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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修改号：1
12、2.0 QI 7-9 潜水作业指导书 第 2 页 共1213页3注 作业文件中交第四航务工程局有限公司中港第四航务工程局潜水作业指导书开始实施日期2004年5月1日版本号：121编号：QI 7-9第1页共1213页修 改 记 录修改号生效日期修改页次修 改 理 由21.02006.1.19增加常见潜水疾病及伤害事故的预防措施。修改号编写审核会签批准批准日期孙聪周锡光王定武严顺业傅立容2004.4.821.0孙聪王定武严顺业傅立容2005.12.312.0见总修改说明 1 概述 在港口及航道、桥梁、水利工程中，有某些分项工程的施工必需由潜水员水下配合施工，如重力式码头预制方块的安装、码头块石基床
13、整平、水下清淤、水下检查、水下钢结构切割接焊等。为确保潜水作业安全和潜水员的健康编写此作业指导书。 2 适用范围 本作业指导书适用于本局公司航务工程、桥梁工程及水利工程施工中的潜水作业。 3 参照文件 3.1 交通部广州潜水学校有关潜水作业的教材。 3.2 潜水员水下用电安全技术规范GB16636-19964 实施要求4.1 设备和工具4.1.1 潜水装具4.1.1.1 空气重潜水装具空气重潜水装具按气体更新形式可分通风式及喷射再生式，我局公司目前采用前一种。 重潜水装具有三螺栓及十二螺栓装具两种，后一种装具轻便，在水下行动起来比较方便，一般在 45m 以内的水下工作使用。如水深45m，必须佩
14、带重型压铅及压重潜水鞋。重潜水装具由以下各个部分组成：(1) 头盔：头盔用 1.2mm 厚钢板制成，顶部加厚至 1.5mm，外面镀锡防止氧化， 三螺栓式 11kg 左右，12 螺栓式为 9kg 左右，前者与领盘为三个螺栓连接， 后者为12 个螺栓连接。头盔的后面装进气管和电话引入线，进气管弯头接潜水软管， 用于水面向潜水员供压缩空气，弯管内装有弹簧式单向阀，以防止潜水服内的空气倒流。进气管内口亦在头盔内壁并装有分气挡板，该挡板分三路延伸到面窗和侧面窗的上缘附近，使输入气体不致直接冲击潜水员的头部，并减少噪音，使进气口与排气阀保持一定距离，能有效的更新呼吸气体，同时可使水气不致凝聚在玻璃上妨碍视
15、线，电话线通过引入管与头盔内的授送话器连接，使潜水员与水面保持联系。头盔的右后面装有一排气阀，是由潜水员用头部顶压排气阀的底座而排出潜水服内多余的气体，达到通风和调节浮力的目的。如果潜水服内的气压超过外界水压0.1kg/cm2，排气阀就自动开启。(2) 领盘：12 螺栓式领盘 9kg 重左右，领盘上有两个盘柱是悬挂前后压铅用。领盘边缘焊有加强板，板上排列有 12 个螺栓，把潜水衣凸缘上的 12 个螺孔分别套在上面，再用 4 根压条与蝶形螺帽将领盘与潜水服牢固而严密的连接在一起。(3) 潜水衣：潜水衣的上端是用 7 毫米厚的橡胶围成一个突缘， 排列着与领盘螺栓相应的 12 个眼孔，可套在领盘的螺栓上，凸缘端衬有帆布领口，潜水衣号码分大、中、小三种。(4) 潜水压铅：有轻型及重型两种，分别重约 25kg 及 30kg。4.1.1.2 轻潜水装具轻潜水装具有开放式、密闭循环式
