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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广东省20
12、06定额说明及工程量计算规则（安装部分）20mL30mL water washing tapered bottle and the residue, merged filtrate Yu measuring arsenic tapered bottle in the, makes general product about for 50ml around. 38.1.2 vegetables and fruits: weighing 1.00g10.00g into homogenized or chopped into powder sample, reset the 100mL with
13、an Erlenmeyer flask add equal amounts of concentrated hydrochloric acid, add 10mL20mL hydrochloric acid solution, according to 38.1.1 for 70 c water bath. action according to law. 38.1.3 meat and seafood: weighing .d M1-quality of samples for the determination of arsenic in the solution, in microgra
14、ms (g g); M2-of arsenic in the reagent blank quality, measured in micrograms (g g); M3-mass or volume of the sample, expressed in grams or milliliters (mL or g). Results to two significant figures. 40 precision under repeatability conditions obtain the absolute value of the difference of two indepen
15、dent test results shall not exceed the arithmetical average of the 10%. Section I of the seventh chapter of food testing in aquatic products and testing of dried seafood seafood and aquatic senses sensory identification of differential diagnosis when the quality of aquatic products and its products,
16、 mainly through the cuticles, fresh levels, colour, odour, fleshy flexibility and cleanliness of sensory evaluation. For aquatic products, first of all is to watch how fresh it, does have a certain life, followed by the appearance of integrity, notice that there are no injuries, able to fall off, se
17、parated; again, is to observe the health and cleanliness of the body surface, that is, free from dirt and impurities. Then its color, smell its scent, ifmanipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control r
18、elays 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 circ
19、uits) 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
20、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 installed on one or more microprocessors; (2) the official designer of the software writing content contr
21、ol 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 a
22、nd 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 resource
23、s, 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
24、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, loop control, has begun to reflect the use of a huge advantage. Though distributed system has gre
25、at 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 func
26、tions. 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 is143目 录C.1机械设备安装5册说明5C.1.1切削设备安装6C.1.2锻压设备安装7C.1.3铸造设备安
27、装8C.1.4起重设备安装9C.1.5起重机轨道安装9C.1.6输送设备安装10C.1.7电梯安装10C.1.8风机安装及拆装检查12C.1.9泵安装及拆装检查13C.1.10压缩机安装14C.1.11工业炉设备安装15C.1.12煤气发生设备安装16C.1.13附属设备安装及灌浆17C.1.14橡胶制品加工机械设备安装19C.1.15医药加工机械设备安装20C.1.16其他机械安装21C.2电气设备安装工程22册说明22C.2.1变压器23C.2.2配电装置24C.2.3母线、绝缘子25C.2.4控制设备及低压电器26C.2.5蓄电池27C.2.6电机28C.2.7滑触线装置29C.2.8电
28、缆31C.2.9防雷及接地装置32C.2.1010kV以下架空配电线路35C.2.11配管、配线37C.2.12照明器具39C.2.13电梯电气装置42C.2.14电气调整试验45C.3热力设备安装工程46册说明46C.3.1中压锅炉设备安装46C.3.2汽轮发电机设备安装55C.3.3燃料供应设备安装59C.3.4冲渣、冲灰设备安装62C.3.5水处理专用设备安装63C.3.6炉墙砌筑65C.3.7工业与民用锅炉安装67C.4炉窑砌筑工程71册说明71C.4.1专业炉窑72C.4.2一般工业炉窑74C.4.3不定型耐火材料76C.4.4辅助项目77C.5静置设备与工艺金属结构制作安装工程78
29、册说明78C.5.1静置设备制作工程78C.5.2静置设备安装工程80C.5.3设备压力试验与设备清洗、钝化、脱脂83C.5.4设备制作安装其他项目84C.5.5金属油罐制作安装85C.5.6球形罐组对安装87C.5.7气柜制作安装88C.5.8工艺金属结构制作安装88C.5.9综合辅助项目90C.5.10铝制、铸铁及非金属设备安装工程91C.6工业管道工程91册说明91C.6.1管道安装93C.6.2管件连接94C.6.3阀门安装95C.6.4法兰安装95C.6.5板卷管制作与管件制作96C.6.6管道压力试验、吹扫与清洗96C.6.7无损探伤与焊口热处理97C.6.8其他98C.7消防安装
30、工程98册说明98C.7.1火灾自动报警系统安装99C.7.2水灭火系统安装100C.7.3气体灭火系统安装103C.7.4泡沫灭火系统安装104C.7.5其他防火设施安装105C.7.6消防系统调试105C.8给排水、采暖、燃气工程106册说明106C.8.1管道安装107C.8.2阀门、水位标尺安装108C.8.3低压器具、水表组成与安装108C.8.4卫生器具制作安装109C.8.5供暖器具安装110C.8.6小型容器制作安装110C.8.7燃气管道、附件、器具安装110C.8.8庭园喷灌及喷泉水设备安装111C.9通风空调工程112册说明112工程量计算规则112C.9.1薄钢板通风管
31、道制作安装113C.9.2调节阀制作安装115C.9.3风口制作安装115C.9.4风帽制作安装116C.9.5罩类制作安装116C.9.6消声器制作安装116C.9.7空调部件及设备支架制作安装117C.9.8通风空调设备安装117C.9.9净化通风管道及部件制作安装118C.9.10不锈钢板通风管道及部件制作安装118C.9.11铝板通风管道及部件制作安装119C.9.12塑料通风管道及部件制作安装119C.9.13玻璃钢通风管道及部件安装120C.9.14复合型风管制作安装120C.10自动化控制仪表安装工程120册说明120C.10.1过程检测仪表121C.10.2过程控制仪表安装调试
32、122C.10.3集中检测装置及仪表装置安装调试124C.10.4集中监视与控制装置安装调试126C.10.5工业计算机安装与调试127C.10.6.钢管敷设129C.10.7工厂通讯、供电安装调试130C.10.8仪表盘、箱、柜及附件安装131C.10.9仪表附件安装制作131C.11刷油、防腐蚀、绝缘工程132册说明132C.11.1除锈工程132C.11.2刷油工程135C.11.3防腐蚀涂料工程135C.11.4手工糊涂衬玻璃钢工程136C.11.5橡胶板及塑料衬里工程136C.11.6衬铅及搪铅工程136C.11.7喷镀(涂)工程137C.11.8耐酸砖、板衬里工程137C.11.9
33、绝热工程137C.11.10管道补口补伤工程138C.11.11阴极保护及牺牲阳极138C.13建筑智能化系统设备安装工程139册说明139C.13.1综合布线系统工程140C.13.2通信系统设备安装工程140C.13.3计算机网络系统设备安装工程141C.13.4建筑设备监控系统安装工程142C.13.5有线电视系统设备安装工程142C.13.6扩声、背景音乐系统设备安装工程143C.13.7电源与电子设备防雷接地装置安装工程143C.13.8停车场管理系统设备安装工程144C.13.9楼宇安全防范系统设备安装工程144C.13.10住宅小区智能化系统设备安装工程144C.1机械设备安装册
34、说明1.0.1广东省安装工程综合定额（2006）第一册机械设备安装工程(以下简称本定额)适用于新建、扩建及技术改造项目的机械设备安装工程。1.0.2本定额若用于旧设备安装时,旧设备的拆除费用,按相应安装定额的50%计算。1.0.3本定额主要依据的标准、规范有:1.0.3.1机械设备安装工程施工及验收通用规范GB50231-98；1.0.3.2金属切削机床安装工程施工及验收规范GB50271-98；1.0.3.3锻压设备安装工程施工及验收规范GB50272-98；1.0.3.4铸造设备安装工程施工及验收规范GB50277-98；1.0.3.5压缩机、风机、泵安装工程施工及验收规范GB50275-
35、98；1.0.3.6制冷设备、空气分离设备安装工程施工及验收规范GB50274-98；1.0.3.7起重设备安装工程施工及验收规范GB50278-98；1.0.3.8连续输送设备安装工程施工及验收规范GB50270-98；1.0.3.9电力建设施工及验收技术规范(汽轮机组篇)DL5011-92；1.0.3.10电力建设施工及验收技术规范(锅炉机组篇)DL/T5047-95；1.0.3.11化工机器安装工程施工及验收规范(通用规定)HGL203-83；1.0.3.12化工机器安装工程施工及验收规范(对置式压缩机)HGJ204-83；1.0.3.13化工机器安装工程施工及验收规范(离心式压缩机)H
36、GJ205-92；1.0.3.14化工机器安装工程施工及验收规范(中小型活塞式压缩机)HGJ206-92；1.0.3.15化工机器安装工程施工及验收规范(化工泵用)HGJ207-83；1.0.3.16机械产品目录(1996年)；1.0.3.17广东省施工机械台班费用定额(2005)；1.0.3.18广东省安装工程单位估价表(1989)；1.0.3.19全国统一安装工程预算定额(GYD-201-2000)；1.0.3.20广东省安装工程综合定额（2002）。1.0.4本定额除各章另有说明外,均包括下列工作内容:1.0.4.1安装主要工序:施工准备，设备、材料及工、机具水平搬运,设备开箱、点件、外
37、观、检查、配合基础验收、铲麻面、划线、定位、起重机具装拆、清洗、吊装、组装、连接、安放垫铁及地脚螺栓，设备找正、调平、精平、焊接、固定、灌浆、单机试运转。1.0.4.2人字架、三角架、环链手拉葫芦、滑轮组、钢丝绳等起重机具及其附件的领用、搬运、搭拆、退库等。1.0.4.3施工及验收规范中规定的调整、试验及无负荷试运转。1.0.4.4与设备本体联体的平台、梯子、栏杆、支架、屏盘、电机、安全罩以及设备本体第一个法兰以内的管道等安装。1.0.4.5工种间交叉配合的停歇时间,临时移动水、电源时间,以及配合质量检查、交工验收、收尾结束等工作。1.0.5本定额除各章另有说明外,均不包括下列内容。发生时应另
38、行计算。1.0.5.1设备自设备仓库运至安装现场指定堆放地点的搬运工作。1.0.5.2因场地狭小,有障碍物(沟、坑)等所引起的设备、材料、机具等增加的二次搬运、装拆工作。1.0.5.3设备基础的铲磨,地脚螺栓孔的修整、预压,以及在木砖地层上安装设备所需增加的费用。1.0.5.4设备构件、机件、零件、附件、管道及阀门、基础及基础盖板等的修理、修补、修改、加工、制作、焊接、煨弯、研磨、防震、防腐、保温、刷漆以及测量、透视、探伤、强度试验等工作。1.0.5.5特殊技术措施及大型临时设施以及大型设备安装所需的专用机具等费用。1.0.5.6设备本体无负荷试运转所用的水、电、气、油、燃料等。1.0.5.7
39、负荷试运转、联合试运转、生产准备试运转。1.0.5.8专用垫铁、特殊垫铁(如螺栓调整垫铁、球形垫铁等)和地脚螺栓。1.0.5.9脚手架搭拆(C.1.4章和C.1.5章除外)。1.0.5.10设计变更或超规范要求所需增加的费用。1.0.5.11设备的拆装检查(或解体拆装)。1.0.5.12电气系统、仪表系统、通风系统、设备本体第一个法兰以外的管道系统等的安装、调试工作；非与设备本体联体的附属设备或附件(如平台、梯子、栏杆、支架、容器、屏盘等)的制作、安装、刷油、防腐、保温等工作。1.0.6金属桅杆及人字架等一般起重机具的摊销费（C.1.7章电梯安装除外），按所安装设备的净重量（包括设备底座、辅轨
40、），每吨12.00元作为材料费计算。C.1.1切削设备安装说明1.1.1本章定额适用范围如下：1.1.1.1台式及仪表机床：包括台式车床、台式刨床、台式铣床、台式磨床、台式砂轮机、台式抛光机、台式钻床、台式排钻、多轴可调台式钻床、钻孔攻丝两用台钻、钻铣机床、钻铣磨床、台式冲床、台式压力机、台式剪切机、台式攻丝机、台式刻线机、仪表车床、精密盘类半自动车床、仪表磨床、仪表抛光机、硬质合金轮修磨床、单轴纵切自动车床、仪表铣床、仪表齿轮加工机床、刨模机、宝石轴承加工机床、凸轮轴加工机床、透镜磨床、电表轴类加工机床。1.1.1.2车床：包括单轴自动车床、多轴自动和半自动车床、六角车床、曲轴及凸轮轴车床、
41、落地车床、普通车床、精密普通机床、仿型普通车床、马鞍车床、重型普通车床、仿型及多刀车床、联合车床、无心粗车床、轮齿、轴齿、锭齿、辊齿及铲齿车床。1.1.1.3立式车床：包括单柱和双柱立式车床。1.1.1.4钻床：包括深孔钻床、摇臂钻床、立式钻床、中心孔钻床、钢轨及梢轮钻床、卧式钻床。1.1.1.5镗床：包括深孔镗床、坐标镗床、立式及卧式镗床、金钢镗床、落地镗床、镗铣床、钻镗床、镗缸机。1.1.1.6磨床：包括外圆磨床、内圆磨床、砂轮机、珩磨机及研磨机、导轨磨床、2M系列磨床、3M系列磨床、专用磨床、抛光机、工具磨床、平面及端面磨床、刀具刃具磨床、曲轴、凸轮轴、花键轴、轧辊及轴承磨床。1.1.1
42、.7铣床、齿轮及螺纹加工机床：包括单臂及单柱铣床、龙门及双柱铣床、平面及单面铣床、仿型铣床、立式及卧式铣床、工具铣床、其他铣床。直（锥）齿轮加工机床、滚齿机、剃齿机、珩齿机、插齿机、单（双）轴花键轴铣床、齿轮磨齿机、齿轮倒角机、齿轮滚动检查机、套丝机、攻丝机、螺纹铣床、螺纹磨床、螺纹车床、丝杠加工机床。1.1.1.8刨、插、拉床：包括单臂刨、龙门刨、牛头刨、龙门铣刨床、插床、拉床、刨边机、刨模机。1.1.1.9超声波及电加工机床：包括电解加工机床、电火花加工机床、电脉冲加工机床、刻线机、超声波电加工机床、阳极机械加工机床。1.1.1.10其他机床：包括车刀切断机、砂轮切断机、矫正切断机、带锯机
43、、圆锯机、弓锯机、气割机、管子加工机床、金属材料试验机械。1.1.1.11木工机械：包括木工圆锯机、截锯机、细木工带锯机、普通木工带锯机、卧式木工带锯机、排锯机、镂锯机、木工刨床、木工车床、木工铣床及开榫机、木工钻床及榫槽机、木工磨光机、木工刃具修磨机。1.1.1.12跑车木工带锯机。1.1.1.13其他木工设备：包括拨料器、踢木器、带锯防护罩。1.1.2本章定额包括下列内容：1.1.2.1机体安装：底座、立柱、横梁等全套设备部件安装以及润滑装置及润滑管道安装。1.1.2.2清洗组装时结合精度检查。1.1.2.3跑车木工带锯机已包括跑车轨道安装。1.1.3本章定额不包括下列内容：1.1.3.1
44、设备的润滑、液压系统的管道附件加工、煨弯和阀门研磨。1.1.3.2润滑、液压的法兰及阀门连接所用的垫圈（包括紫铜垫）加工。1.1.3.3跑车木结构、轨道枕木、木保护罩的加工制作。工程量计算规则1.1.1本册均以台为计算单位。设备重量均以设备的铭牌重量为准；如无铭牌重量的，则以产品目录、样本、说明书所注的设备重量为准。1.1.2计算设备重量时，除另有规定者外，应按设备本体及联体的平台、梯子、栏杆、支架、屏盘、电机、安全罩和设备本体第一个法兰以内的管道等全部重量计算。C.1.2锻压设备安装说明1.2.1本章定额适用范围：1.2.1.1机械压力机：包括固定台压力机、可倾压力机、传动开式压力机、闭式单
45、（双）点压力机、闭式侧滑块压力机、单动（双动）机械压力机、切边压力机、切边机、拉伸压力机、摩擦压力机、精压机、模锻曲轴压力机、热模锻压力机、金属挤压机、冷挤压机、冲模回转头压力机、数控冲模回转压力机。1.2.1.2液压机：包括薄板液压机、万能液压机、上移式液压机、校正压装液压机、校直液压机、手动液压机、粉末制品液压机、塑料制品液压机、金属打包液压机、粉末热压机、轮轴压装液压机、轮轴压装机、单臂油压机、电缆包覆液压机、油压机、电极挤压机、油压装配机、热切边液压机、拉伸矫正机、冷拔管机、金属挤压机。1.2.1.3自动锻压机及锻压操作机：包括自动冷（热）镦机、自动切边机、自动搓丝机、滚丝机、滚圆机、
46、自动冷成型机、自动卷簧机、多功位自动压力机、自动制钉机、平锻机、辊锻机、锻管机、扩孔机、锻轴机、镦轴机、镦机及镦机组、辊轧机、多工位自动锻造机、锻造操作机、无轨操作机。1.2.1.4空气锤。1.2.1.5模锻锤：包括模锻锤,蒸汽、空气两用模锻锤,无砧模锻锤,液压模锻锤。1.2.1.6自由锻锤及蒸汽锤：包括蒸汽空气两用自由锻锤、单臂自由锻锤、气动薄板落锤。1.2.1.7剪切机和弯曲校正机：包括剪板机、剪切机、联合冲剪机、剪断机、切割机、拉剪机、热锯机、热剪机、滚板机、弯板机、弯曲机、弯管机、校直机、校正机、校平机、校正弯曲压力机、切断机、折边机、滚坡纹机、折弯压力机、扩口机、卷圆机、滚圆机、滚形
47、机、整形机、扭拧机、轮缘焊渣切割机。1.2.1.8水压机。1.2.2本章定额包括下列内容：1.2.2.1机械压力机、液压机、水压机的拉紧螺栓及立柱热装。1.2.2.2液压机及水压机液压系统钢管的酸洗。1.2.2.3水压机本体安装：包括底座、立柱、横梁等全部设备部件安装,润滑装置和管道安装,缓冲器、充液罐等附属设备安装,分配阀、充液阀、接力电机操纵台装置安装,梯子、栏杆、基础盖板安装,立柱、横梁等主要部件安装前的精度预检,活动横梁导套的检查和刮研,分配器、充液阀、安全阀等主要阀件的试压和研磨,机体补漆,操纵台、梯子、栏杆、盖板、支撑梁、立式液罐和低压缓冲器表面刷漆。1.2.2.4水压机本体管道安装：包括设备本体至第一个法兰以内的高低压水管、压缩空气管等本体管道安装、试压、刷漆；高压阀门试压、高压管道焊口预热和应力消除；高低压管道的酸洗；公称直径70mm以内的管道煨弯。1.2.2.5锻锤砧座周围敷设油毡、沥青、沙子等防腐层以及垫木排找正时表面精修。1.2.3本章定额不包括下列内容：1.2.3.1机械压力机、液压机、水压机拉紧大螺栓及立
