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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 納雍金能

12、煤礦開發(fā)有限公司 施工技術(shù)方案編寫范本一、目的: 為規(guī)范公司施工技術(shù)方案的編寫,統(tǒng)一各項(xiàng)目部重大施工安全技術(shù)措施、單位工程施工措施及作業(yè)規(guī)程的格式及編號(hào),特制定以下規(guī)定(施工組織總設(shè)計(jì)、施工組織專業(yè)設(shè)計(jì)由各建設(shè)項(xiàng)目部辦公室統(tǒng)一編制出版,編寫格式略)。二、格式要求:1、封面格式:按已制定的文本模板執(zhí)行, 不同類別的施工技術(shù)方案使用不同的封面格式。2、正文采用宋體,小四號(hào)字,行距為1.5倍行距。3、編制內(nèi)容詳見施工技術(shù)方案制定導(dǎo)則中的相關(guān)規(guī)定三、編號(hào)說(shuō)明:gc /fa /cs /清單編號(hào)(詳見施工技術(shù)方案制定導(dǎo)則)專業(yè)單位工程名稱(如khf代表礦建回風(fēng)井)工程名稱的拼音縮寫(如zk代表左礦) “規(guī)

13、程、方案、措施”漢語(yǔ)拼音縮寫 各專業(yè)工程編制各類方案、作業(yè)規(guī)程、措施的規(guī)定,土建單位工程為施工方案、礦建單位工程為作業(yè)規(guī)程、安裝單位工程為施工方案;對(duì)重要分部分項(xiàng)工程編制的或單位工程施工方案(或作業(yè)規(guī)程)編制的補(bǔ)充內(nèi)容統(tǒng)稱為措施。 納雍金能煤炭開發(fā)有限公司*煤礦 單位工程施工方案cs(d)/工程名稱 發(fā)布時(shí)間:200年月日實(shí)施時(shí)間:200年月日 (工程名稱)單位工程施工方案cs(d)/編 制: 審 核: 審 定: 批 準(zhǔn): (編制單位名稱)納雍金能煤炭開發(fā)有限公司*煤礦重大施工安全技術(shù)措施cs(z) /工程名稱 發(fā)布時(shí)間:200年月日實(shí)施時(shí)間:200年月日 (工程名稱)重大施工安全技術(shù)措施cs

14、(z)/編 制: 審 核: 審 定: 批 準(zhǔn): xxxxxxxxxxxxxx 公司項(xiàng)目管理部 納雍金能煤炭開發(fā)有限公司*煤礦(單位工程名稱)作業(yè)規(guī)程zy(f) /工程名稱 發(fā)布時(shí)間:200年月日實(shí)施時(shí)間:200年月日 (工程名稱)作 業(yè) 規(guī) 程zy(f) /編 制: 審 核: 審 定: 批 準(zhǔn): xxxxxxxxxxxx公司項(xiàng)目管理部 施工組織總設(shè)計(jì)的內(nèi)容1、編制單位:建設(shè)單位組織編制;2、依據(jù)初步設(shè)計(jì)、主要施工圖、合同文件以及各方信息資料,要求編制施工組織總設(shè)計(jì),內(nèi)容主要包括以下方面:a)編制依據(jù);b) 工程概況;c) 工程主要工程量;d) 施工組織機(jī)構(gòu)設(shè)置及人力資源計(jì)劃;e) 專業(yè)施工范圍

15、及接口(注明具體專業(yè)施工隊(duì)任務(wù)劃分和與外施工單位的接口處理);f) 施工網(wǎng)絡(luò)進(jìn)度及保證措施;g) 井上下施工總平面布置圖 (包括主要施工機(jī)具布置、交通運(yùn)輸干線和施工區(qū)排水系統(tǒng))及其文字說(shuō)明;h) 力能供應(yīng)方式及系統(tǒng)布置(包括水、電源、氣、汽等);i) 主要施工方案及重大施工技術(shù)措施(包括主要交叉配合施工方案、重大一通三防、防治水方案、關(guān)鍵性和季節(jié)性施工措施等);j) 技術(shù)和物資供應(yīng)計(jì)劃(包括施工圖紙交付進(jìn)度,物資供應(yīng)計(jì)劃,力能供應(yīng)計(jì)劃,機(jī)械及主要工器具配置計(jì)劃,運(yùn)輸計(jì)劃等);k) 主要技術(shù)經(jīng)濟(jì)指標(biāo)及保證措施;l) 質(zhì)量目標(biāo)及保證措施;m) 安全文明施工和職業(yè)健康安全及環(huán)境管理目標(biāo)及保證措施;n

16、)通訊、計(jì)算機(jī)網(wǎng)絡(luò)配置及信息管理; o) 降低成本和推廣技術(shù)革新項(xiàng)目部措施;p) 施工組織專業(yè)設(shè)計(jì)清單及編制完成計(jì)劃;q) 培訓(xùn)計(jì)劃。專業(yè)施工組織設(shè)計(jì)的內(nèi)容1、編制單位:施工單位自行編制;2、依據(jù)初步設(shè)計(jì)、主要施工圖、合同文件、施工組織總設(shè)計(jì)以及各方信息資料,要求編制工程專業(yè)施工組織設(shè)計(jì),內(nèi)容主要包括以下方面:a)編制依據(jù)b) 工程概況;c) 專業(yè)工程主要工程量;d) 專業(yè)施工組織機(jī)構(gòu)設(shè)置及人力資源計(jì)劃(勞動(dòng)力組織);e) 施工網(wǎng)絡(luò)進(jìn)度及保證措施;f) 專業(yè)施工平面布置圖;g) 主要施工方案; h) 主要技術(shù)經(jīng)濟(jì)指標(biāo)及保證措施;i) 質(zhì)量目標(biāo)及保證措施;j) 職業(yè)健康安全和環(huán)境管理目標(biāo)及保證措

17、施;k) 降低成本和推廣技術(shù)革新項(xiàng)目部措施;重大施工安全技術(shù)措施1、編制單位:施工單位自行編制;2、依據(jù)初步設(shè)計(jì)、主要施工圖、專業(yè)施工組織設(shè)計(jì)以及各方信息資料,要求編制重大施工方案,內(nèi)容主要包括以下方面:a)編制依據(jù);b) 概況及特點(diǎn);c) 主要工程量;d) 施工機(jī)具的選用及場(chǎng)地布置;e)主要施工方法及工藝流程;f)進(jìn)度控制計(jì)劃;i) 安全質(zhì)量管理要求及保證措施;j) 職業(yè)健康安全和環(huán)境管理要求及保證措施。單位工程施工措施的內(nèi)容1、編制單位:施工單位自行編制;2、依據(jù)初步設(shè)計(jì)、主要施工圖、專業(yè)施工組織設(shè)計(jì)以及各方信息資料,要求編制單位工程施工方案,內(nèi)容主要包括以下方面:a)編制依據(jù);b) 概況

18、及特點(diǎn);c) 主要工程量;d) 施工機(jī)具的選用及場(chǎng)地布置;e)主要施工方法及工藝流程;f)進(jìn)度控制計(jì)劃(附進(jìn)度圖);i) 質(zhì)量管理要求及保證措施;j) 職業(yè)健康安全和環(huán)境管理要求及保證措施;作業(yè)規(guī)程的內(nèi)容1、編制單位:施工單位自行編制;2、依據(jù)初步設(shè)計(jì)、主要施工圖、專業(yè)施工組織設(shè)計(jì)以及各方信息資料,要求編制作業(yè)指導(dǎo)書,內(nèi)容主要包括以下方面:a)編制依據(jù);b) 施工內(nèi)容;c) 施工條件;d) 施工程序和方法;e)主要工器具及勞動(dòng)力配置;f)進(jìn)度控制計(jì)劃(附進(jìn)度網(wǎng)絡(luò)圖);g) 安全質(zhì)量管理要求及保證措施;h) 職業(yè)健康安全和環(huán)境管理要求及保證措施in hot water. after coolin

19、g 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 the ending point. if there is no standard solution of potassium hydroxide, use the timed drops o

20、f 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 quite a number of milligrams of potassium hydroxide. results to two significant figures. 6, preci

21、sion 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 value, 1 titration gb/t5009.37 4 2 1, principles of oxidation of fats peroxide, potassium iodide,

22、 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 make it dissolve, cooled and stored in a brown bottle. chloroform a mixture of glacial acetic

23、 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, add a little water, tune into a paste, add 50ml in boiling water and mix thoroughly and boil.

24、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 relays and discrete electronic circuit can control old industrial equipment, but also more commo

25、n. 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 circuits) are these fatal flaws: (1) cannot adapt to the complex logic control, (2) only for the cu

26、rrent 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 in the level of industrial automation, completed the perfect relay of the computer too much. in

27、 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 control is all about. now in several ways in the context of industrial automation can often be seen

28、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 and dcs contrast contrast 1, each of the three technologies of origins and development requireme

29、nts 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, 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

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