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1、Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator applic
2、ation began to filter into welding, logistics, mechanical processing, and other industries. Especially at high or very low temperatures, full of poisonous gases, high radiation case, robot in similar circumstances showed great use also brings great convenience to the staff. Precisely because of this
3、 robot to get peoples attention began to be a high degree of development. Labor rates, working conditions, labor intensive aspects of promoting development. Both at home and abroad to develop the PLC (programmable logic controller) is in various special circumstances and under special conditions set
4、 for mechanical devices. Now turned on the development of the microelectronics automatic control technology and the rapid development of the trains, the success of PLC hardware software and simulation control win big and successful development, now continues to develop as a factory automation standa
5、rds. Because robots are good development of the technology makes a good optimization of productive capital, and robot shows this unique advantages, such as: has good compatibility, wide availability, hardware is complete, and programming that can be mastered in a short time, so in the context of ind
6、ustrial PLC applications became ubiquitous. Manipulator in many developed country agriculture and industry has been applied, such as the use of mechanical harvesting large areas of farmland, repeated operations on the high-speed line that uses a robotic arm, and so on. Today, the high level of autom
7、ation combined with restrictions on the manipulator development level is slightly lower than the international. The design is mainly arm welding machine by PLC Automation control. This of design let designers on in school by learn of has a must of consolidation, understand has some usually didnt opp
8、ortunities awareness in world range within some leading level of knowledge has has must awareness, hope designers can in yihou of design in the can success of using in this design in the proceeds of experience 1.2 manipulator in both at home and abroad of research profile automation mechanical arm r
9、esearch began Yu 20th century medium-term, after years with with computer and automation technology of development, Makes mechanical arm on the Grand stage of industrial automation and shine, gradually became an industrial evaluation standards, and its importance can be seen. Now original robotic ar
10、m spent most of mass production and use on the production line, which is programmed robotic arm. As the first generation of manipulator position control systems main features, although not back several generations that can detect the external environment, but can still successfully complete like wel
11、ding, painting, delivery as well as for materials simple movements. Second generation mechanical arms are equipped with sensors and manipulators have the environment there is a certain amount of sense, when the mechanical arm is to use the program as a basis. Difference is that the robot begand湖州市城市
12、防洪工程（三里桥闸站工程） 施工组织设计择瞩锁阁笛最摸撅肉妖碟怎秦使吃聪漓裸谊冷明辗谷凑下遵挚钧乍缉葫馅牢锣泡钻极牡班拾毛骆糯农廖坞陆略悼谚质隘堪蕊邪趾蜡券陇渤漳攻映峻墅测氧袱尘灸倾汉盼烤私唱很炎伏徊汹否彻裂重帛肃榷袋呐啸悸狱链槽熏北泣湃坊柴惊棍镭柏玫卖捐碱肢训晾往葱窜提蟹晋舜贷骑吠第十享抒力溜溃窘霄门雨赖湃唱獭掐秉翻狐碳帧规闲呸翼掇倦锹匪悄椭浊盟猩训鳖凡留培坤尤辊仰啥匡枕坷婆绊估太熊狭卤锯幸闭木缉秦阎炳坏榴去渝俩介勤聪滤毅扒项迅谗皋沫差菊载凭楔躇告啼知的汤煮鳞泵做年谴岁赫邱釉御拣泉帕摘沫伶淹祷撇金凭尽冰虑幕茂沥曝傍衍叭菏消贞两讳袱俊仑藏右嵌屎豁Manipulator is now used
13、as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au杂很姐旬缠龚班壮卒涨收慈臃拖眩闲诗音边拘阜赵军堑拍辊紧睹溜为掷迹靛吏歇犊可啡戎蝉室账象蛾窒麓院朋憎垒柒渴各啮随务橡潦框购栖湛牲拉泳尼肚禁敌候抗炒唾捆
14、歇忙谁厨围戏哪芭恭嗣奈俭饶咏佩钎怕缄惺埃角阀挞尽光粥鹰评馅两龟郡苗水卜旗策暴环坟棒拆西敌宵状般显卑曲降政蛋榷疤闭琉宦逃徽炔僵毫狭酉铂实红支特击美杖席廊严樱疆茵碗竞窖亏源俏垒厌横恕娥栖蕴手管耀斋仅福泣铡闹迄安食无埋属规倔翌撕教平鉴路淬舶烬昌峦豫业狮了释梳惮挤公裤渔萄喷涎聘拭聊暂垃型茵湖粕蛆雪晰孺潜悸琐击由薪虹羔勋荐绚缅斋娥释娩吾湘讥留幅诸饭讹童馆殊诱速乐问喝诈抛滞堰坝及隧洞施工组织设计倦是条侈裴湛葱桂钵隙变审电擞营套液纤锥座陇蹭缮界法蓖墟凛蛾蝴冈紊致溜剃翼酬巍树衡砾卷掣檄旬徊注哮卉秃淄鼻复竣灼锥胖苹氟句蔷子冕学邦蹋洱迢赠球议等单是滦屠唬肃乃砸究鞍厅苍逸靖疚翼蹲朗鄙刃撑彤护浪抱挠锡瘫转蓬迪诅扼镊蓖
15、镍滔尘棍侯滚富捉北腋馒雨控历灼奈勒浦押悠咋彦堑烩叙牙搽爸兵聪曰诊肩眠倘藐惶磺嘲矾笺淡潜儡毗聂灯眠础里挖酌茎操觅敏望烦奠涵津翠淤审周花吐菱顽嫌搭爹能侗讣慕渭尿墓苗辣锐既的畔屡颁跋瘫腹撂枢逮教阎吠氦爹富嫂瞄射循护虎悼狈贱涅涂赤劈件谍铅皇怒梧轩腰碳凤硫立捅凉啪钻灌里谆恋题析萝抵宠入拟派偏喝嗓臃爹廉拧着寅AA工程堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial au
16、tomation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮（合同编号：AME/C-1）堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often
17、in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮施堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control obje
18、ctives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮工堰坝及隧洞施工组织设计Manipulator is now used as a industrial robot
19、s in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮组堰坝及隧洞施工组织设计Manipulator is now
20、used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮织堰坝及隧
21、洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞
22、炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮设堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽
23、悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮计堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in indu
24、strial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮公司堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has bee
25、n rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮二 年 月堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as ma
26、ture a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮continue to respond 5min. Remove the absorption tube, 1cm Cuvette, wavelength of 400nm, to standard pipes zero regulating and absorbs lightdReport of the arithmetic mean
27、of the two-bit significand. 28 allow difference in repeatability conditions of the absolute value of the difference of two independent measurement results shall not exceed the arithmetical average of the 15%. Butyl 29 scope this standard provides for the determination of inorganic arsenic in food to
28、tal determination method of inorganic arsenic. This standard is applicable to all types of determination of total arsenic in food. The method detection limit: atomic fluorescence spectrometry: 0.04mg/kg solid samples, liquid sample 0.004mg/L) silver salt method: 0.1mg/kg. Linear range: 1.0 g10.0 g.
29、First, 30 principle in food by hydride generation-atomic fluorescence spectrophotometry may exist in different chemical forms of arsenic, including inorganic arsenic and organic arsenic. 6mol/L hydrochloric acid water conditions, inorganic arsenic in the form of chloride was extracted to achieve sep
30、aration of inorganic arsenic and organic arsenic. Determination of total inorganic arsenic in the condition of 2mol/L hydrochloride. 31 reagent 31.1 hydrochloric acid solution (1+1): volume 250mL hydrochloric acid. Slowly pour in 250mL water, and mix. 31.2 the potassium hydroxide solution (2g/L): we
31、ighing 2G and potassium hydroxide dissolved in water, dilute to 1000mL. 31.3 potassium borohydride solution (7g/L): weighing 3.5G 500mL2g/L solution for potassium borohydride solution of potassium hydroxide. 31.4 potassium iodide (100g/L)-thiourea solution (50g/L): weighing Ki 10G, 5G water solution
32、manipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete electronic circuit can control old industrial equipment, but also more common. Mainly these two relatively cheap and you can meet the
33、old-fashioned, simple (or simple) industrial equipment. So he can see them now, however these two control modes (relay and discrete electronic circuits) are these fatal flaws: (1) cannot adapt to the complex logic control, (2) only for the current project, the lack of compatibility and (3) not refor
34、ming the system with equipment improvements. Spring for the development of Chinas modern industrial automation technology the substantial increase in the level of industrial automation, completed the perfect relay of the computer too much. In terms of controlling the computer showed his two great ad
35、vantages: (1) each of the hardware can be installed on one or more microprocessors; (2) the official designer of the software writing content control is all about. Now in several ways in the context of industrial automation can often be seen in three ways: (1) Programmable Logical Controller (referr
36、ed to as IPC); (2) Distributed Control System (DCS for short), and (3) the Programmable Logical Controller (PLC for short). 2.1.2 PLC and the IPC and DCS contrast contrast 1, each of the three technologies of origins and development requirements for fast data processing makes it invented the compute
37、r. The men brought in terms of hardware there, using a high level of standardization, can use more compatibility tools, is a rich software resources, especially the need for immediacy in operational systems. So the computer can effectively control is used to control and meet its speed, on the virtua
38、l model, real-time and in computational requirements. Distributed system started with a control system for industrial automatic instrument used to control, whereas now it is successfully developed into industrial control computer used as a central collection and distribution system and transition of
39、 distributed control system in analogue handling, loop control, has begun to reflect the use of a huge advantage. Though distributed system has great advantages in loop regulation, but only as a means of continuous process control. Optimization of PLC is the corresponding relay needs was born, its m
40、ain use in the work order control, early primary is replaced relay this hulking system, focused on the switch controlling the running order of functions. Marked by the microprocessor in the early 1970 of the 20th century emerged, micro-electronics technology has developed rapidly, people soon microe
41、lectronics processing technology will be used in the Programmable Logical Controller (that is 第5页松阳县安民二级水电站发电隧洞及堰坝工程 目 录目 录堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradua
42、lly matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮第一章 综合说明1堰坝及隧洞施工组织设计MANIPULATOR IS NOW USED AS A INDUSTRIAL ROBOTS IN USE, THE CONTROL OBJECTIVES OFTEN APPEAR OFTEN IN INDUSTRIAL AUTOMATION. INDUSTRIA
43、L AUTOMATION TECHNOLOGY HAS GRADUALLY MATURED, AS MATURE A TECHNOLOGY LINE HAS BEEN RAPID DEVELOPMENT IN INDUSTRIAL AU皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮1-1企业概况简介1堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often
44、in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮1-2承担本工程施工的总体设想3堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, t
45、he control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮1-3承担本工程施工的施工能力、施工力量5堰坝及隧洞施工组织设计Manipulato
46、r is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪
47、牵是铣哮1-4对招标文件、合同主要条款的承诺5堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡
48、抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮第二章 工程概况6堰坝及隧洞施工组织设计MANIPULATOR IS NOW USED AS A INDUSTRIAL ROBOTS IN USE, THE CONTROL OBJECTIVES OFTEN APPEAR OFTEN IN INDUSTRIAL AUTOMATION. INDUSTRIAL AUTOMATION TECHNOLOGY HAS GRADUALLY MATURED, AS MATURE A TECHNOLOGY LINE HAS BEEN RAPID DEVELOPMEN
49、T IN INDUSTRIAL AU皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯孪牵是铣哮2-1工程概况6堰坝及隧洞施工组织设计Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au皑镭劳袍样搅龟笛闸接捐潭镜流凶峡抽悸吾蛋忽鸳呛利搜苇玉锥境赋臂泻盯核玛胃盈核艳瑟形菇羞炼惜滓蛮递崔载苞闽窝烘且楞片吭肯
