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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通启高速公
12、路TQ-11标 南京市交通工程总公司通启高速公路工程TQ-11标二灰碎石底基层施工作业指导书通启高速公路TQ-11标项目经理部二三年四月in hot water. After cooling to room temperature, add 2-3 drops of phenolphthalein indicator solution, based on standard titration solution of potassium hydroxide (0.05mol/L) Titrate first reddish, and do not fade in the 0.5min is th
13、e ending point. If there is no standard solution of potassium hydroxide, use the timed drops of sodium hydroxide solution, multiplies the ratio still 56.11.aM-weighing oil-like quality, measured in grams (g) 56.11-standard volumetric solution of potassium hydroxide and 1.0mL c (KOH) =1.000 mol/L qui
14、te a number of milligrams of potassium hydroxide. Results to two significant figures. 6, precision under repeatability conditions to obtain the absolute value of the difference of two independent measurement of results will be more than the arithmetic mean of 10% peroxide value GB19300, peroxide val
15、ue, 1 titration GB/T5009.37 4 2 1, principles of oxidation of fats peroxide, potassium iodide, generates free iodine by titration with sodium thiosulfate solution du, calculate content. 2, agents saturated potassium iodide solution: weigh 14g Ki plus 10mL water solution and, if necessary, micro heat
16、 make it dissolve, cooled and stored in a Brown bottle. Chloroform a mixture of glacial acetic acid: volume 40 mL trichloromethane, Lewis acid with 60 mL ice and shake well. Titration with sodium thiosulfate standard c (Na2S2O3) =0.0020mol/L. Starch indicator (10 g/l): soluble starch weighing 0.50,
17、add a little water, tune into a paste, add 50mL in boiling water and mix thoroughly and boil. Pro available now match. 3, sample analysis steps process:manipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control re
18、lays 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 equipment. So he can see them now, however these two control modes (relay and discrete electronic circu
19、its) 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. Spring for the development of Chinas modern industrial automation technology the substantial increase i
20、n 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 installed on one or more microprocessors; (2) the official designer of the software writing content contro
21、l 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 (DCS for short), and (3) the Programmable Logical Controller (PLC for short). 2.1.2 PLC and the IPC an
22、d 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, using a high level of standardization, can use more compatibility tools, is a rich software resources
23、, 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 requirements. Distributed system started with a control system for industrial automatic instrument used to c
24、ontrol, 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, loop control, has begun to reflect the use of a huge advantage. Though distributed system has grea
25、t 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 is replaced relay this hulking system, focused on the switch controlling the running order of funct
26、ions. 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第 7 页 二灰碎石底基层施工作业指导书一、 工程概况(一) 概述通启高速公路是江苏省规划建设的公路主骨架“四
27、纵、四横、四联”的重要组成部分，地处江苏省沿海的结合地区。通启高速公路的建设对促进江苏省沿海沿江地区经济的发展、完善高速公路网，减轻南通市过境交通压力，改善和提高南通港群的集疏条件，推动海洋经济发展，建设海上苏东具有重要意义。 通启高速公路（南通至海门段）路面工程TQ-11标桩号117+130.197K139+900，长22.77公里，采用全封闭、全立交的四车道高速公路标准建设，设计行车速度120Km/h，主线桥涵设计荷载标准为汽-超20级，挂-120。(二) 工程特点 底基层采用二灰稳定碎石结构，以碎石组成骨架，石灰、粉煤灰作为填充结合料，组成一相互嵌挤密实的结构。首件工程的实施，本着创精品
28、树典型的宗旨，将为下一步全线的开工创造条件。(三) 材料本标段的所有材料(除甲供材外)均采用公开招标的方式进行采购。在保证质量的前提下超前进行备料，保证材料的充足性，以保证工程的顺利进行。二、 施工方案及方法(一) 准备工作1、 施工材料(1) 材料检验所有原材料均由工地试验室按规范标准严格检查。进料前详细调查料场的地质情况和材料属性，各种材料必须经试验室检验合格后报监理审批后，方可进场。采购的不合格材料，一律不准进场，进场后发现不合格立即清除出场。A、 碎石进行压碎值、筛分、针片状含量、液塑限等试验。要求各碎石按比例掺配后的级配符合设计要求，粗集料的压碎值不大于30%，针片状含量不大于15%
29、，集料中小于0.6mm的颗粒的液限小于28%，塑性指数9。B、 石灰进行石灰的有效钙镁含量、未消解残渣含量试验。要求生石灰的有效钙镁含量不小于70%(或消石灰的有效钙镁含量不小于55%)，未消解残渣含量不大于17%。C、 粉煤灰进行SiO2+Al2O3+Fe2O3的总含量、烧失量和细度试验。要求SiO2+Al2O3+Fe2O3的总含量大于70%，烧失量小于20%，比表面积大于2500cm2/g（或90%通过0.3mm筛孔，70%通过0.075mm筛孔）。(2) 材料堆放各种材料进行明确标识，严格按照贯标程序进行，确保材料的可追溯性。堆放时采用隔墙隔开，以免混淆。对于细集料和粉煤灰容易吸水的材料
30、堆高并准备防雨油布，以备下雨时覆盖，避免因材料的含水量过大，降低正常的使用而造成材料的不必要浪费和混合料的含水量的波动，影响正常施工和混合料质量。(3) 材料计划根据配合比计算出各种材料用量，按照工程进度计划出材料用量及进场时间，确保各种材料的及时供应。2、 施工机具(1) 施工机具配备的原则项目经理部将按工程量和工期的要求投入配备齐全的二灰碎石施工机具和必要的零配件，常规设备考虑安排最大使用量的130%，以保证工程按期优质完成。施工中运输车辆不足时，考虑租用社会车辆。(2) 设备的维护和管理A、认真做好设备的维护、保养和试机工作，提高设备的完好率、利用率。保证施工的顺利进行。B、项目经理部将
31、统一配备较强的修理力量，保证机具一旦出现故障，能及时修复，从而不影响施工进度。C、对机械设备及时保养、检修，消除隐患，保持设备的清洁，使设备处于良好的状态，随时保证工程的正常施工。D、机安科负责对设备进行定期和不定期的检查，及时了解机械设备的状态，制定严格的上岗制度，并落实到每个机械操作手。E、所有机械设备必须经过检修，确认完好后，才能投入使用。3、 测量放样在试验段施工的前一天，由我部测量组进行实地放样，采用前进方向10m一个断面，曲线段上5m一个断面,每个断面设右1.5m、右7.375m、右13.25m三点控制高程。在右0.25m和14.50m处钉50cm长带支架的钢钎，分别控制右1.5m
32、、右13.25m点的高程。由两台摊铺机阶梯铺筑，使在路基边的一台摊铺机先行。为保证运料车进出不影响高程点的控制，在右6.675m处采用带托槽的支架控制右7.375m处的高程。在钢钎及托槽支架上使用6m长铝合金型材，型材为10044mm。摊铺机传感器放在铝合金型材上前进，主要控制型材上表面高程。松铺系数暂定1.30，通过试铺施工后再确定正式施工时的松铺系数。在摊铺机铺完的段落上，由测量组对铺筑后的高程及时进行复测，待碾压完毕后，再次进行复测。4、 对路基的检查(1) 外观检查对路基的顶面高程、中线偏位、宽度、横坡度、平整度进行检查。(2) 内在质量检查对路基的内在质量（包括沉降检查），我部依靠路
33、基标监理单位的检测报告来判断其合格情况。(二) 二灰碎石底基层施工1、 拌和控制我部使用WCB-500型和WCB-300型的稳定土拌和楼各一台进行拌和生产，生产能力可达800T/H，两台拌和楼生产状况良好，具有连续性好，混合料质量稳定，机械性能完好率高、计量精确等特点，符合正常生产的一切条件。拌和时采用6台50型装载机连续、稳步地上料。在拌和楼生产第二盘混合料时，试验室取样进行含水量、灰剂量、集料筛分的测定，测定后的结果及时反馈到拌和楼。如需调整，立即进行。在生产30分钟后取样，进行强度、级配、含水量、灰剂量试验。2、 摊铺控制使用两台WTU75D型摊铺机，摊铺宽度6.5m/台，两台摊铺机熨平
34、板振级相同，使用3.0级，摊铺速度采用1.5m/min。3、 碾压控制碾压设备采用：12T双钢轮1台，静压1遍，速度1.5km/h；三一重工（45T）振动2台，各振一遍，速度1.51.6km/h；大胶轮（26T），碾压2遍，速度2km/h。由路基边到路基中，碾压重叠宽度为1/2轮宽，碾压长度控制在60m。严格控制碾压时的含水量，在比最佳含水量略高时开始碾压。4、 养生在碾压完毕后的第二天开始洒水养生，保持二灰碎石底基层表面潮湿。在养生期间，除洒水车外，应封闭交通。(三) 具体要求1、 混合料拌和拌和机出料配备待活门漏斗的料仓，由漏斗出料直接装车运输，装车时车辆前后移动，分前、中、后三次装料，以
35、避免混合料离析。2、 混合料运输运输车辆每天检查其完好情况，装料前将车厢清洗干净。运输车辆的数量必须满足拌和出料与摊铺数量的需要，并有富余。3、 混合料摊铺（1） 摊铺前将路基适当洒水湿润。（2） 调整好传感器臂与导向控制线的关系；严格控制底基层厚度和高程，保证路拱横坡度满足设计要求。（3） 混合料摊铺机采用两台摊铺机梯队作业，一前一后保持速度一致，摊铺厚度一致，松铺系数一致，路拱坡度一致，摊铺平整度一致，振动强度一致，两摊铺机接缝平整。（4） 摊铺机螺旋布料器要有2/3埋入混合料中。（5） 摊铺机后面设有专人负责对局部离析部位进行处理。4、 混合料碾压（1） 稳压要充分，振压不起浪、不推移。
36、压实时先稳压开始轻振动碾压再重振动碾压最后胶轮稳压，压后无轮迹为止，碾压完成后用灌砂法检测压实度，如达不到要求，继续碾压，直至合格为止。（2） 压路机碾压重叠1/2轮宽。（3） 压路机倒车换档要轻且平稳，不要拉动底基层混合料，再第一遍初步稳压时，倒车后尽量原路返回，换档位置应在以压好的段落上，在未碾压的一头换档倒车位置错开，出现个别拥包时，专配工人进行铲平处理。（4） 压路机停车要错开，而且离开至少3m远，最好停在已碾压好的路段上，以免破坏底基层结构。（5） 严禁压路机在已完成的或正在碾压的路段上调头或急刹车，以保证二灰碎石层表面不受破坏。（6） 为确保二灰碎石底基层的边缘强度，采用土培临时路
37、肩，具体尺寸为上口20cm宽，下口3540cm宽的梯形断面。（7） 横缝处理。如压实层末端未用方木作支撑处理，在碾压后末端成一斜坡，则在第二天开始摊铺新混合料之前，应将末端斜坡挖除，并挖成一横向（与路中心线垂直）垂直向下的断面。挖出的混合料加水到最佳含水量拌匀后再使用。(四) 二灰碎石底基层施工关键点1、 拌和时严格控制碎石的最大粒径和颗粒组成，以确保混合料的配合比准确。2、 进行拌和操作时，稳定料加入方式保证其自始自终均匀分布于被稳定材料中，在通向称量漏斗或拌和机的供应线上为抽取试样准备安全方便的设备；及时清除拌和机内死角处得不到搅拌的材料。3、 用于控制摊铺机摊铺厚度的控制线的钢丝拉力大于
38、800N。4、 调整好传感器臂与导向控制线的关系；严格控制底基层厚度和高程，保证路拱横坡度满足设计要求。5、 车辆在装料时保持装载高度均匀，防止离析；在向摊铺机卸料时不得撞击摊铺机，卸料要匀速缓慢。6、 摊铺时随时检查摊铺层得厚度和横坡，不符合要求时根据铺筑情况即使调整。摊铺混合料时必须均匀、连续地摊铺。7、 碾压过程中，严禁压路机在已完成的或正在碾压的路段上调头或急刹车，以保证二灰碎石层表面不受破坏。8、 雨季施工时，要特别注意天气变化。降雨时停止施工，已摊铺地混合料尽快碾压密实。(五) 质量通病防治措施1、 严格控制灰剂量。2、 拌和机的投料要准确，在投料运输带上定期取样检查各料仓的投料数量。3、 拌和必须均匀，成品料装车时分前、中、后装料，避免粗细集料离析现象。4、 严格控制含水量，在最佳含水量+1%的范围时及时碾压，一次性碾压至要求的密实度。5、 严禁用贴补的方法找平，如局部低洼采用翻松、添加新鲜混合料重新碾压。6、 加强养生工作，在养护期内保持二灰碎石基层始终保持表面潮湿。
