Abstract: The present invention provides a manufacturing method of an electronic circuit device including a multi-layer circuit board incorporated with a thin film capacitor small in size and of high performance capable of attaining higher capacitance value with a thin dielectric film of high dielectric constant and with favorable film quality. A first electrode layer and a thin film dielectric layer are laminated continuously in this order in one identical to laminate each of the layers on a leveled substrate in one identical chamber and then the first electrode layer is fabricated a conductor pattern.

Abstract: A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point.

Abstract: An intermediate portion of a cable with connector is pinched by a pair of rolls of a first hand of a first robot, and the connector provided to the cable is fixed by causing the firsthand to approach. An image of this connector is obtained by a first camera and a position and posture of the connector are found. A second robot is moved to a gripping position which has been corrected based on the position and posture of that connector, thereby causing the second hand of the second robot to grip the connector at an outer periphery thereof.

Abstract: A metal sheet is formed with a target shape portion, a remaining portion surrounding the target shape portion and elongated portion(s) joining the target shape portion with the remaining portion. An apparatus cuts out the target shape portion from the metal sheet by shearing the joint portion at a region bordering on the target portion. The apparatus includes a blade member movable to a position below the joint portion and a fixed blade member for pressing the joint portion from above. The apparatus, being placed at a fixed position, rotates or linearly moves the movable blade member with respect to the fixed blade member to shear the joint portion at the region and bend a sheared-side end of the joint portion upward.

Abstract: An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place.

Abstract: A machining system capable of displaying operation programs and associated information for a plurality of components of the system on the same display screen for confirming, creating and editing of the operation programs and associated information. A machine tool, a jig device for fixing/unfixing a workpiece on the machine tool, a handling robot and a visual sensor are connected with an information processing device by a communication path. A list of items specifying operation programs and associated information for the respective components is displayed with respect to different kinds of workpieces on a display screen of the information processing device. When one or more of the items are selected by an operator, the operation program or programs and the associated information specified by the selected item or items are displayed in the form of a window on the display screen.

Abstract: The present invention provides a manufacturing method of an electronic circuit device including a multi-layer circuit board incorporated with a thin film capacitor small in size and of high performance capable of attaining higher capacitance value with a thin dielectric film of high dielectric constant and with favorable film quality. A first electrode layer and a thin film dielectric layer are laminated continuously in this order in one identical to laminate each of the layers on a leveled substrate in one identical chamber and then the first electrode layer is fabricated a conductor pattern.

Abstract: A food dishing robot system capable of dealing with dishing operations of foods of various characteristics. Trays are supplied to vicinities of food dishing robots RB1-RB3 by food supplying lines L1-L3. Four food conveying containers are placed on each tray. Each of the robots RB1-RB3 handles a food conveying container containing a food on the tray to move the food conveying container over a lunch box supplied by a lunch box supplying line L4 at a predetermined position, and dishes the food on a predetermined space in the lunch box. The food contained in the food conveying container is discharged through a cutout or an opening formed at a side thereof by inclining the food conveying container. The food conveying container may have a bottom plate to be opened/closed or the robot may have an auxiliary member in the form of scoop to forcedly discharge the food from the food conveying container. After completing the dishing of the food, the food conveying container is returned on the tray.

Abstract: With a metal sheet formed with a target shape portion, a remaining portion surrounding the target shape portion and elongated joint portion(s) joining the target shape portion with the remaining portion, the apparatus cuts out the target shape portion from the metal sheet by shearing the joint portion at a region bordering on the target portion to cut out the target shape portion. The apparatus comprises a movable blade member designed to move to a position below the joint portion and a fixed blade member for pressing the joint portion from above. The apparatus, being placed at a fixed position, rotates or linearly moves the movable blade member with respect to the fixed blade member to shear the joint portion at a region bordering on the target portion and bend a sheared-side end of the sheared joint portion upward.

Abstract: A floating cylinder 12 and a rotating shaft fixing cylinder 11 are attached to a flange RB1 at the distal end of a robot arm via an attaching member 17. Attached to the floating cylinder 12 is a rotary tool 10. To mount or demount a bladed tool to or from a collet chuck 13, the rotating shaft fixing cylinder 11 is operated to advance a stopper 15 so that a rotating shaft 14 of the rotary tool is locked. The chuck nut of the collet chuck 13 is inserted and fixed into a collet fixing groove in which the bladed tool is stored. The robot is operated so as to rotate the flange RB1, by which the rotating shaft 14 and the chuck nut of the collet chuck 13 are rotated relatively to tighten or loosen the bladed tool in the collet chuck 13.

Abstract: An insulating varnish comprising a resin component, electrical insulating whiskers, and if necessary, one or more additives such as an ion adsorbent, and/or an organic reagent for preventing injury from copper, produced by adding the additives to the resin component and the whiskers, or filtering the whiskers, or milled by using a beads mill or a three-roll mill, or the like, is excellent for producing a multilayer printed circuit board having high wiring density, high reliability and excellent other electrical properties.

Abstract: A multilayer printed circuit board small in interlayer thickness, capable of fine wiring, minimized in IVH and BVH diameters, high in strength and also excellent in wire bonding workability can be produced by a process comprising the steps of coating a thermosetting resin varnish compounded with electrically insulating whiskers on a roughened side of a copper foil, semi-curing the resin by heating to form a thermosetting resin layer, integrally laminating it on an interlayer board in which plated through-holes and conductor circudits have been formed, and roughening the cured thermosetting resin layer on the via hole wall surfaces with a roughening agent.

Abstract: A robot visual-tracking method in which the precision of a tracking movement of a robot is improved using a visual sensor. A count value N (0) of a pulse coder is stored when a sensor detects a workpiece. Then, arrival of the workpiece at a taught photographing position is detected based on an incremental quantity from the count value N (0) of the pulse coder, and the workpiece is photographed by a camera. A deviation is obtained between positions of two points Wa and Wb on the workpiece and the reference positions thereof. When the workpiece arrives at a tracking start position L1, a tracking coordinate system .SIGMA.tr starts to move and tracking operations of the robot are started. In the tracking operation, the robot position is corrected to compensate the detected deviation amount. The robot approaches the workpiece W to meet with it and grips the workpiece W by a hand when the workpiece W reaches a position Q0.

Abstract: In a process for producing a multilayer printed circuit board comprising drilling holes for via holes in a composite film material containing at least a copper foil and an insulating half-cured adhesive layer, laminating the resulting film material on an innerlayer circuit substrate, ad electrically connecting an innerlayer circuit with an outer layer copper foil, when an adhesive resin flowed into the holes is roughened, or when a composite film material having a copper foil of less than 12 .mu.m thick formed on a carrier is used, or a special cushion material is further laminated on the laminate of the innerlayer circuit substrate and the film material, electrical connection reliability is enhanced and circuit density can be increased with easy steps.

Abstract: A robot hand is provided with a bifinger unit integrally including a pair of fingers for grasping a workpiece therebetween, a finger feed unit for moving the pair of fingers between a predetermined open position and a closed grasping position, a single servomotor driving the feed mechanism to thereby move the pair of fingers so that a constant predetermined holding force is applied to the workpiece from the pair of fingers during the grasping operation of the fingers of the bifinger unit of the robot hand irrespective of the weight, the size, the shape or the surface condition of the workpiece.

Abstract: An overtravel detecting device, mounted on an angularly movable shaft of an industrial robot for mechanically determining and detecting the limits of rotation of the movable shaft, is attached to a rotating shaft (12) of a wrist portion (10) of an industrial robot and is provided with a pattern plate member (22) having two grooved paths (24) for setting the limits of rotation of the rotating shaft at predetermined position with respect to an origin position of the rotation, and a detecting element constituted by a limit switch (32) for transmitting an overtravel signal when the switch comes into contact with stop walls (24a, 24b) formed at ends of the two grooved paths for setting limits of rotation.

Abstract: A method for accurately detecting an abnormal load caused, e.g., by adhesion of the distal end of a spot gun. A flag F2 is set to "1" when a move command is outputted to move a movable part of a machine and is reset to "0" upon lapse of a predetermined very short period of time, and, while the flag F2 remains "0" during stoppage of the movable part, a disturbance torque T0, estimated by a disturbance estimation observer, is stored and successively updated. When a move command is thereafter outputted, and the flag F2 is set to "1", an estimated disturbance torque T1 is obtained, and if the absolute value .vertline.T1-T0.vertline. of the difference between the disturbance torque T1 and the disturbance torque T0, estimated immediately before the movable part is moved, is greater than a reference value Ts, it is determined that an abnormal load is applied, whereupon an alarm is outputted, a flag F1 is set to "1", and the motion is stopped.

Abstract: A high-density installation type robot able to be installed side by side with another such robot, to work on an object at the same time is provided. A robot wrist assembly (30) is equipped with three rotary axes (.alpha. axis, .beta. axis, .gamma. axis), and a robot arm (26) having the robot wrist assembly (30) mounted on an end thereof is given a rotary axis (.theta. axis). Further, a bracket-shaped holder (24) holding the robot arm (26) is provided in such a manner that it can move vertically (V) and linearly (FR), whereby a large rectangular parallelepiped, three-dimensional operating area can be secured and a wasted operating area eliminated.

Abstract: A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.

Abstract: An industrial robot rotation shaft apparatus according to the invention has a waterproof structure obtained by providing the outer surface of a rotatable support (3) with an integrally formed, peripheral skirt portion (3c). A stationary support (2) is provided with a complementary, projecting collar portion (7b) substantially conforming to the inner surface of the skirt portion. The two complementary elements oppose each other while maintaining a small clearance therebetween. This makes it possible to shut out dust, water droplets and the like which would otherwise penetrate the interior of the robot from outside. As a result, rusting of the internal parts and the motor due to water droplets and debris penetrating the same is prevented.