core and the wound drum core) And a chuck mechanism 70 (shown in FIG. 8 and FIG. 10) as transfer means for transferring the adhesive product from the first index table 10 to the second index table 80. Yes.

  The second index table 80 is a grooved heater table that regulates the adhesive product between the flat ferrite core and the coiled drum core by a groove and intermittently conveys it in a horizontal plane. The second index table 80 is an adhesive product from the chuck mechanism 70 at the stop position T1. The adhesive is solidified during intermittent conveyance and sent to the stop position T2. A transfer suction nozzle 90 as a discharging means is arranged as shown in FIG. 10 in order to take out the adhesive product at the stop position T2 and discharge it to the adhesive-dried workpiece storage pallet 100.

  FIG. 3 shows a workpiece suction portion 11 fixed to the first index table 10, and adjustment in the Z direction is performed as shown in a plan view of (A), a front sectional view of (B), and a side sectional view of (C). A plate 12, an X and Y direction adjusting plate 13 and a workpiece suction nozzle 14 that can be finely adjusted in the θ direction with respect to the plate 12 are provided. Here, the Z direction is the height direction (vertical direction), the X direction is the tangential direction of the index table 10 in the horizontal plane, the Y direction is the radial direction orthogonal to the X direction, and the θ direction is in the horizontal plane of the workpiece suction nozzle 14. Direction of rotation. As shown in FIGS. 13A, 13B, and 13C, the workpiece suction nozzle 14 has a workpiece suction surface corresponding to the rectangular shape of the workpiece in order to maintain stability when the workpiece is sucked and held. The X direction is short and the Y direction is set long, and the air suction port 14d that opens at the upper end of the nozzle has an oval shape that is long in the Y direction. For this reason, fine adjustment in the θ direction is required.

  The Z-direction adjusting plate 12 is screwed to the notch 10a on the outer periphery of the index table 10 with a screw 151. By adjusting the screwing position at this time, the height of the Z-direction adjusting plate 12 can be adjusted. It has become. The X and Y direction adjusting plate 13 is screwed onto the Z direction adjusting plate 12 with a screw 152, and the position in the X and Y directions can be adjusted by adjusting the screwing position at this time.

  A round hole 13a is formed at the center of the X and Y direction adjusting plate 13, and a cylindrical convex portion 14a at the bottom of the work suction nozzle 14 is fitted into the round hole 13a. Further, a piece 16 is fixed on the X and Y direction adjusting plate 13, and a θ direction adjusting screw 17 is screwed to this, and the tip thereof is in contact with the outer peripheral contact portion 14 b of the work suction nozzle 14. Then, by adjusting the amount of protrusion of the θ direction adjusting screw 17 from the piece 16, the rotational position of the work suction nozzle 14 can be adjusted by a small amount, and after the setting is completed, the nut 18 that is screwed into the θ direction adjusting screw 17. Then, the screw 17 is fixed. Although not shown, another screw is provided in the mounting hole 14c of the workpiece suction nozzle 14, and the workpiece suction nozzle 14 is fastened and fixed to the X and Y direction adjustment plates 13 after the θ direction adjustment.

  3 (B), (C) and FIGS. 13 (A), (B), (C), the workpiece suction nozzle 14 has an air suction port 14d opened at the upper end, and has a flat ferrite core. 1 is held by vacuum suction, and the internal space is connected to a negative pressure source such as a vacuum pump via an air suction hose 19.

  Thus, the workpiece suction nozzle 14 can adjust the position in the XYZ directions by adjusting the screwing positions of the Z direction adjusting plate 12 and the X and Y direction adjusting plates 13, and the θ direction adjusting screw 17 can be adjusted. The amount of rotation of the workpiece suction nozzle 14, that is, the θ direction can be adjusted by the amount of loading and unloading.

  The flat ferrite core supply means 20 includes a flat ferrite core aligning part feeder 21 shown in FIG. 1, a flat ferrite core supply linear feeder 22 for supplying the flat ferrite cores fed out as a linear arrangement, and , And a separation / transfer mechanism 23 shown in FIG. 4 provided at the tip.

  4A, 4 </ b> B, and 4 </ b> C has a separation / transfer mechanism 23 that is fixedly disposed so as to have a slight gap from the tip of the linear feeder 22, and is in close contact with the fixed rail 24. A movable rail 25 that is movable in the direction of arrow P (parallel to the workpiece advance direction of the linear feeder) in a state slightly separated from the above-described state, and a lid that moves on the fixed rail 24 in the direction of arrow Q (perpendicular to the direction of arrow P) A combination stopper 26 and a transfer work suction nozzle 27 are provided.

  The fixed rail 24 has a guide side surface 24a for guiding the flat ferrite core 1 delivered from the linear feeder 22 only on one side. As shown in FIG. Is fixed by being pressed against the side surface 24a of the fixed rail. The lid / stopper 26 covers the upper surface side of the flat ferrite core 1 and also functions to prevent the Z-direction lift.

  The moving rail 25 has a step surface (wall) 25a that stops when the flat ferrite core 1 that has passed through the fixed rail 24 abuts, and a mounting surface 25b on which only one flat ferrite core 1 is placed in front of the step surface 25a. have. 4A and 4B, an air suction port 25c for vacuum-adsorbing the most advanced flat ferrite core 1 is formed on the stepped surface 25a. The air suction port 25c is formed inside the moving rail 25. It communicates with the air suction path 28 and is further connected to a negative pressure source such as a vacuum pump.

  The operation of the separation / transfer mechanism 23 will be described. The flat ferrite core 1 conveyed by the linear feeder 22 passes through the fixed rail 24 having a slight gap from the tip of the linear feeder 22 and is in close contact with the initial fixed rail 24. Then, the movement stops upon hitting the stepped surface 25a of the moving rail 25 located in the traveling direction of the flat ferrite core 1. At that time, the state-of-the-art flat ferrite core 1 is vacuum-adsorbed on the stepped surface 25a of the moving rail 25 while the suction of the air suction port 25c is turned on. Then, the flat ferrite core 1 on the fixed rail 24 is pressed and fixed to the fixed rail side surface 24a as the lid / stopper 26 advances. Thereafter, the moving rail 25 moves slightly away from the fixed rail 24 (prevents back pressure by the linear feeder) and moves to the suction position of the transfer work suction nozzle 27 (the actual movement amount may be small). The transfer work suction nozzle 27 picks up the most advanced flat ferrite core 1 separated on the moving rail 25 (at this time, the vacuum suction on the moving rail 25 side is turned off), and stops. Transfer to the suction nozzle 14 on the first index table 10 side of S1.

  Although the workpiece in FIG. 4 is represented as a flat ferrite core, the same configuration can be adopted when the workpiece is a wound drum core.

  As shown in FIGS. 5 and 6, the chuck mechanism 30 for positioning the flat ferrite core includes a main body 31 supported at a predetermined position on the stop position S2 of the first index table 10 and a workpiece. Two pairs of positioning claws 321, 322, 323, and 324 for positioning the flat ferrite core and four linear guides 34 are slidably attached, and the positioning claws 321 and 322 are provided via the claw holder 33. , 323, 324 are fixed to each other, a positioning claw opening / closing cam 35, and cam followers (rollers) 361, 362, 363, 364 attached to each slider 341 side (claw holder 33). Each positioning claw functions as a gripping tool for clamping (gripping) a workpiece, and the linear guide functions as a slide mechanism.

  The positioning claw opening / closing cam 35 integrally has a vertical shaft portion 35a, and is supported by the main body portion 31 so as to be rotatable in a horizontal plane at a portion of the shaft portion 35a. The four linear guides 34 are mounted and arranged radially in a horizontal plane with respect to the rotation center of the cam 35 with respect to the linear guide mounting rail 39 on the bottom surface side of the main body 31, and the pair of linear guides 34 are, for example, in the X direction, The other pair of linear guides 34 is disposed in the Y direction orthogonal thereto.

  Coil springs 371, 372, 373, and 374 as compression springs are disposed between the inner wall of the main body 31 and the claw holders 33, and each cam follower 361 to 364 is pressed against the cam surface of the positioning claw opening / closing cam 35. In addition, each slider 341 is urged by an elastic force. However, as shown in FIGS. 6A and 6C, one biasing force of the coil springs 371 and 372 biasing the positioning claws 321 and 322 that make a pair in the X direction in the direction sandwiching the workpiece (in the cam center direction). Is weak (in the illustrated example, the biasing force on the right side of the opposing slider is weak), and the other is set strong, and similarly, the positioning claws 323 and 324 that make a pair in the Y direction are sandwiched between the workpieces (cam center direction). One of the urging coil springs 373 and 374 (the upper side in the illustrated example) is weak and the other is set strong.

  The shaft portion 35a of the positioning claw opening / closing cam 35 is connected to a pulse motor as an electric motor whose rotation speed can be freely changed via a winding transmission mechanism. Specifically, a belt wheel (timing pulley) 38 is fixed to the shaft portion 35a, and receives a variable speed rotational driving force of the pulse motor via the timing belt, and the cam 35 swings (FIG. 6). When the cam followers 361 to 364 are moved in the radial direction by (oscillation of an angle range of 45 ° as in (B) and (D)) or rotation, the positioning claws 321 to 324 move to position the workpiece.

  The cam 35 has a hollow structure including the shaft portion 35a, and the linear guide mounting rail 39 has a structure in which a through hole 301 is formed at the center portion. The workpiece itself is visually observed from the direction opposite to the positioning claw (optical). Structure). Therefore, a structure is provided in which a belt wheel is attached and connected to the pulse motor without directly connecting the pulse motor to the shaft portion 35a.

  The opening / closing operation of the chuck mechanism 30 will be described with reference to FIGS. The chuck mechanism 30 operates as a two-way reference surface four-way chuck. FIGS. 6A and 6B show the positioning pawls 321 to 324 in the open state. The individual cam followers 361 to 364 abut against the cam surface of the positioning pawl opening / closing cam 35 and the positioning pawls 321 and 322 The distance between the pair and the pair of positioning claws 323 and 324 is sufficiently larger than the work, and in this state, a flat ferrite core as a work arrives at the stop position S2 due to the intermittent rotation of the first index table 10 in FIG. 1 is received between the positioning claws 321 to 324. In other words, the positioning claw that was initially at a height that does not interfere with workpiece conveyance is lowered to a position where the workpiece can be clamped by the lowering operation of the main body 31. The distance between the pair of positioning claws 321 and 322 and the pair of positioning claws 323 and 324 is reduced by the swing or rotation of the cam 35, and the rotation amount of the cam 35 in FIGS. 6C and 6D becomes 45 °. When the positioning claws 321 to 324 are closed, the cam 35 does not open the positioning claws 321 to 324, and the elastic forces of the coil springs 371 to 374 work on the positioning claws 321 to 324, and the workpieces are moved by the two pairs of positioning claws 321 to 324. The flat ferrite core 1 is sandwiched and a positioning operation is performed. At this time, since the biasing force of the right and upper coil springs 372 and 373 in FIG. 6C is set to be weak, the weak spring-side positioning claws depending on the stop positions of the strong springs 371 and 374-side positioning claws 321 and 324 The positions of 322 and 323 are determined. That is, positioning is performed with the cam followers 361 and 364 being in contact with the cam surface (the cam followers 362 and 363 are separated from the cam surface), and positioning that occurs when the four coil springs 371 to 374 have substantially the same strength. Instability can be removed.

  As shown in FIGS. 13B and 13C, the suction nozzle 14 is arranged so as not to hinder the positioning operation of the positioning claws 321 and 322 in the X direction and the positioning operation of the positioning claws 323 and 324 in the Y direction. The upper end surface contour has a shape that does not protrude from the workpiece.

  By the positioning operation of the chuck mechanism 30, the flat ferrite core 1 sucked and held by the work suction nozzle 14 of the first index table 10 shown in FIG. 2 is in a fixed positional relationship with respect to the work suction nozzle 14. Can be positioned.

  After the positioning, the chuck mechanism 30 is again in the open state shown in FIGS. 6A and 6B, and the whole returns to the raised position for standby.

  As shown in FIG. 7, the dispenser unit 40 is a pneumatic dispenser unit having a temperature adjusting function, and a unit frame 42 slidably supported by a unit moving linear guide 41 and attached thereto. A one-axis robot 43, a temperature-adjustable syringe holder 45 and a temperature-adjustable discharge nozzle holder 46, which are attached to a moving body 43a of the one-axis robot 43 through a vertical linear guide 44, and the holder 45, And an adhesive syringe 48 integrated with a discharge nozzle 47 at the lower end.

  The raising and lowering drive of the adhesive syringe 48 is performed by a cam mechanism. The upper and lower cams 491 are driven to rotate or swing by a pulse motor 49 installed on the moving body 43a, and the cam followers (rollers) 492 on the holders 45 and 46 side are moved up and down. By contacting the cam 491, the holders 45 and 46 and the adhesive syringe 48 integrated therewith are moved up and down.

  The application operation to the flat ferrite core as the work held at the stop position S3 of the first index table 10 is performed by applying a predetermined amount of air from the discharge nozzle 47 by applying air pressure into the syringe 48 when the adhesive syringe 48 is lowered. The adhesive 5 is provided at the central portion (convex portion) of the flat ferrite core 1 as shown in FIG.

  The moving direction of the moving body 43a of the single-axis robot 43 is the radial direction of the first index table 10, and the syringe 48, the pulse motor 49, and the like can be moved in the horizontal direction collectively when the syringe 48 is drawn. These mechanisms are mounted on the single-axis robot 43.

  The unit frame 42 is provided with a discarding surface 401 so that the adhesive can be discarded by the syringe 48. The operation is performed so that the nozzle 47 is not clogged when the unit frame 42 is stopped for a certain time and restarted. Is possible. At the time of discarding, the single-axis robot 43 moves the syringe 48 to the discarding surface 401 and discards it several times, and then performs a regular application operation. The discarded adhesive is pushed out to the adhesive dropping hole 404 by the scraping blade 403 driven by the scraping cylinder 402 and falls to the adhesive tray 405. During maintenance of the syringe or the like, the entire mechanism on the unit frame 42 is manually moved to a position where it can be easily operated, and manually moved again after the operation is completed. At that time, a stopper is provided at the return position to provide repeatability.

  The winding drum core supply means 50 includes a pallet 51 in which the wound drum cores 2 of FIG. 1 are arranged and housed, and a drum core supply linear feeder that supplies the wound drum cores 2 transferred therefrom in a linear arrangement. 52 and a separation / transfer mechanism 53 provided at the tip.

  The separation / transfer mechanism 53 is the same as that shown in FIG. 4 except that the target workpiece of the separation / transfer mechanism 23 shown in FIG. 4 is a flat ferrite core instead of the wound drum core 2.

  With this separation / transfer mechanism 53, in the state where the back pressure by the linear feeder 52 is prevented, the state-of-the-art wound drum core 2 is picked up and the adhesive coated flat plate held by the suction nozzle 14 at the stop position S4. It is transferred onto the ferrite core 1.

  As shown in FIG. 12D, the adhesive product positioning means for positioning the entire adhesive product (but the adhesive is uncured) in which the wound drum core 2 is mounted on the flat ferrite core 1 is bonded to the flat ferrite core. The chuck mechanism 60 is the same as the chuck mechanism 30 for positioning, and both the flat ferrite core 1 and the wound drum core 2 are clamped (gripped) by a positioning claw as a gripping tool, thereby positioning the two mutually.

  FIG. 10 shows a means for transferring an adhesive product obtained by placing and bonding the wound drum core 2 on the flat ferrite core 1 (however, the adhesive is uncured) from the first index table 10 to the second index table 80. A chuck mechanism 70 is provided on the chuck mechanism 70, and details of the chuck mechanism 70 are shown in FIGS. The chuck mechanism 70 corresponds to a structure in which the chuck mechanism 30 has two pairs of positioning claws.

  As shown in FIGS. 8 and 9, the chuck mechanism 70 has a pair of main body 71 supported at a predetermined position on the stop position S <b> 6 of the first index table 10 and an adhesive product as a workpiece. A transfer claw 721, 722, a slider 741 slidably attached by two linear guides 74, each having a transfer claw 721, 722 fixed via a claw holder 73, and a transfer claw opening / closing cam 75 and cam followers (rollers) 761 and 762 attached to each slider 741 side (claw holder 73). Each transfer claw functions as a gripping tool for clamping (gripping) a workpiece.

  The transfer claw opening / closing cam 75 is driven to rotate or swing in a horizontal plane by a pulse motor 78 as an electric motor installed at the upper part of the main body 71 and capable of freely changing the rotation speed. Also, the two linear guides 74 are mounted and arranged radially on a straight line passing through the rotation center of the cam 75, for example, in the X direction, with respect to the linear guide mounting rail 79 on the bottom surface side of the main body 71. Yes.

  Coil springs 771 and 772 serving as compression springs are disposed between the inner wall of the main body 71 and the respective claw holders 73, and each cam follower 761 and 762 is biased in a direction to press against the cam surface of the transfer claw opening / closing cam 75. is doing. However, as shown in FIGS. 9B and 9D, one of the coil springs 771 and 772 that urges the pair of transfer claws 721 and 722 in the direction in which the workpiece is sandwiched (in the center of the cam) (right side in the illustrated example). ) Is weak and the other is strongly set.

  The cam followers 761 and 762 are moved in the radial direction by swinging or rotating the cam 75 within a 45 ° angle range as shown in FIGS. 9B and 9D by the variable speed rotational driving force of the pulse motor 78. As a result, the transfer claws 721 and 722 move and the workpiece can be clamped.

  The opening / closing operation of the chuck mechanism 70 will be described with reference to FIGS. The chuck mechanism 70 operates as a one-way reference surface two-way chuck. FIGS. 9A and 9B show a state where the transfer claws 721 and 722 are in an open state, and the individual cam followers 761 and 762 abut against the cam surface of the transfer claw opening / closing cam 75 to transfer the transfer claws 721. , 722 is sufficiently larger than the workpiece, and in this state, the uncured adhesive product as the workpiece that has arrived at the stop position S6 due to the intermittent rotation of the first index table 10 in FIG. 1 is transferred between the transfer claws 721, 722. Accept. In other words, the transfer claws 721 and 722 that were originally at a height that does not interfere with the workpiece conveyance are lowered to a position where the workpiece can be clamped by the lowering operation of the main body 71. The interval between the transfer claws 721 and 722 is narrowed by the swing or rotation of the cam 75, and the transfer claws 721 and 722 are closed when the rotation amount of the cam 75 in FIGS. 9C and 9D is 45 °. Then, the cam 75 has no effect of opening the transfer claws 721 and 722, the elastic force of the coil springs 771 and 772 acts on the transfer claws 721 and 722, and the pair of transfer claws 721 and 722 serves as an uncured adhesive product as a work. The holding operation is performed from the stop position S6 of the first index table 10 to the stop position T1 of the second index table 80. At this time, since the biasing force of the right coil spring 772 in FIG. 9C is set weak, the position of the weak spring-side transfer claw 722 is determined by the stop position of the strong spring 771-side transfer claw 721. The That is, positioning is performed in a state where the cam follower 761 is in contact with the cam surface, and positioning instability that occurs when the two coil springs 771 and 772 have substantially the same strength can be removed.

  As shown in FIGS. 10 and 11, the second index table 80 has a structure in which an annular grooved hot plate 81 in which a heater 82 is cast is intermittently rotated by an index unit 83. A heat insulating plate 84 is provided between the units 83 to prevent heat from being transmitted to the index unit 83 side. In addition to the cast-in heater 82, a surface temperature measuring thermocouple 85 is also attached to the hot plate 81 so that the temperature can be adjusted.

  A rotary joint 86 is attached to the center of rotation of the heat insulating plate 84 fixed to the index unit 83 to supply power to the heater 82 through the rotary joint 86 and to output an electric signal of the thermocouple 85 to the outside. I am doing so.

  The adhesive product 6 as a workpiece is transferred by the chuck mechanism 70 into the groove 81a of the hot plate 81 at the stop position T1 of the second index table 80 shown in FIG. 11 until the stop position T2 of the index table 80 is reached. During the intermittent conveyance of the adhesive, the adhesive is heated and cured, and when the adhesive-cured adhesive arrives at the stop position T2, the transfer suction nozzle 90 serving as a discharging means discharges the adhesive to the dried workpiece storage pallet 100. Do.

  The overall operation of the bonding apparatus according to this embodiment will be described.

  In the flat ferrite core supply means 20 as the first core member, the flat ferrite cores 1 aligned by the flat ferrite core alignment parts feeder 21 are arranged in a row by the flat ferrite core supply linear feeder 22. It is transported, separated one by one by the separation / transfer mechanism 23 at the head, and transferred onto the work suction nozzle 14 at the stop position S1 provided in the first index table 10 that rotates intermittently in 16 divisions. Adsorbed and held.

  The flat ferrite core 1 sucked and held by the workpiece suction nozzle 14 at the stop position S1 is transported to the stop position S2 by the intermittent rotation of the first index table 10, where two pairs of positioning claws 321 to 321 of the chuck mechanism 30 are transferred. It is positioned by being pinched at 324 (the flat ferrite core 1 is defined in a fixed positional relationship with respect to the suction nozzle 14).

  The flat ferrite core 1 positioned at the stop position S2 is conveyed to the stop position S3 by intermittent rotation of the first index table 10, and here, the adhesive syringe 48 of the pneumatic dispenser unit 40 having a temperature adjustment function is moved up and down or By moving back and forth, the adhesive 5 is applied on the flat ferrite core 1 by one point, a plurality of points, or by drawing as shown in FIG.

  The flat ferrite core 1 that has been coated with the adhesive at the stop position S3 is conveyed to the stop position S4 by intermittent rotation of the first index table 10, where the wound drum core is supplied from the winding drum core supply means 50. 2 is supplied. That is, in the supply means 50, the wound drum cores 2 supplied from the pallet 51 are conveyed in a row by the drum core supply linear feeder 52, and separated one by one by the separation / transfer mechanism 53 at the leading portion. It is transferred so as to overlap on the flat ferrite core 1 (adhesive applied) on the work suction nozzle 14 at the stop position S4 of the index table 10 (see FIG. 12C). That is, an adhesive product in which the wound drum core 2 is mounted on the flat ferrite core 1 to which the adhesive has been applied (however, the adhesive is uncured) is configured.

  This uncured adhesive product is conveyed to the stop position S5 by intermittent rotation of the first index table 10, and a chuck as an adhesive product positioning means for positioning the entire adhesive product as shown in FIG. Positioning is performed by being sandwiched between two pairs of positioning claws of the mechanism 60 (the flat ferrite core 1 and the drum core 2 are positioned relative to each other).

  The adhesive uncured adhesive positioned at the stop position S5 is conveyed to the stop position S6 by intermittent rotation of the first index table 10, and here, a pair of transfer claws 721 and 722 of the chuck mechanism 70 as transfer means. And is transferred into the groove 81a at the stop position T1 of the second index table 80.

  The second index table 80 is a grooved heater table. While the index table 80 is intermittently rotated and the adhesive product 6 as a workpiece is transported to the stop position T2 while the position is regulated by the groove 81a, the index table 80 is moved. The adhesive of the adhesive product 6 placed thereon is cured.

  The adhesive cured product is adsorbed from the stop position T2 by the transfer adsorption nozzle 90 as a discharging means, and is stored in the adhesive dried work storage pallet 100 and carried to the next process.

  According to this embodiment, the following effects can be obtained.

(1) The work suction unit 11 includes a Z direction adjustment plate 12, an X and Y direction adjustment plate 13, and a work suction nozzle 14 that can be finely adjusted in the θ direction with respect to this. By adjusting the screwing positions of the Z direction adjusting plate 12 and the X and Y direction adjusting plates 13, the position adjustment in the XYZ directions can be performed, and the work suction nozzle 14 can be rotated by the amount of insertion / removal of the θ direction adjusting screw 17. The amount, that is, the θ direction can be adjusted.

  Conventionally, since an index table having a structure in which the division accuracy and the position accuracy of the workpiece suction nozzle depend on the processing accuracy is used, it is difficult to maintain accuracy and maintenance of maintenance parts is difficult due to incompatibility.

  As an example of the prior art, an example disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2001-313204) will be described. For fitting an insert part with high wear resistance (part directly contacting a workpiece) to an index table. The fitting recess is directly processed. In this case, the position accuracy of the fitting recess in the index table (rotor) depends on the processing accuracy. When the insert part is exchanged due to initial adjustment or wear, the position accuracy of the workpiece transfer position is the sum of the processing accuracy of the index table and the insert part, and stable transfer cannot be obtained for a minute workpiece.

  In the present embodiment, it is possible to adjust the XYZθ direction for each workpiece suction nozzle 14 with respect to the index table 10, and it is possible to adjust the accuracy of the workpiece conveyance position without being affected by the processing accuracy of the index table 10. Become. In other words, since the position adjustment in the XYZθ directions can be performed for each work suction nozzle 14, it is easy to manage the dimensions of the index table 10 and the work suction nozzle 14.

(2) In the separation / transfer mechanism of the flat ferrite core supply means 20 and the pre-wound drum core supply means 50, the work is pressed and fixed by the stopper 26 on the fixed rail 24 and picked up in the moving rail 25 By separating only one, the influence of the back pressure of the linear feeder can be eliminated, and a highly reliable workpiece feeding operation is possible.

  Conventionally, a workpiece may be ejected due to the back pressure of the linear feeder at the linear feeder outlet portion of the flat ferrite core and drum core supply means and scattered to the surroundings, but such a problem can be solved.

(3) A chuck mechanism 30 as a positioning means for the flat ferrite core, and a chuck mechanism 60 as an adhesive positioning means for positioning the entire bonded product in which the wound drum core is mounted on the flat ferrite core. The positioning claw is opened and closed by a cam mechanism, but the cam is swung or rotated by a pulse motor as an electric motor whose rotation speed can be freely changed, so that the positioning claw does not cause an impact when it contacts the workpiece. Can be performed.

  Patent Document 2 (Japanese Patent Laid-Open No. 7-171722) presented as a prior art is a centering type four-way chuck, which is driven by a cylinder, and the cam curve is an eccentric arc by an opening / closing operation by a link and a cam. For this reason, the pressure applied to the workpiece is a cylinder pressure × cam pressure angle, and gives an impact to the workpiece at the time of contact.

  Patent Document 3 (Japanese Patent Application Laid-Open No. 2002-166330) is a two-direction reference surface four-direction chuck, but is driven by any one of a cam, a cylinder, and a solenoid, and a cam curve in the case of an operation by a cam is described. Absent. However, it seems that the speed is structurally constant, and it is a difficult mechanism to eliminate the impact applied to the workpiece during contact. The pressure applied to the work is a spring force (torsion spring).

   The chuck mechanisms 30 and 60 shown in the present embodiment are two-way reference plane four-way chucks, which are driven by a pulse motor and opened and closed by a cam. The cam curve is arbitrary, and the pressure applied to the workpiece is a spring force (coil spring). It has become. The feature in this case is the high degree of freedom of the chuck opening and closing operation by the pulse motor drive. Therefore, the cam is not driven at a constant speed, and acceleration / deceleration is controlled by a pulse motor so that no impact is generated when the cam is stopped. Although acceleration / deceleration control can be performed by the cam curve, if the driven side stops in the middle of the cam curve or the contact with the cam escapes, acceleration / deceleration of the driven end becomes discontinuous and an impact is generated.

  Therefore, in this embodiment, the impact of the driven end, that is, the workpiece gripping contact portion is minimized by driving the cam at a variable speed with the pulse motor, by the effects of both the acceleration / deceleration profile of the pulse motor and the cam curve. As a further effect, since there is no operation delay as in cylinder driving, the tact operation is stabilized. The torsion spring used in Patent Document 3 has a problem in terms of durability and individual variations in spring constant, and the coil spring of the present embodiment is more advantageous.

(4) The adhesive application operation is performed by the pneumatic dispenser unit 40 having a temperature adjusting function, and the adhesive in the adhesive syringe 48 is not exposed to the outside air more than necessary, and the temperature is also adjusted. Quality is stabilized. Further, the clogging of the nozzle 47 can be avoided by providing the throwing-out operation. Further, as a mechanism for moving the syringe 48 and its raising / lowering mechanism and the like by the single-axis robot 43, the vertical and horizontal operations can be controlled by the sequencer, and the drawing operation can be stabilized.

(5) The chuck mechanism 70 as a transfer means for transferring the adhesive product from the first index table 10 to the second index table 80 opens and closes the pair of transfer claws with a cam mechanism. Since it is oscillated or rotated by a pulse motor as an electric motor that can be freely changed, when the transfer claw comes into contact with the workpiece, an operation without an impact can be performed, and an operation delay does not occur.

  If the chuck is driven by an air cylinder, the workpiece may be damaged due to an impact when the transfer claw contacts the workpiece. In addition, the transfer timing fluctuates due to the influence of the pressure fluctuation of the compressed air in the factory piping and the workpiece may be dropped, but these problems can be solved.

(6) The second index table 80 for curing and drying the adhesive in an uncured adhesive as a work is regulated by the groove 81a to regulate the adhesive between the flat ferrite core and the wound drum core. It is a grooved heater table that intermittently conveys the inside of the sheet, and realizes a conveying system in which the workpiece does not lose its posture until the adhesive is dried. As a result, it is possible to eliminate adhesion displacement and position displacement of the workpiece itself.

  When a belt conveyor that does not have workpiece regulation is used in the conventional workpiece transport system for curing and drying adhesives, the workpiece loses its position on the belt and cannot be aligned near the exit of the belt conveyor, and is transferred to the storage pallet. There were many things that could not be done, but this problem can be solved.

  In addition, although the case where the 1st and 2nd core member as a workpiece | work is a ferrite was illustrated, members, such as ceramics other than a ferrite, may be sufficient.

  Although the embodiments of the present invention have been described above, it will be obvious to those skilled in the art that the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims.

1 is a plan view showing an overall configuration of an embodiment of an adhesive device according to the present invention. It is a top view which shows the 1st index table in embodiment, and the mechanism accompanying this. 2A and 2B are workpiece adsorption parts fixed to the first index table, where FIG. 3A is a plan view, FIG. 3B is a front sectional view, and FIG. The separation / transfer mechanism of the front side of the linear feeder as a workpiece | work supply means in embodiment is shown, (A) is a top view, (B) is a front sectional view, (C) is a sectional side view of a fixed rail part. is there. It is a front sectional view of a chuck mechanism used as a work positioning means in the embodiment. The operation of the chuck mechanism is shown, (A) is a plan view showing a positioning claw in an open state, (B) is a plan view showing a cam and a cam follower when the positioning claw is in an open state, and (C) is a positioning claw in a closed state. (D) is a top view which shows the cam and cam follower at the time of a positioning claw closed state. It is a side view which shows the pneumatic dispenser unit which has a temperature control function as an adhesive agent application means in embodiment. It is a front sectional view showing a chuck mechanism as work transfer means in an embodiment. 8A and 8B show operations of the chuck mechanism shown in FIG. 8, in which FIG. 8A is a plan view showing the transfer claw in the open state, FIG. 8B is a plan view showing the cam and cam follower in the transfer claw open state, and FIG. The top view which shows the transfer nail | claw of a state, (D) is a top view which shows the cam and cam follower at the time of a transfer claw closed state. In embodiment, it is a front sectional view which shows the 2nd index table for hardening and drying an adhesive agent, and the mechanism accompanying this. It is a top view of the hot plate with a groove | channel used with a said 2nd index table. It is a winding type common mode choke coil as a work object in the case of an embodiment, (A) is an exploded front view, (B) is an exploded side view with a section in part, and (C) is an embodiment. (D) is a front view explaining the positioning process of the adhesive article in embodiment. It is a workpiece | work adsorption | suction nozzle of the state which adsorb | sucked the flat ferrite core as a workpiece | work, Comprising: (A) is a top view, (B) is a front sectional view, (C) is a sectional side view.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Flat ferrite core 2 Winding drum core 3 Winding 4 Electrode 5 Adhesive 6 Adhesive article 10 1st index table 11 Work adsorption | suction part 12 Z direction adjustment plate 13 X and Y direction adjustment plate 14 Work adsorption nozzle 17 (theta) direction Adjusting screw 20 Flat ferrite core supply means 22, 52 Linear feeder 23, 53 Separation / transfer mechanism 24 Fixed rail 25 Moving rail 25a Stepped surface 25b Mounting surface 25c Air suction port 26 Lid stopper 27 Transfer workpiece suction nozzle 30, 60, 70 Chuck mechanism 34, 41, 44 Linear guide 35 Positioning claw opening / closing cam 40 Dispenser unit 43 Single-axis robot 48 Adhesive syringe 47 Discharge nozzle 50 Coiled drum core supply means 80 Second index table 81 Hot play 82 Heater 83 Index unit 85 Thermocouple for surface temperature measurement 86 Rotary joint 90 Transfer adsorption nozzle 100 Work storage pallet 321 to 324 Positioning claw 341 Slider 361 to 364, 761, 762 Cam follower 371 to 374, 771, 772 Coil spring 721, 722 Transfer claw S1-S6, T1, T2 Stop position

Claims (8)

An adhesive device for adhering the second core member to the first core member via an adhesive,
A first index table for intermittently conveying the first core member or the adhesive product of the first and second core members;
A first core member supply means, a first core member positioning means, an adhesive application means for the first core member, respectively, provided at a stop position of intermittent rotation conveyance of the first index table; A second core member supplying means for supplying two core members to be placed on the first core member, and a positioning means between the first and second core members;
A second index table with a built-in heater for intermittently conveying the adhesive product;
Transfer means for transferring the adhesive product from the first index table to the second index table;
E Bei and discharge means for discharging the adhesive article to which the adhesive is solidified by the heater during conveyance by the second index table from the second index table,
The supply means for the first or second core member has a linear feeder, and a fixed rail having a guide side surface for guiding the core member on one side is attached to a tip of the linear feeder, and the core member on the fixed rail is attached A stopper that presses against the guide side surface from a side surface, and a work lifting prevention lid that is integrated with the stopper,
A movable rail provided in front of the fixed rail is provided, and the core member that has passed through the fixed rail is stopped by a step provided on the movable rail, and a core is provided by an adsorption function provided on the step. With the member held on the moving rail, the core member on the fixed rail is pressed against the side of the guide by the stopper, and the moving rail is moved in the opposite direction of the fixed rail to move the core member. Separation device characterized by separating . It said first core member is tabular, the second core member bonding apparatus according to claim 1, wherein is provided with a winding on drum core. The first index table comprises a nozzle for sucking the first core member, the first bonding apparatus according to claim 1 or 2, wherein the adjustable position of the nozzle in XYZθ direction relative index table. Said adhesive application means is moved freely by the uniaxial robot, bonding apparatus according to claim 1, wherein a pneumatic dispenser unit having a temperature control function. Wherein the second index table is a thermocouple is provided for surface temperature measurement, claim outputs an electrical signal of the thermocouple to the outside together to supply power to the heater through the rotary joint 1, 2, 3 Or the bonding apparatus of 4 . The positioning means of the first core member or the positioning means of the first and second core members is composed of a chuck mechanism that grips and positions the core member from two or more directions with a plurality of gripping tools ,
The chuck mechanism includes a cam that is rotatable or swingable, and a number of slide mechanisms that are slidable via a member that contacts the cam, and that corresponds to the gripping tool. Provided,
The bonding apparatus according to claim 1, 2, 3, 4, or 5, wherein the cam is connected to an electric motor having a variable rotational speed through a transmission mechanism . 7. The bonding apparatus according to claim 6, wherein each slide mechanism is biased by a spring in the direction of the core member , and a biasing force of a spring corresponding to one slide mechanism among the opposing slide mechanisms is set to be weaker than the other springs. . The center of rotation or swinging of the cam and the center position of the core member holding are substantially coincident, and by making the cam hollow, the core member held by the gripper can be observed through the hollow portion of the cam. The bonding apparatus according to claim 6 or 7 .

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