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    • 24. 发明申请
    • ROBOT SYSTEM
    • 机器人系统
    • US20110224826A1
    • 2011-09-15
    • US13047818
    • 2011-03-15
    • Shinichi MAEHARAHirokazu KariyazakiTakahiro Maeda
    • Shinichi MAEHARAHirokazu KariyazakiTakahiro Maeda
    • B25J9/16
    • B25J9/1676G05B2219/39098
    • A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.
    • 一种过程包括在存储器中定义包括机器人手臂和连接到机器人手腕的工件和工具的手臂占用区域,臂不允许接触的虚拟安全防护屏障,以及机器人轴的可移动范围 ; 从实际测量的滑动量等估算当机器人由于紧急停止而移动到下一个目标位置时轴线将滑行的每个机器人轴的惯性角度; 通过将估计的滑行角加到下一个目标位置来确定机器人的随后滑行预测位置; 检查后滑行预测位置的手臂占用区域是否与虚拟安全防护屏障接触,或者机器人轴线是否在可动范围内; 并且在检测到异常时执行控制以立即停止机器人。
    • 27. 发明申请
    • Exhaust heat recovery device
    • 废热回收装置
    • US20080011458A1
    • 2008-01-17
    • US11827520
    • 2007-07-12
    • Masashi MiyagawaYasutoshi YamanakaSeiji InoueKimio KoharaKenshirou MuramatsuTakahiro Maeda
    • Masashi MiyagawaYasutoshi YamanakaSeiji InoueKimio KoharaKenshirou MuramatsuTakahiro Maeda
    • F28D15/00
    • F01N5/02F01P2003/2278F01P2060/16F02B75/22F28D1/0333F28D15/0266F28D15/06F28D21/0003F28D2015/0216Y02T10/16
    • An exhaust heat recovery device able to secure heat exchange performance even when tilted, provided with an evaporator exchanging heat between an exhaust gas and an evaporable and condensable working fluid sealed inside it and thereby evaporating the working fluid and a condenser exchanging heat between the working fluid evaporated by the evaporator and the cooling water and thereby condensing the working fluid, wherein the evaporator and condenser are arranged in a closed loop channel through which the working fluid circulates, the evaporator and condenser are arranged adjoining each other in the substantially horizontal direction, the evaporator is provided with a plurality of evaporation side heat pipes arranged in parallel and is provided with a first evaporation side header communicating one ends of the plurality of evaporation side heat pipe and a second evaporation side header communicating the other ends, and, when mounted in a vehicle in a horizontal state, the second evaporation side header arranged at the bottom among the two evaporation side headers is arranged with the side far from the condenser positioned lower than the side close to it.
    • 一种排气热回收装置,即使在倾斜时也能确保热交换性能,其具有蒸发器,其在排气和密封在其内部的可蒸发和可冷凝的工作流体之间交换热量,从而蒸发工作流体和在工作流体之间交换热量的冷凝器 蒸发器和冷却水蒸发,从而冷凝工作流体,其中蒸发器和冷凝器布置在工作流体循环通过的闭环通道中,蒸发器和冷凝器在大致水平方向上彼此相邻地布置, 蒸发器设置有并排布置的多个蒸发侧热管,并且设置有连通多个蒸发侧热管的一端的第一蒸发侧集管和连通另一端的第二蒸发侧集管,并且当安装在 处于水平状态的车辆,第二蒸发器 布置在两个蒸发侧集管中的底部的离子侧集管布置成远离冷凝器的一侧位于比靠近它的侧面更低的位置。