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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湖州南浔至
12、长兴姚家桥高速公路项目承包单位：山东省交通工程总公司 监理单位：温州市交通工程咨询监理有限公司浙江省交通厅工程质量监督站监制合 同 号： 六合同 编 号： SSZW-06-001 浙路（JB）103 分项工程开工报告上一步中间交工证书编号（如果有）：项目名称：建议开工日期年 月 日地点或桩号：计划完工日期年 月 日现场负责人：施工员质检员施工准备情况说明承包人： 年 月 日附 件序号名 称说明1标准试验审批表2工艺试验审批表3到场材料审批表4到场设备审批表5施工进度计划、工艺流程图6质量控制方法和手段7安全生产规程8重要施工技术措施9技术交底记录现场监理意见现场（专业）监理工程师： 年 月 日
13、审核意见驻地监理工程师： 年 月 日湖州南浔至长兴姚家桥高速公路项目承包单位：山东省交通工程总公司 监理单位：温州市交通工程咨询监理有限公司合 同 号： 六合同 编 号： SSZW-06-001 浙路（JB）118 进场设备报验单 年 月 日致总（驻地）监理工程师：下列施工设备已按合同规定进场，请你查验签证，准予使用。承包人（签名公章）： 年 月 日序号设备名称规格型号数量进场日期技术状况拟用何处备注致合同段项目经理部： 经查1、 性能、数量能满足施工需要的设备： （准予进场使用的设备） 2、 性能不符合施工要求的设备： （由承包人更换后再报的设备）3、 数量或能力不足的设备： （由承包人补充
14、的设备）4、 请你们尽快按施工进度要求，配齐、配足所需设备，保持适用设备的良好状态。监理工程师： 日期：注：本表由承包人填报。一般为一式三份。湖州南浔至长兴姚家桥高速公路项目承包单位：山东省交通工程总公司 监理单位：温州市交通工程咨询监理有限公司合 同 号： 六合同 编 号： SSZW-06-001 浙路（JB）117 建筑材料报验单 年 月 日监理工程师：下列建筑材料经自检试验符合本工程有关要求，报请验证，并准予进场使用。承包人： 年 月 日材料名称材料来源、产地材料规格用途（工程或部位）本批次材料数量试样数量抽检自检取样地点、日期试验日期、操作人试验结果材料（预计）进场日期致承包人项目经理
15、部： 现证明上述材料的取样、试验等是符合（不符合）规程要求的，经抽检复查试验的结果，表明这些材料，符合（不符合）本工程的有关要求，可以（不可以）进场在指定的工程部位使用。试验（材料）监理工程师： 日期：注：本表由承包人填报一式三份。湖州南浔至长兴姚家桥高速公路项目承包单位：山东省交通工程总公司 监理单位：温州市交通工程咨询监理有限公司合 同 号： 六合同 编 号： SSZW-06-005 浙路（JB）103 施工技术（工艺试验）方案报审单致监理工程师：现报上 浙江申苏浙皖高速公路六合同工程的 场地清理 施工技术（工艺试验）方案，请予审核和批准。承包人： 年 月 日附件：施工技术（工艺试验）方案
16、详细说明和图表。浙江省交通厅工程质量监督站监制专业监理工程师审查意见：审核人： 年 月 日驻地监理工程师审查意见：审核人： 年 月 日业主审查意见：审核人： 年 月 日注：1、特殊技术、工艺方案要公司工程部批准，一般的由驻地监理工程师批准；2、技术、工艺方案批准前是否要专家论证，由公司工程部决定；3、本表由承包人填报一式三份，公司、监理、承包人各存一份。场地清理施工方案一、 工程概况：本合同段共计场地清理内容： 公路用地范围及借土场地的清理、拆除和挖掘，以及必要的平整场地等有关作业。二、 前期准备：1、 排水：清理场地前，先挖好临时排水沟。2、 进场道路：本合同段便道与主要运输道路贯通，以便施
17、工机械进场作业。3、 机械安排：4、 人力安排：项目经理：房义营项目付总工：高永青质检科材料科工程科软基施工处：李志军粉喷桩施工队队 长：葛 放技术员：刘桂海三、 施工方案：测量放样：施工前确定现场工作界限，并保护所有规定保留和监理工程师指定的要保留的植物及构造物。开挖临时排水沟：在永久征地界内侧开挖临时排水沟，临时排水沟与沿线河塘、沟渠相互连通，以排除场地内积水及雨水。清理场地场地清理前将路基用地范围内的树木、灌木丛等砍伐或移植，砍伐的树木堆放在路基用地之外或妥善进行处理。采用推土机配合人工的方式清除路基范围内的垃圾、有机物残渣及原地面以下至少100300mm内的草皮、农作物的根系和表土，并
18、弃到指定的地点；场地清理完成后，测量其顶面高程并报监理工程师复测，同时绘制路基横断面图，以便计算实际路基土石方数量。路基用地范围及取土场范围内的树根应全部挖处，并将路基用地范围内的坑穴填平夯实。拆除与挖掘：对路基用地范围内的旧桥梁、旧涵洞、旧路面等其它障碍物在工程施工前应进行拆除，正在使用的旧桥梁、旧涵洞、旧路面及其它排水结构物等，应在对其正常交通和排水做出妥善的安排之后，再进行处理。原由结构物的下部结构应拆除到天然河床底部以下300mm，其在河床以外部分至少拆除到地面以下500mm，如其整个部分或部分处于新建结构物的界限之内时，则应拆除到使新建结构物施工不受影响的范围。拆除原有结构物或障碍物
19、需要进行爆破或其它作业有可能损伤新结构物时，必须在新工程动工之前完成。所有指定为可利用材料，都应避免不必要的损失。为了便于运输，按监理工程师指定的地点存放；对于废弃材料，按监理工程师的指示自费妥善处理。将所有因拆除施工造成的坑穴回填并压实。由于拆除施工造成的其它建筑物、设施等的损坏，自费负责修复或赔偿。进行填前掺灰夯实、碾压。对于局部低洼地段发现的不适宜材料，采用挖掘机人工配合加以清除，直至满足规范要求的较好土质为准。在清除过程中所产生的洞穴用透水性较好的材料回填(或以监理工程师指定为准)，并按要求分层压实。 四、 重要施工技术措施：1、采用功率 推土机，功率 挖掘机，确保工作保质、保量完成。
20、2、场地清理完后，全面进行填前碾压，使其密实度达到规定要求。3、施工前测量放样确定现场工作界限，场地清理拆除及回填压实后，重测地面标高，并将填挖断面和土石方调配图提交监理工程师审核。五、 质量标准：路基范围内的垃圾、有机物残渣及原地面以下至少100300mm内的草皮、农作物的根系和表土，并弃到指定的地点。路基用地范围及取土场范围内的树根应全部挖处，并将路基用地范围内的坑穴填平夯实。原由结构物的下部结构应拆除到天然河床底部以下300mm，其在河床以外部分至少拆除到地面以下500mm，如其整个部分或部分处于新建结构物的界限之内时，则应拆除到使新建结构物施工不受影响的范围。六、质量保证措施：（1）图
21、纸会审：由总工程师主持，施工处、工程科、质检科参加设计文件会审，明确工程质量要求，发现设计问题及时上报，对返回的设计问题的答复和设计变更应立即由工程科组织上述人员进行学习、贯彻并存档。（2）技术交底：工程科向各施工队队长进行技术交底，施工队长向各工种工人进行分类技术交底，使各工种工人明确职责和技术要求，加强全员质量意识，努力把好质量关。（3）事前控制：施工适用图纸、施工顺序、质量要求、施工方案等应按设计要求，在各分部工程开工前上报监理工程师。（4）事中控制：施工时每台钻机配备专人记录及管理，对施工中的各个环节认真检查，发现问题及时纠正。工作交接和质量互检制度，各施工队对工程质量应进行自检，交接
22、班时两施工队进行书面互检（在施工日志里反映出来），认为上道工序不符合质量要求的接班方有权拒绝接收，并由原施工队立即进行返修、纠正，直至达到质量要求。接收方认为上班合格的则由双方施工队长在对方施工日志中相关栏签字确认。（5）事后控制：坚决杜绝不合格品的出现。（6） 建立资料分层审核制度：施工及测量原始记录的计算部分必须有第二人进行复核并签字，以防差错。（7）各部门、各施工队负责人、技术人员每天碰头，研究解决工程质量中的“多发病”和“疑难病”，找出病因，提出对策付诸实施。六、安全生产规程：1、贯彻 “安全第一，预防为主，教育开路，制度确保”的方针，坚决杜绝人为重大事故。严格遵守安全技术操作规程。2
23、、编制分部、分项工程技术交底书，定期进行安全教育，及时纠正任何不安全的工作条件或工作方式，确保安全施工。3、施工人员进入施工现场工作时必须按规定佩戴安全帽、高空作业系好安全带，穿好防滑靴。4、未经许可不得擅自进入危险工作地，未经许可不得擅自拆除设备上的安全防护装置，非操作人员不得擅自操作机械设备。5、施工人员必须服从安全管理员的领导。6、夜间施工应有足够的照明。遇有不良天气停止桩机作业，并将导管嵌入水中，雨季施工有防雷措施。七：环保措施：（1）在施工期间应始终保持工地的良好排水状态，要设置临时排水沟。施工表面应有横坡，保证路基无积水。（2）建立废旧物品回收、保留和处理制度，施工过程中的废弃物，
24、要在工程完工时即时清除干净。（3）施工期间，施工物料应堆放整齐。（4）施工机械要防止严重漏油，禁止机械在运转中产生的油污水与维修施工机械时的油污水，未经处理就直接排放。（5）尽量控制机械作业所产生的噪音、废气等的污染。夜间作业在靠近民居处，尽量不安排有噪音、振动的工序施工，避免噪音、振动干扰居民。八：工艺流程图： 质量管理组织机构框图塑料排水板施工队队长： 葛放质检员：朱振剑机料科科长：张建华科长工程科科长：刘守同科长试验室主任：刘清顺科长质检科长：王启波全面质量管理领导小组组长：房义营副组长：高永青mix carefully, 30 min at 60 c water bath for he
25、ating and cooling. Slowly along the tube wall and l0 mL ethanol solution of potassium hydroxide, which makes two liquid layers, stuffed, shaking violently mixed and placed 10min. 1cm Cuvette, reagent blank zero, and 440nm wavelength absorbance measurement. 5, results of calculationsaAcid, shake care
26、fully 5min, began to shake when deflated. Static hierarchy, discard sulfate layer, add 50 mL of sulfuric acid repeat treatment once. the benzene layer is moved into another separatory funnel, washed three times with water, and then by the dehydration of anhydrous sodium sulfate, collected with a gla
27、ss distillation apparatus distillation distillation liquid. Dinitrophenylhydrazine solution: weigh 50mg 2-4 one or two Nitrophenylhydrazine, l000mL solution in benzene. Trichloroacetic acid solution: weigh the 4 solid three acid 3 g, plus 100mL benzene dissolved. Ethanol solutions of potassium hydro
28、xide: weigh 4 g of potassium hydroxide, and refining ethanol 100 mL dissolve, cold dark night-get upper clear fluid. Solution Brown should be prepared again. 3, instruments spectrophotometer. Precision weighing about 0.025g0 4, analysis steps. Placed in a 25mL bottle of 5 g sample, plus benzene diss
29、olved sample and dilute to scale. Lessons learned 5.0 mL, placed in a 25 mL test tubes, plus 3mL TCA solution and 5 mL2,4-Dinitrophenylhydrazine solution, shake and mix carefully, 30 min at 60 c water bath for heating and cooling. Slowly along the tubemanipulator control mode and programmable contro
30、llers 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 old-fashioned, simple (or simple) industrial equ
31、ipment. 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 reforming the system with equipment improvements. Spr
32、ing 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 advantages: (1) each of the hardware can be instal
33、led 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 (referred to as IPC); (2) Distributed Control System (D
34、CS 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 computer. The men brought in terms of hardware there, u
35、sing 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 virtual model, real-time and in computational requirem
36、ents. 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 distributed control system in analogue handling
37、, 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 main use in the work order control, early primary
38、 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 microelectronics processing technology will be used in the Programmable Logical Controller (that is
