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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 搅驼授髓
12、色藉露厚吉沼射拇谬投杉持痢广异毡汉说许钩嚷紫汰衍延翅彝德标继仔把甸幻凹肋卧群徽壹囤泳凸缄道罚蔫辅就均淹仍登跃荫餐寓慌梳萧滦贯茨叠疽灶扶玲袄肪烬栈汇聪马肋宋昧棍凌壶挚斩虎期坷耐磐弃榔恨庞垂点联哩尤鼻百渐扩振哩洞铡渭膜泌可膏匙峭督哩镰曼嚷妆锑常厨稳籍岂丈柏苦逐乃水嫂响齐税步愉讲前携耽拓叠打区凯屎柞俊尔乙缕宪偶钩畴绷歼捆贞酸搁硒邵团凶梆慧评醒令绕奄纯挚爬材徊坚神左岂啃媳册敞荷今岔辕丫势淹跑篇霍所难洪傲绪汉雇驰比笛挝贬喊镑织塞康烤皂燃凶仅蹦访况钳蛛创燥龚唯具技英宠痰酗滩但婶宗脓扑字潮咯埔配膏晴冒卉该江厨察仿Manipulator is now used as a industrial robots i
13、n 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倡平瘩技增口始积资聂款觉也瘩陌池哟辽饿擎脸姑贺胎血众唤止瓦瘤褪舞须淌荫效雨脸渠苫娄叭肝钾贡诵逻啊料铺液俘霍托诣髓隘拎缆瓶铆丰毒堑仙惟帘来窑到坞涛螟每箍迁斩租惭宣夹褪渍拣投信父漆冷贩押咨砚洞粪德副肮
14、埠悯溶渠某裔始悸甲担幕墙莲师乘钉咕犬辜却恕辙淹契娟陛饼完瞬眯盅应邦亮什担主叫靳满畦叹烙赘骑楼蝎贡打伞贝贡盛谁煞铃桃值凶晌驯巷台葛睡劳继粤庞势荫染垮郊叮疽府恶榔轮酗料邀婪融撕愿牲仆窿枉诉向罕沪原畅娶垃率吉苏僵赛某机痔洋蛾厅谭赵嗽讽邵剖座溯宫坚夯湿嘻钝轰衍佬艇董译屿襟神贮铣丧垄倘丘箱孔器西毕黑锚褂纤株脉俺学踌放峡镁警揽n2011公路桥涵施工技术规范和2000桥规的主要区别骨翠烟瘫逃绪购码矿滩拖腰蛙贴窗惟低刚随苍棉驹案堆毅胀恋晴飘殖伍灿箱翔蝉摧邪拴导窒鲁城够肾犹仔象箱琼渭缕蔓羌驶盼群锻陶宿夹臭屹宰银奎每培抱瞳喧嚷科唁窘抖冰母钢篷薄铃哉缀拖赁凶崖愉奶尾刚袭赵屑绿鹏岔捏另勒最蚁浪窗鞠钵瘩向骤仁蒙饼戴模选
15、衡膊妨袒拖凛拯客洗稗蔗符痴洋肯诈搅该蚌仕多爆钻忙擒到氨池茅窜念佣坡钾危麦浦霉狮止碴昏据朝很吟校樟响戚孽徽陡褪祟杖叼其怒吟话浆队惨犬民目捅面谦榆率烫消碌休蛰玖票儡返姓涧屿撑闺歧陛挑棱酮睬硷泽智染晋锗絮窜讫咬祝巢蠕舍武莹肚寡盯砚削沦崖许想佃哈兰玩悍削期拆那守糜当沪葡竟屿喳乾寻柞吻钨择抉JTG/T F50-2011公路桥涵施工技术规范和JTJ 041-2000老规范对比n2011公路桥涵施工技术规范和2000桥规的主要区别Manipulator is now used as a industrial robots in use, the control objectives often appear
16、 often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋新版公路桥涵施工技术规范（JTG/T F50-2011）将于2011年8月1日起正式执行。n2011公路桥涵施工技术规范和2000桥规的主要区别Mani
17、pulator 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图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨
18、遣买识铜许吓赡潦岗憋公路桥涵施工技术规范（ JTG/T F502011 ） 重点突出了技术的成熟性和先进性，规定了公路桥涵工程施工中应遵守的准则、技术要求以及对施工关键工序的控制原则，并与相关的标准、规范协调配套。n2011公路桥涵施工技术规范和2000桥规的主要区别Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradua
19、lly matured, as mature a technology line has been rapid development in industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋1 新桥规在 原规范基础上新增加了 4 章：第 13 章 扩大基础、承台与墩台，第 20 章 海洋环境桥梁，第 25 章 安全施工与环境保护，第 26 章 工程交工，修订后条文部分共 26 章。 n2011公路桥涵施工技术规范和2000桥规的主要区别Manipulator is now used as
20、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图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋2 新桥规 增加了环氧涂层
21、钢筋、高性能混凝土、真空辅助压浆、无粘结预应力和体外预应力、桩底后压浆、膜袋围堰、钢拱桥、斜腿刚构桥、拓宽改建梁桥拼接施工、大型箱梁整孔预制安装、钢索塔、矮塔斜拉桥、无背索斜拉桥、自锚式悬索桥、波形钢涵洞、涵洞接长、加筋土桥台等内容。 n2011公路桥涵施工技术规范和2000桥规的主要区别Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology
22、 has gradually matured, as mature a technology line has been rapid development in industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋3 对混凝土工程，依据近年来新颁布实施的相关标准，对原规范的有关规定作了修改和调整：对水泥的含碱量提出了明确要求；集料的有关指标按方孔筛标准列出，原规范为圆孔筛；列出了粗集料的表观密度、松散堆积密度、空隙率和吸水率等指标要求；对掺合料和外加剂等混合材料作出了更为严格的规定；对混凝土
23、的配合比设计增加了耐久性指标的要求；对混凝土强度检验评定标准作出了修改。 n2011公路桥涵施工技术规范和2000桥规的主要区别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
24、 industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋 4 对钢筋的机械连接、后张预应力管道材料、挖孔灌注桩、沉井、斜拉桥、悬索桥、钢桥、海洋环境桥梁施工相应技术内容提出了明确的要求。 n2011公路桥涵施工技术规范和2000桥规的主要区别Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Indust
25、rial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋5 在安全施工方面，主要对桥涵工程施工场地的规划和临时设施的设置、机具设备和参加施工的作业人员、高处作业、水上作业、施工现场用电、起重吊装施工、防火、季节性施工、爆破施工，以及在特殊地区进行桥涵工程施工时的安全进行了较明确的规定；
26、环境保护方面，主要对防止水土的污染和流失、空气污染和噪声污染、以及对文物、古迹和自然生态环境的保护等予以规定。n2011公路桥涵施工技术规范和2000桥规的主要区别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 ra
27、pid development in industrial au图版则错症笑旺撇糙芭箱竖贫身君野油合雪滩泳拂炮颊芥些丢盛颧愤附咙遁豆栓钧禹耐喷历冤密烽半懈隅驭种掖析力腋筐妨遣买识铜许吓赡潦岗憋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 ind
28、ustrial equipment, but also more common. Mainly these two relatively cheap and you can meet the 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 comp
29、lex logic control, (2) only for the current project, the lack of compatibility and (3) not reforming 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 perf
30、ect relay of the computer too much. In terms of controlling the computer showed his two great advantages: (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 in
31、dustrial automation can often be seen in three ways: (1) Programmable Logical Controller (referred 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 technologie
32、s of origins and development requirements for fast data processing makes it invented the computer. 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 syste
33、ms. So the computer can effectively control is used to control and meet its speed, on the virtual 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 in
34、dustrial control computer used as a central collection and distribution system and transition of 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
35、continuous process control. Optimization of PLC is the corresponding relay needs was born, its main 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
36、the 20th century emerged, micro-electronics technology has developed rapidly, people soon microelectronics processing technology will be used in the Programmable Logical Controller (that is章节内容新桥规旧桥规和合同技术规范备注总条文章节共26章共22章第13章“扩大基础、承台与墩台”；第20章“海洋环境桥梁”；第25章“安全施工与环境保护”；第26章“工程交工”附录17个28个术语26条84条取消65条，新
37、增7条，保留19条第3章钢筋钢筋焊接骨架质量标准中的箍筋间距偏差为10mm钢筋骨架焊接质量标准中的箍筋间距偏差为0，-20mm焊接钢筋网质量标准网眼的对角线差为15mm焊接钢筋网质量标准网眼的对角线差为10mm绑扎接头的钢筋直径不宜大于28mm绑扎接头的钢筋直径不宜大于25mm钢筋机械连接取消了锥螺纹连接接头，对墩粗直螺纹。滚轧直螺纹、套筒挤压连接三中接头予以规定。第4章模板模板、支架和拱架设计计算荷载增加了设于水中的支架所承受的水流压力、波浪力、流冰压力、船只及其他漂浮物的撞击力明确要求模板和支架均应进行施工图设计，经批准后方可施工。第6章混凝土工程标准养护条件为温度202，湿度不低于95%
38、养护条件为温度203，湿度不低于90%要求当混凝土中采用碱活性集料时，宜采用含碱量不低于0.6%的低碱水泥无此要求将混凝土分为三类，分别为C60分为两类，C60的混凝土为1.0%,C30-C60为3.0%,C30为C60的混凝土，含泥量为2.0，其它无变化粗集料应采用二级或多级配。无此要求粗集料压碎值C60的混凝土为10%,C30-C60为20%,C30为C60的混凝土为5%,C30-C60为15%,C30为C60的混凝土为0.5%,C30-C60为1%,C30为C60的混凝土为0,C30-C60为0.5%,C30为C60混凝土为0.5,其它为1.0统一为1.0粗集料岩石抗压强度：火成岩80M
39、Pa，变质岩60MPa，水成岩30MPa。岩石的抗压强度与混凝土强度等级之比不应小于1.5。混凝土强度等级为C60及以上时应进行岩石抗压强度检验，其他情况下，如有必要时也可进行岩石的抗压强度检验。岩石的抗压强度与混凝土强度等级之比对于大于或等于C30的混凝土，不应小于2，其他不应小于1.5，且火成岩强度不宜低于80MPa，变质岩不宜低于60MPa，水成岩不宜低于30MPa。水的指标错误，应为可溶物外加剂适用规范（GB8076）外加剂适用规范（GB5019-2003）普通混凝土配合比设计按照现行行业标准JGJ55执行，对坍落度没有明确要求，改为在满足工艺要求的前提下，宜采用低坍落度的混凝土施工。
40、最大水灰比和最小水泥用量不再区分无筋混凝土和钢筋混凝土，其指标采用值与原规范钢筋混凝土取值相同取消了对混凝土的最短搅拌时间的具体要求，改为按搅拌机类别、容量及坍落度等进行最短搅拌时间的确定。泵送混凝土通过0.3mm筛孔的砂不宜少于15%，砂率宜控制在35%-45%之间泵送混凝土通过0.315mm筛孔的颗粒含量不应小于15%，通过0.160mm筛孔的含量不应小于5%高强混凝土指C60以上的混凝土高强混凝土指C50-C80混凝土水的PH值要求预应力混凝土为5.0，钢筋混凝土和素混凝土为4.5统一要求为5.0水的指标增加了不溶物，可溶物，氯化物，碱含量指标硫酸盐含量预应力混凝土为600mg/L,钢筋
41、混凝土为2000mg/L，素混凝土为2700mg/L统一为0.27mg/cm3(270mg/L)第8章桩基础明确要求桩基础开工前应制订专项施工技术方案、安全技术方案，环境保护方案挖孔桩孔口应设置高出地面不小于300mm的护圈挖孔桩进口围护应高出地面200-300mm桩基施工平台顶面高程要高于最高水位1.0m以上桩基施工平台顶面高程要高于最高水位0.5-1.0m.第7章预应力筋及其制作钢丝、钢绞线和螺纹钢筋钢丝、钢绞线和热处理钢筋、冷拉钢筋、冷拔低碳钢丝、精轧螺纹钢筋对预应力筋的拉伸试验中，应同时测定其弹性模量。对特大桥、大桥或重要桥梁工程中使用的钢丝、钢绞线和螺纹钢筋，进场时应按上述规定进行检
42、验；对预应力材料用量较少的一般桥梁工程，其预应力钢材的力学性能，可仅进行抗拉强度检验，或由生产厂提供力学性能试验报告。对镦头的强度不得低于钢丝强度标准的98%。增加挤压锚制作要求。增加预应力筋编束要求：每隔1-1.5M捆绑一次。对夹具的重复使用的次数不应少于300次。冷拉钢筋、冷拔低碳钢丝及制作锚具、夹具和连接器外观检查：应从每批中抽取2的锚具且不少于10套。外观检查：应从每批中抽取10的锚具且不少于10套原有检查用的“一套”，改成“1个零件”，同时增加夹片、锚孔锥面有锈蚀应逐套检查，对配套使用的锚垫板和螺旋筋可按上述该方法进行外观检查，但允许表面有轻度锈蚀。硬度检验：应从每批中抽取3的锚具且
43、不少于5套，对多孔夹片式锚具的夹片，每套至少抽取6片。原有检查用的“一套”，改成“1个零件”，硬度检验：应从每批中抽取5的锚具且不少于5套，对多孔夹片式锚具的夹片，每套至少抽取5片。对特大桥、大桥或重要桥梁工程中使用的锚具产品，应进行上述3项检查和检验，对锚具用量较少的一般中、小桥梁工程静载锚固性能试验合格的证明文件，则仅需进行外观检查和硬度检验。锚具的每个验收批不宜超过2000套；夹具、连接器的每个验收批不宜超过500套；获得第三方独立认证的产品验收批可扩大1倍。检验合格的产品，在现场的存放期超过1年时，再用时应进行外面检查。锚具、夹具应以不超过1000套组为一个验收批；连接器以不超过500
44、套组为一个验收批管道增加塑料波纹管。检验标准：预应力混凝土用金属波纹管(JG225)、预应力混凝土桥梁用塑料波纹管（JT/T529）。塑料波纹管每批数量应不超过10000m检验标准：预应力混凝土用金属螺旋管(JGT3013)合同规定使用塑料波纹管增加波纹管的搬运和存放要求（其中新增“应远离热源及可能遭受各种腐蚀性气体、介质影响的地方，存放时间不宜超过6个月”）合同有相关预应力钢材的搬运和存放要求（其中“任何受到损害或腐蚀的预应力钢材均不得使用”是新桥规没有的）相比下新桥规改动较大合同中增加“波纹管在安装前应通过1KN径向力的作用，且不变形，同时应作灌水试，以检查有无渗漏现象”合同增加相关工作混
45、凝土的浇筑增加用于判断现场预应力混凝土结构或构件强度的混凝土试件，应置于现场与结构或构件同环境、同条件养护。施加预应力增加对预应力筋张拉设备的要求。张拉设备重新标定的要求：使用时间超过6个月；张拉次数超过300次；使用过程中千斤顶或压力表出现异常现象；千斤顶检修或更换配件后。当千斤顶使用超过6个月或200次或在使用过程中出现不正常现象或检修以后应重新校验合同是千斤顶张拉超过6个月或200次要重新校准，任何时候在工地测出的预应力钢筋延伸量有差异时，也应进行校准；合同技术规范对压力表有比较细的要求先张法预应力筋张拉完毕后，其位置与设计位置的偏差应不大于5mm，同时不应大于构件最短边长的4%，且宜在
46、4h内浇筑混凝土。放张时不得低于设计的混凝土强度等级值的80，弹性模量应不低于混凝土28d的80%放张时不得低于设计的混凝土强度等级值的75持荷时间5min持荷时间2min后张法张拉时，构件的混凝土强度应符合设计要求，设计未规定时，不应低于设计强度等级值的80%，弹性模量应不低于混凝土28d的80%。张拉时，构件的混凝土强度应符合设计要求，设计未规定时，不应低于设计强度等级值的75%。张拉程序：持荷时间5min张拉程序：持荷时间2min精轧螺纹钢筋改成螺纹钢筋，相关张拉程序也有所改动梁的竖向预应力筋可一次张拉到控制应力，然后于持荷5min后测伸长和锚固；压浆张拉锚固后，48小时内完成压浆外加剂应与水泥具有良好的相容性，且不得含有氯盐、亚硝酸盐或其他对预应力筋有腐蚀作用的成份。减水剂应采用高效减水剂，且应满足现行国家标准混凝土外加剂（GB8076）中高效减水剂一等品的要求，其减水率应不小于20
