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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京广铁路跨
12、线桥实施性施工组织设计一、工程概况保定至阜平高速公路第1-B合同段起讫里程为K1635K3030，全长1.395km，跨越107国道、京广铁路和地方道路，设分离立交1座。二、主要技术标准道路等级：双向四车道高速公路； 设计车速：120Km/h；路基宽度：28m； 设计荷载：公路-级；设计净空：8.5m(上跨京广铁路)。三、主桥施工方案、方法及其措施本标段重点(关键)和难点工程为主桥施工。3.1工程概述在107国道和京广铁路处设立2跨80m的T型刚构，第一跨跨107国道，第二跨跨京广双线电气化铁路，路线中心线与铁路夹角为52，铁路净空大于8.1m，107国道净空大于5m。主桥整幅设桥，桥长160
13、m，桥面宽28.00m，基础平行京广铁路方向布置，不侵占路基，桥墩垂直107国道公路路线横断面。主桥T构中间支点采用矩形双壁墩，截面尺寸为2*1.5*10m，双壁墩间距5m；上部结构采用单箱三室箱形截面，箱梁中支点处高6.2m，边支点高2.8m，梁底线形按二次抛物线变化。箱梁顶板宽28m，两侧悬臂板长各3.7m，倾斜外腹板；悬臂板端部厚20cm，根部厚60cm；箱梁顶板厚由端部的30cm增至中墩顶的50cm；底板厚度为28cm110cm；边腹板厚度为50100cm；中腹板厚度为4090cm。采用纵向、竖向和横向三向预应力体系。附图S-QL-3。3.2施工方案、方法首先将桥位处铁路电缆管线进行迁
14、移和保护，完成后在既有线路基边坡上设置工字钢桩板式防护体系及刚壁桥墩防护架，安全防护体系设置完毕后，才能进行桥梁基础施工；桥梁基础首先进行钻孔桩施工，钻孔桩施工完毕后，进行承台混凝土施工，在墩底与承台间设置型钢水平转盘，承台中预埋下转盘、环道及顶推反力体系，墩身下部安装上转盘，上转盘安装完毕后，进行应力试验，取得成功的数据后进行刚壁桥墩施工；在桥墩施工的同时搭设箱墚，箱墚采用两侧对称分段浇注，并随时观测不平衡重量的变化；280m箱墚现浇完成后，利用型钢水平转盘及四氟滑片式走板转体到桥位，完成后浇注上、下转盘间混凝土；两端其余16m在支架上现浇施工。3.2.1铁路和公路路基边坡防护跨京广铁路的转
15、体桥，其桥墩承台靠近铁路和公路路基边坡，承台开挖深度为7.4m,因此需要对两侧的既有边坡进行防护。从确保铁路和公路行车安全，路基边坡稳定性考虑，确定铁路路基边坡防护采用人工挖孔桩防护，公路路基边坡防护采用钢板桩防护。挖孔桩直径1.2m，桩长18m，采用跳挖间隔施工，钢筋混凝土护壁，快挖快灌，并在铁路侧插入C20砼预制挡土板，同时做好临时排水设施。钢板桩长8m，采用打桩机锤打施工。根据施工图和现场实际情况，经路局总工室、公务处、公务段同意，将桩的平面位置做适当的移动，以有利于铁路行车和设备的安全，同时又增加施工过程的安全保障系数。(T构挖孔桩与铁路相对位置断面图附后)挖孔桩施工安全技术措施(1)
16、挖孔时，应注意施工安全。人员必须配有安全帽、防护服。孔下作业人员在收到行车接近，停止施工命令后，要顺着安全梯上爬到孔底2m以上的位置。防止出现塌方，出现人身安全事故。(2)取土渣的吊桶、吊钩、钢丝绳等机具，必须经常检查。孔口周围须用木料予以围护，孔口围护年个高于地面20cm-30cm，以防止土、石、杂物滚入孔内伤人。(3)挖孔工作暂停时，孔口必须罩盖，孔内应安设牢固可靠的安全梯，以便施工人员上下。施工中要加强安全教育和经常性的检查，以确保万无一失。(4)施工现场应准备2台鼓风机，挖孔较深时应用鼓风机对孔底吹风。(5)施工现场应准备低压灯。挖孔过程中发现孔内光线不好时应采用低压灯进行照明。电压伏数不大于36伏。(6)孔桩成型后，将钢筋笼运送到工地用吊车下笼，在铁路护栏外侧搭防护支架。3.2.2钻孔桩基础施工钻孔桩基础采用对路基震动小的反循环回旋钻机和旋挖钻机成孔，钻孔桩施工前，首
