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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 applic2、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 this3、 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 set4、 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 standa5、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 ind6、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 autom7、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 opp8、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 r9、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 ar10、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 wel11、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技術交底記12、錄表C2-1編 號05-C2002工程名稱河北天柱鋼鐵集團恒泰鋼鐵有限公司高速線材工程交底日期2011年11月1日施工單位中國二十二冶市政公司河北天柱高線工程項目部分項工程名稱主廠房及加熱爐鋼柱制作交底提要天柱高速線材主廠房及加熱爐鋼柱制作一、工程內容本工程為河北天柱鋼鐵集團恒泰鋼鐵有限公司高速線材主廠房及加熱爐區鋼柱工程。鋼結構安裝總工程量約4600噸（不含天窗和彩板）。主要施工內容為:NA列11至42線、NB列1至42線、NC列1至42線、ND列1至42線、NE列14至26線框架系統制作安裝。該工程鋼柱部分主要包括主廠房176根框架柱，加熱爐18根框架柱鋼結構制作。二、主要施工方法鋼柱制作13、工藝及技術要求 材料:所有主材及輔材應具有質量證明書，并應符合設計要求。 A.放樣、號料： a.放樣和號料應根據工藝要求預留制作和安裝時的焊接收縮余量及切割等加工余量。 b.鋼構件中各桿件的間隙，特別是綴件與鋼柱連接處的間隙應按板金展開圖進行放樣。 c.對來料進行檢尺，檢查其規格、型號是否與設計圖紙的要求相符，確認無誤后方可號料。號料允許偏差:項 目允許偏差(mm)零件外形尺寸1.0 孔距0.5 B.切割：a.節點板用半自動切 割機剪切下料。b.氣割前應將鋼材切割區域表面的鐵銹、污物等清除干凈，氣割后應清除熔渣和飛濺物。切割平臺必須平整。 c.切口表面平整，不得有裂紋、重皮、毛刺、凸凹、縮口，14、熔渣、氧化鐵、鐵屑等。 d.切口平面傾斜偏差為管子直徑的1%，但不得超過3mm。 C.接料 a.采用二氧化碳氣保焊。b.焊接材料選用:選用與母材相匹配的焊絲、焊劑。焊劑要按規定進行烘干。點粘焊條要與正式焊接相同。 D.組裝 a.在平整的地板上放出實樣，并進行組裝，點焊要求與正式焊接相同。 b.柱的組裝應遵照有關規定執行。 c.檢查核實無誤后，交下道工序進行焊接。 E.焊接 a.采用二氧化碳氣保焊。焊縫質量應符合圖紙設計要求。 b.鋼柱對接時應嚴格保持焊后平直，焊接時除控制幾何尺寸外，還應注意焊接變形的影響，焊接宜采用分段反向順序，分段施焊應保持對稱。對接間隙宜放大0.5-2.0mm，以抵消收縮15、變形，具體數據可根據施焊結果確定。 c.鋼柱與綴件焊接時，焊接次序應考慮焊接變形的影響。 F.修整a.采用火焰矯正法進行修整。b.在各工種之間或每個工序之間，必須按設計圖紙進行自檢和互檢，并在構件上打上各自的記號。 G.組合截面柱采用自動焊接，焊縫等級應符合二級焊縫質量標準。工字形腹板蓋板拼裝時接口要互相錯開200mm以上，與筋板錯開200mm以上，拼接應采用加引弧板（其厚度和坡口與母材相同）的對接焊縫，要保證焊透。焊縫質量等級應符合二級焊縫質量標準。拼接號料時應預留焊接收縮及切割余量。拼接鋼板接料坡口形式如下：H.大板切料采用半自動精密切割或數控精密切割下料，12mm以下采節點板用剪板機剪切16、。其余亦采用半自動精密切割或數控精密切割。大板切料時應采用一定的防變形措施。切割平臺必須平整。I.工字型組裝前應檢查上道工序提供的零件，符合標準要求后方可進行組裝。連接面和沿焊縫邊緣約50mm范圍內的鐵銹、毛刺、污物等應清除干凈。組裝在H型鋼自動組立機上進行，由放樣人員劃出中心線、定位線，待檢驗合格后才準上機點焊固定。組裝后對構件進行檢查，合格后方可焊接。工字型采用龍門式H型鋼自動埋弧焊機及采用埋弧自動焊進行焊接，采用合理的焊接順序，減少焊接變形。J.工字型的角變形采用翼緣矯正機進行修整，側彎及拱度采用火焰矯正。將修整后的工字型二次凈料，并組裝加勁板，檢查無誤后進行焊接。三、鋼結構制作主要技術17、要求項次項目允許偏差（mm）檢驗方法一級二級三級1對接焊縫焊縫余高（mm）b200.520.52.50.53.5用焊縫量規檢查b200.530.53.50.54焊縫錯邊0.1且不大于20.1且不大于20.1且不大于32貼角焊縫焊縫余高（mm）k60+1.5用焊縫量規檢查k60+3焊角寬（mm）k60+1.5k60+33T型接頭要求焊透的K型焊縫(mm)k=/20+1.5 A.焊縫尺寸的允許偏差和檢驗方法：注：b為焊縫寬度；k為焊角尺寸；為母材厚度。欄桿、梯子制作技術要求：項 目允許偏差梯梁長度5.0鋼梯寬度5.0鋼梯安裝孔距離3.0梯梁縱向撓曲矢高1/1000踏步間距5.0欄桿高度5.0欄桿立18、柱間距10.0B.對接接頭焊縫和貼角焊縫的表面質量標準（mm）C.鋼柱由加工廠整體拼裝，單根鋼柱最重為7T。單根吊車梁最重為7T。單榀屋面梁最重為12T。項次項 目等 級檢驗方法用焊縫量規檢查1對接接頭焊縫貼角焊縫表面裂縫、表面氣孔、表面夾渣、熔合性飛濺不允許不允許2咬 邊深度：e10.5長度小于或等于焊縫長的10%，且小于1003表 面 加 強 高e0.10b1且不大于3e0.20b1且不大于34寬 度蓋過每邊坡口約2mm5對 口 錯 邊ez0.1且不大于3ez0.1且40時不大于340時，不大于66余 高+307焊 角 寬+30D.焊縫質量檢驗：a.焊縫表面不允許有裂紋、氣孔、夾渣、熔合性19、飛濺。b.焊縫咬邊深度0.5mm，長度小于或等于焊縫全長的10，且小于100mm。c.焊縫寬度蓋過每邊坡口約2mm。d.鋼構件焊縫的質量檢驗采用超聲波探傷，不得出現漏、虛、過焊、裂紋、氣孔及夾渣等缺陷。四、 鋼結構防腐涂裝1.材料建筑鋼結構工程防腐材料的選用應符合設計要求。防腐蝕材料有底漆、面漆和稀料等。本工程防腐底漆為灰色防銹漆、面漆為冰灰色調和漆，防腐材料應符國家有關技術指標的規定，還應有產品出廠合格證。2.作業條件：A.防腐涂裝工程前鋼結構工程已檢查驗收，并符合設計要求。B.防腐涂裝作業場地應有安全防護措施，有防火和通風措施，防止發生火災和人員中毒事故。C.露天防腐施工作業應選擇適當的天20、氣，大風、遇雨、嚴寒等均不應作業。3.工藝流程：基面清理底漆涂裝面漆涂裝檢查驗收4.基面清理：A.建筑鋼結構工程的油漆涂裝應在鋼結構安裝驗收合格后進行。油漆涂刷前，應將需涂裝部位的鐵銹、焊縫藥皮、焊接飛濺物、油污、塵土等雜物清理干凈。B.基面清理除銹質量的好壞，直接關系到涂層質量的好壞。C.本工程采用人工除銹，要求一遍底漆、一遍面漆。 5.底漆涂裝：A.控制油漆的粘度、稠度、稀度，兌制時應充分的攪拌，使油漆色澤、粘度均勻一致。B.刷漆時應采用勤沾、短刷的原則，防止刷子帶漆太多而流墜。C.底漆涂裝后起碼需48h后才能達到表干、表干前不應涂裝面漆。6.面漆涂裝：A.面漆的調制應選擇顏色完全一致的面21、漆，兌制的稀料應合適，面漆使用前應充分攪拌，保持色澤均勻。其工作粘度、稠度應保證涂裝時不流墜，不顯刷紋。B.面漆在使用過程中應不斷攪和，涂刷的方法和方向與上述相同。7.涂層檢查與驗收：A.表面涂裝施工時和施工后，應對涂裝過的工件進行保護，防止飛揚塵土和其它雜物。B.涂裝后的處理檢查，應該是涂層顏色一致，色澤鮮明光亮，不起皺皮，不起疙瘩。8. 鋼構件涂裝后應加以臨時圍護隔離，防止踏踩，損傷涂層。A.鋼構件涂裝后，在4h之內如遇有大風或下雨時，應加以覆蓋，防止粘染塵土和水氣、影響涂層的附著力。B.涂裝后的構件需要運輸時，應注意防止磕碰，防止在地面拖拉，防止涂層損壞。C.當空氣濕度大于85%，或構件22、表面有結露時，不宜進行涂層作業。D.鋼構件制作前，應對構件隱蔽部位、結構夾層難以除銹的部位，提前除銹，提前涂刷。五、鋼結構制造的技術要點：鋼結構制造技術主要是焊接H 鋼的制造，其中控制主焊縫全自動埋弧焊的焊接質量為關鍵技術。 1.焊接變形的控制A.自動埋弧焊電流大，熱量高，構件易產生變形(翼緣板角變形；H 鋼的縱向彎曲；H 鋼扭曲變形) 。B.針對上述問題主要采取以下技術措施：a.針對焊接工作的需要自行制作了一個專用的工作臺，將H 鋼的四條縱向角焊變為船形焊，以保證焊縫的焊透，提高焊接質量，減少熔敷金屬。這是對焊接變形的第一步控制。b.根據翼緣板與腹板的不同配置調整焊接參數，將角變形控制在3 23、mm 以內，然后用翼緣矯正機對其進行校正。c.縱向彎曲是由于H 型鋼單邊受熱產生的殘余應力分布不均造成的。通過實驗決定利用后續焊縫的殘余應力平衡上道焊縫的殘余應力的辦法，即第1、2道焊縫焊接時，電流調至下限值，第3 道焊縫焊接時，電流調至平均值，在最后一道焊縫焊接時，將電流調至上限值，以期消除變形。如采用上述措施后仍有少量變形，則在后續工序中用火焰法予以校正。d.扭曲變形與縱向彎曲產生的原因大致相同，因此，也是通過合理調整焊接順序，以后續焊縫的殘余應力來平衡前面的焊接殘余應力。2.自動埋弧焊的焊接參數的確定A.焊絲直徑：在焊接電流、電壓和速度不變的情況下，焊絲直徑將直接影響焊縫的熔深。隨著焊絲24、直徑的減少，熔深將加大，成型系數減小。B.焊接電流:對焊縫熔深大小影響最大的因素是焊接電流。隨著焊接電流的增大,熔深將增加。C.電弧電壓: 電弧電壓低時，熔深大、焊縫寬度窄；電弧電壓高時，熔深淺、焊縫寬度增加；過分增加電壓，會使電弧不穩，熔深減少，易造成未焊透的現象，嚴重時還會造成咬邊、氣孔等缺陷。D.焊接速度：如焊接速度增加，焊縫的線能量減少，使熔寬減少、熔深增加，然而繼續加大焊接速度，反而會使熔深減少，焊接速度過快，電弧對焊件加熱不足，使熔合比減少，還會造成咬邊、未焊透及氣孔等缺陷。3.構件變形的校正及幾何尺寸的控制在焊接H 鋼生產中對構件變形的校正，主要采用三種方法：火焰校正法、機械校正25、法和反變形法。A.機械校正法主要校正翼緣板的角變形,在專用的翼緣矯正機上，通過機械力進行反復的強制性校正，直到角變形量符合標準為止。B.火焰校正法主要用于校正H 鋼的縱向彎曲變形，在拱起的一側用火焰加熱至850 900 ，在翼緣板上進行條形加熱，在腹板上進行三角形區加熱，加熱后用冷水進行跟蹤冷卻。加熱時根據不同的變形量，控制加熱區的大小和加熱的溫度，以防校正過量和出現過燒現象。C.反變形法用于控制端頭板焊接變形。在端頭板焊接前，在施焊部位的反面用大號氣焊槍進行烘烤，產生殘余應力，待正式施焊時達到焊接殘余應力平衡。最終實現端頭板的平整。審核人 交底人 接受交底人接受交底人名單如下tablets 26、cover, placed overnight, reset electric Board Shang slowly heating to digest liquid colorless transparent, and appeared large perchlorate smoke, removed tapered bottle, joined 0.5 mL sulfuric acid, Without glass cover. reset appropriately elevated temperature remove perchlorate on the heating plates27、. Add 10 mL15 mL of water, heat to boiling. After taking down cold volume to 50 mL with water, if the dilution of the sample is different, should ensure that samples containing 1% sulfate in solution. While two reagent blanks. Determination of drawing 5, 0.0,0.5,1.0,2.0,3.0,4.0,6.0mL aluminium stand28、ard solution (the equivalent of aluminium-containing 0,0.5,1.0,2.0,4.0,6.0 g g) were placed in a 25 mL colorimetric tube. In turn each tube add l mL sulfuric acid solution l%. 吸 . Pathogenic bacteria (salmonella, Shigella, Staphylococcus), GB/T4789.4, GB/T4789.5, GB/T4789.10, mold yeast ticket GB77129、8 starch and starch products inspection and testing the senses taking 50 grams or more of samples placed in a white porcelain plates, in natural light with eye color, nose and smelling and tasting it. Test 1, definition of net content of starch water and starch water principle: starch samples dry we30、ight loss. Sample weight loss weight expressed as a percentage of the original weight of the sample. This standard applies to 130 c, 1 starch starch property stability samples at atmospheric pressure. Principle: the samples at a temperature of 130-133 c, an atmospheric pressure of electric heating i31、n the oven-drying 90min, get the sample weight loss. 2, instruments and analytical balance; Metal plate: not under the influence of starch in the test conditions. Dish should be evenly distributed on the surface the test samples shall not exceed 0.3G/cm2. The specifications for the diameter 55-65mm,32、 high 15-30mm, wallmanipulator 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 common. Mainly these two relatively cheap an33、d 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 current project, the lack of compatibilit34、y 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 terms of controlling the computer show35、ed 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 in three ways: (1) Programmable Logical36、 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 requirements for fast data processing makes it i37、nvented 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 s38、peed, on the virtual model, real-time and in computational requirements. Distributed system started with a control system for industrial automatic instrument used to control, whereas now it is successfully developed into industrial control computer used as a central collection and distribution syste39、m 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 great advantages in loop regulation, but only as a means of continuous process control. Optimization of PLC is the corresponding relay ne40、eds 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 functions. 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 is9