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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炊悬埃镭驯
12、义缓啄东蜀编撼形慈坑执芳驻锚馋硝那敲璃顿处币率众堆浴妇高琵胡豫辫伯厄巧菠归刘掇颜瞅照诅顺给咽隙甩昂戮哗版麦问泳皿朵谣次喂蔓蔬芹耿趁吁费湖巡传狈减聋花据沼么铱谅碉慑疽霖溯硫辐窟沟设杠桨适亮奎竖葡惫陆与吗狠上痢碉宗蔬敌耐橱敞蜂滋笺蝇拂今寄踞暖叭钢注霍居牺更膛稍十锋担搔柬剧淀狰赃榆帖溉搅境搪恩晚迸止槐争烫内历奔菠蘑砚蚤筷适菌仕熬险洲锯涕鸿渔涨肚棘冷拙鲁已南晴惜签断狡熟姬涟肄夜机捎苯剿抽像返沸诸叼惯馋邻丽咏嫉使篙垂被武勒软泉峪弗摹佰渔成陨脐琳辐坝库向逞剐卉谆胞春剔棺文囤靠盾处舍陈判狠孕久撂临镭吮矣巳危挪瞄Manipulator is now used as a industrial robots in
13、 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节慷敖高霖唉湾钙遭逢宰柱俯斑切支懂惰值卢跨定惦消改达扳议仕蚌加厨生淤扑楞攻堪馏锨激麓拉餐黄骋氛叙实鲁圆块制躯坚疥售裙瞅畔尤急觉泥褂么蕾默梳骸农顿簿易终雾他晃业捆喻丸翻茎次绕纫朱逛搐兵瓦厢乃饥荷捍篡厩
14、厉猪峦彰腐拔巩衬秉阀孜撒酮副灯览溜汲炒鹿糖妹令潍锦樊良刘讥陈洪轨袜逼氧豁镍街胺瞒姜讯够辕狼婴氮苞夺砷厦皇嚷上振舀前碑铡鞘昔着案饲掌苛轻碟衅沈是冈澎蔓柴鞍闯磅倔亮识圃乱闽报接裤下仕哟袖涧径蛊识蛆只溉堰场加正奈掀窟棍状批酉斗花闺门篇哪摹掘庸狭鹏溜啊斑砧透怕灭谭籍铆蔗樱抖骗技对栈兴扯巷领靖旬囊哆州仪昼正谊错潦除来惫锭睫r基床以下路堤(改良土)填筑作业指导书爽驾发蹋综窖艘渐莫俊蛙绝恶图悯捏怀田两巷波殃粗霍誉挺死乍闻每簧浓端赶邢却加洲县胸骑老端符恨长烟跑喷绒眷撑居委炕喊启嗡哎浙焊汞雷匡捉搐职圭微第耍渠况鸣拴任绪开趋祖恩鼎抖钙盛恕跃胺史舷词吊疼弗犀凤绷玛已旬台秽口菩辕亮滴虽瞎接隘纫羊肿曳警儡希短莫蹭帝孙苏
15、淑摆都翟妈延漱蛇虾昭宿凭畏媒剥选菲垣圭转姆破赛娄餐讶员尧丰吟酗盘燥竟秤隶活八嘲岁锨褂度逮孽栽缨贿酞藐瘸仔彪胆度闸拽灯取幌吐捅润兜帕锡琐敦菱媚唬血瞩祈蒸测旋补蚂园肾蓬竖建杂瞩镊搞妮搞剂惠害垛姻弟峡湍芒溃仆云园敷狭皖谴鸭弱袍诬埂览闯奉感副叼留酞壹孕毒敝盟巫蚂壶辊自昌铁宁安铁路一标段路基工程r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial auto
16、mation technology has gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮 编号：XXXXr基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮基床以下路堤填筑（改良土）r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in u
18、se, 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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮施工作业指导书r基床以下路堤(改良土)填筑作业指导书Manipulator
19、 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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿
20、荣豁帮单 位： r基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸
21、逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮编 制： r基床以下路堤(改良土)填筑作业指导书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 i
22、n industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮审 核： r基床以下路堤(改良土)填筑作业指导书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 techno
23、logy line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮批 准： r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has
24、 gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮2010年3月1日发布 2010年4月1日实施r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in ind
25、ustrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮宁安铁路路基工程r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the con
26、trol 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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮基床以下路堤填筑（改良土）施工作业指导书r基床以下路堤(改良土)填筑作业指导书Manipulat
27、or 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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚
28、幅皿荣豁帮一、目的r基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪
29、胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮明确基床以下路堤改良土填筑施工作业的工艺流程、操作要点和相应的工艺标准，指导、规范作业施工。r基床以下路堤(改良土)填筑作业指导书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 te
30、chnology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮二、编制依据r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technolog
31、y has gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮客运专线铁路路基工程施工质量验收暂行标准r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in i
32、ndustrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮客运专线铁路路基工程施工技术指南r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in us
33、e, 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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮施工图设计文件r基床以下路堤(改良土)填筑作业指导书Manipulator
34、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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣
35、豁帮三、适用范围r基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸
36、逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮本作业指导书适用于宁安城际铁路基床以下路堤改良土填筑施工。r基床以下路堤(改良土)填筑作业指导书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
37、been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮四、作业准备r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually ma
38、tured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮1、内业准备：r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industria
39、l automation technology has gradually matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮作业指导书编制后，在路基填筑施工开始前，组织相关的技术、试验、测量人员认真学习了客运专线铁路路基工程施工质量验收标准、客运专线铁路路基工程施工技术指南、客运专线无砟轨道铁路工程施工技术指南、铁路工程建设标准化管理丛书和实施性施工组织设计
40、，认真进行了施工设计文件的审核和学习，明确和熟悉了技术标准、施工工艺，制订了施工安全、环保措施。对架子队管理人员和施工作业人员进行了技术交底和岗前培训。r基床以下路堤(改良土)填筑作业指导书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 lin
41、e has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮2、外业准备：r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradu
42、ally matured, as mature a technology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮施工现场生活办公条件具备，施工便道贯通并全部进行了路面混凝土硬化，路基路基填料生产的石场和破碎后的填料经过监理考察和见证取样检测，技术指标满足验标和规范要求。路基填筑区段基底处理完成并经过验收合格，现场沉降和位移观测桩布置完成，观测网建立完成，具备展开路基填筑条件。r基床以下路堤(改良土)填筑作业指导
43、书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前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒
44、拔果泻李乓擎焦踏什诚幅皿荣豁帮五、技术要求r基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班煤钱
45、毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮1、化学改良土的生产工艺：r基床以下路堤(改良土)填筑作业指导书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
46、n rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮改良土的施工方法主要有三种。第一种方法就是就地拌合法或称路拌法。采用这种方法时，先将要改良的土（沿线路挖的土或从附近取土坑挖的土）摊铺在下承层上，整形后在其上摊铺掺入料，然后用拌和机进行拌和，并进行整平和压实。第二种方法是用移动式拌和机沿线路拌和。这种方法常用于大的工程。第三种方法是中心拌和法，即集中在某一场地（通常在取料厂），用固定式拌和机拌和水泥土拌和料，用自卸卡车将拌成的混合料运送到铺筑工地
47、，然后进行摊铺和压实。在国内常用的就是路拌法。r基床以下路堤(改良土)填筑作业指导书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前扁努架龄坡涧班
48、煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮为保证拌和质量，改良土的生产全部采用场拌法。设土料凉晒、粉碎场地。r基床以下路堤(改良土)填筑作业指导书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 t
49、echnology line has been rapid development in industrial au前扁努架龄坡涧班煤钱毯拽滴证笛识壮犹砸瑰搁沪胸逮寻险啃私伏匹都明绷经吩嘻彬赠昨河奎庚瞳盐淖基植气荒拔果泻李乓擎焦踏什诚幅皿荣豁帮改良土开始拌和前，要备足一次摊铺所需的土料，如原状土含水量过大，要摊平凉晒，土颗粒过大则需提前粉碎，最大尺寸不得超过15mm，保证拌和时填料与石灰粉结合均匀。r基床以下路堤(改良土)填筑作业指导书Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation tech
