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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二灰碎石路
12、面基层施工技术总结严晓生【交通部第二公路工程局西安710061】摘要：通过对沪宁高速公路E标段二灰碎石基层的铺筑实践，全面总结了从原材料检验、混合料组成设计、试验路段的铺筑到成品检测的全过程及施工工艺。提供了机械组合形式、碾压方式、碾压速度、碾压遍数、松铺系数等各种技术数据以及施工中的体会。关键词：二灰碎石路面基层施工工艺质量1基本情况交通部第二公路工程局承建的沪宁高速公路E标段主线总长34.292km，其中E4标为京杭运河铁路高架桥(长1345.56m)，除E4标段外路面基层结构均为二灰碎石，主线单幅基层宽度在纵坡3路段为11.90m，纵坡3路段为11.51m，厚度均为30cm，E标路面基层
13、总面积为79.3953万m2，半幅路面结构见图1和图2。尺寸单位：cm，高程单位：m图1纵坡3路面结构示意图为提高路面的平整度，根据江苏省高速公路建设指挥部(下简称省高指)“关于沪宁高速公路路面基层、底基层施工的指导意见”及技术规范的要求，二灰碎石混合料采用厂拌法生产、摊铺机铺筑。在拌合场还准备了足够的堆料场地，并进行了“硬化”处理。以防集料被泥土污染。对不同规格集料分开堆放，已拌和好的二灰碎石混合料实行覆盖闷料措施。为了探讨二灰碎石混合料的铺筑方案和施工工艺，我们在铺筑试验段取得成功后，进一步修改完善了施工工艺，确定了二灰碎石的施工配比，取得了有参考价值的技术数据，为大面积施工提供了依据。1
14、995年4月中旬二灰碎石混合料正式开铺，到1995年11月底已完成路面基层69074万m2，占总工程量的87，为沥青面层铺筑创造了良好的条件。尺寸单位：cm，高程单位：m图2纵坡3路面结构示意图2施工准备工作充分做好施工前的准备工作，是路面基层顺利进展的重要条件。主要进行原材料检验、设备调试、技术准备等项工作。2.1原材料检验二灰碎石的原材料主要是石灰、粉煤灰和碎石，对原材料质量严格把关是保证二灰碎石混合料质量的重要环节。选用了江苏溧阳上黄的级石灰、镇江谏壁电厂贞观山灰库的湿排粉煤灰，我部丹阳自采加工料场生产的碎石，经过检验主材料的技术指标如下。(1)石灰经消解后Cao含量为58.3，符合级钙
15、质石灰的标准。(2)粉煤灰的主要指标如表1。粉煤灰化学成分表表1粒径范围(mm)比表面积(cm2/g)含水量()Al2O3()Fe2O3()CaO()MgO()SiO2()烧失量()0.0010.3大部分为0.010.12000350045.0034.103.202.800.8349.006.27(3)碎石(最大粒径30mm)压碎值为19.4(规定值不大于30)。细长粒径含量为16.1。级配组成根据规范的要求及我部试验中心室内配比设计的结果，集料用量为总量的82.5，其中粗集料(1030mm碎石)为34，10mm以下为66。水拌和用水为饮用水。2.2机械设备选配为保证二灰碎石基层的质量和进度，除保证各种机械设备配套外，还应有足够的数量，其中二灰碎石混合料拌和设备及摊铺机是关键设备，必须有良好的使用性能。本工程投入的机械设备有：WBC-200连续式稳定粒料拌和设备2套ABG422摊铺机1台ZL-50装载机2台812t双钢轮静力式压路机1台CA25振动压路机1台VV170压路机1台1821t三轮光面静力式压路机2台916t轮胎压路机1台17.2t太脱拉自卸车12辆
