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 application 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 robot to get people's 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 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 standards. 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 industrial 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 automation 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 didn't opportunities 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 research 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 arm 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 welding, 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 \n the mechanical arm is to use the program as a basis. Difference is that the robot begand ⑷、钻孔灌注桩施工过程中循环出来的泥浆先通过泥浆沉淀池再进入储浆池，调整其性能指标后，再进入循环使用。
⑸、泥浆沉淀池中的钻渣要及时清除，用砂石泵抽到指定的弃置点。 ⑹、废浆的处理以不污染环境为原则进行处理，弃置指定的地点。 ㈡、护筒的埋设
本工程有3种规格的钻孔灌注桩，施工中根据桩的直径选择护筒的规格。设置原则为：护筒的内径宜比桩径大200---400mm，护筒中心线应与桩中心线相重合。
1、护筒的埋设：入土深度在2-4米，施工过程如遇特殊地质情况应将护筒加深埋设以保证钻孔和灌注混凝土的顺利进行。埋设时护筒顶端高出地面30cm。
2、 陆地桩采用人工挖埋的方法进行护筒的埋设。护筒底部和四周所填粘质土必须分层夯实。
3、护筒埋设质量要求：平面位置偏差不得大于5cm、倾斜度偏差不得大于1%。 ㈢、钻孔 1、钻机就位
桩点的平面定位采用坐标法。钻机就位前，首先依桩位对钻机座落处的平台进行加固，然后架设钻机使钻杆中心对准桩中心。钻机布设时，考虑相邻两钻机的位置，使其对5m以内新浇砼没有干扰。
2、钻进
桩位处地质情况主要为亚粘土、亚砂土、中砂、细砂。钻孔灌注桩成孔方法采用反循环法施工。钻孔时，先将钻具装妥浸入护筒水中，通过启动真空泵和泥浆泵 ，待反循环流动形成后，启动钻机并选择适当档位驱动钻杆顺时针回转，开始钻进。
3、钻孔质量要求及控制措施
⑴开钻时先缓慢进尺，并及时检查和纠正钻头的偏位，待钻锥全部进入土层后，钻机方可加速钻进。钻孔过程中严格控制好泥浆比重，注意地层变化情况。在地层情
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 common. 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 current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's 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 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 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 requirements 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 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 system 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 needs 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 is
11
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 application 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 robot to get people's 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 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 standards. 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 industrial 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 automation 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 didn't opportunities 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 research 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 arm 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 welding, 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 \n the mechanical arm is to use the program as a basis. Difference is that the robot begand 况发生变化时，对钻进速度进行相应的调整。特别是进入细砂和卵石土层时，采用一、二档钻速，减慢钻进速度。钻进过程做好施工记录，绘制地质变化柱状图，以便监理工程师和设计人员了解实际的地质情况。
⑵钻孔过程中要不断地补充优质粘土所造泥浆进行护壁。在钻孔阶段应注意始终保持孔内水位高过护筒底口0.5m以上，同时孔内水位高度应大于地下水位1m以上。
⑶在钻孔过程中随时检查钻杆垂直度和钻头的平面位置，防止偏孔或斜孔现象的发生。为防止污染,泥浆、废土采用集中堆放统一处理的办法。
㈣、钢筋的制作和安装 1、钢筋的有关规定：
⑴. 本工程钢筋施工执行GB50204-92《混凝土结构工程施工及验收规范》及设计文件的有关规定。
⑵. 本工程所使用的钢筋质量必须分别符合国家标准GB1499-98《钢筋混凝土热轧带肋钢筋》、GB13013-91《钢筋混凝土热轧光圆钢筋》、GB13014-91《钢筋混凝土热处理钢筋》、GB701-97《低碳钢热轧圆盘条》等有关规定，不符合上述标准的钢筋一律不准使用。
⑶．所有进场钢筋均应有出厂质量证明书或试验报告单，每捆钢筋均有标牌。进场时应按炉罐号及直径分批验收。
⑷．所有已进场钢筋均应在监理的监督下，按规范规定进行抽样，对钢筋的力学性能、可焊性进行试验，如发现脆断、焊接性不良或力学性能显著不正常时要进行化学成份分析或其他专项试验，其钢筋性能符合规范及设计要求后方可投入使用。
⑸．进场钢筋应按规格、型号、批号分开堆放，钢筋下应用方木或砼墩架空，避免被水淹没或被油污染。并应挂牌标识，注明钢筋的规格、型号、批号、检验状态，以便识别。
⑹．严禁使用钢筋表面有裂缝、结疤、折叠、带有颗粒状或片状老锈的钢筋。
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 common. 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 current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's 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 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 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 requirements 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 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 system 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 needs 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 isManipulator 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 application 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 robot to get people's 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 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 standards. 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 industrial 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 automation 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 didn't opportunities 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 research 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 arm 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 welding, 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 \n the mechanical arm is to use the program as a basis. Difference is that the robot begand 对一切不合格的钢筋及时清理退场，并作好记录存档。 2、钢筋的加工
考虑到钻孔灌注桩的桩长和吊车的起吊能力，钢筋笼须分节预制并在井口逐节焊接牢固。实际情况为钢筋笼分两节制作，孔口焊接，制作采用支架成型法。首先按加劲箍筋直径制作好弧型托架，并将托架固定于地面，然后将按设计尺寸加工好的加劲箍圈固定于托架上并标出主筋的位置，最后将主筋点焊于加劲箍上并绑扎螺旋筋。同一截面内有接头的钢筋面积不得超过钢筋总面积的50%，不同焊接钢筋断面间距不小于100cm。要注意钢筋笼的加强箍与主筋焊牢，以确保钢筋笼成形尺寸。钢筋笼保护层设置按设计频率布置。 3、钢筋笼的运输
结合桩位、场地，钢筋笼集中加工用平车运输至桩位附近。钢筋笼吊装采用三点起吊法（以防止钢筋笼在立起过程中变形），直接入孔就位。钢筋笼上端焊接4根φ25吊环，吊于井口支架上，支架的作用是使钢筋笼定位，以防提升导管时钢筋笼被拔起。
4、焊接质量要求
钢筋笼分节对接采用双面帮条焊。焊缝长度不少于5倍直径。主钢筋接头根数在1米范围内不超过50%，钢筋笼笼体应牢固，在顶部、中部、底部加力筋处设置垫块，以使钢筋有足够的保护层。钢筋笼底面高程误差控制在±50mm,中心偏位不超过50mm。
㈤、清孔
钻孔达到设计深度，用检孔器检测孔深、孔径、倾斜度等项指标，合格后清孔。 清孔采用抽浆稀释法。即在终孔后停止进尺，利用钻机的反循环系统的泥浆泵持续吸渣，利用泥浆在流动时所具有的动能冲击桩孔底部的沉渣，使沉渣中的岩粒、砂粒等处于悬浮状态，再利用泥浆胶体的粘结力使悬浮着的沉渣随着泥浆的循环流动被带出桩孔，最终将桩孔内的沉渣清干净，同时流入钻孔中的是流经沉淀池后的比重较
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 common. 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 current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's 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 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 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 requirements 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 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 system 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 needs 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 is
13
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 application 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 robot to get people's 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 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 standards. 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 industrial 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 automation 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 didn't opportunities 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 research 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 arm 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 welding, 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 \n the mechanical arm is to use the program as a basis. Difference is that the robot begand 小的泥浆或清水。
清孔质量要求：
1、清孔后泥浆比重应控制在1.06～1.10之间，粘度17-20PA.S，含砂率≤2%；清孔过程中注意及时往孔内补充足够的稀浆或清水；清孔完毕，尽快吊放钢筋笼。
2、在钢筋笼和导管安放完成后，重新检测孔底沉淀。如果沉淀超过设计要求，则利用导管进行二次清孔。检测泥浆和孔深符合要求后，安装漏斗，进行水下混凝土灌注。孔底沉淀厚度的检测方法采用孔深检测法。即钻孔灌注桩钻进的深度与清孔后量测的孔深之差即为沉淀厚度。沉淀厚度应满足成孔质量检查标准中的要求。用测绳系以线锥进行测量。
㈥、成孔质量检查标准
项目 孔的中心位置（mm） 孔径（mm） 倾斜度 孔深 允许偏差 50 不小于设计桩径 小于1% 不小于设计规定 小于设计要求，当设计无要求时，沉淀厚度（mm） 对于直径≤1.5m的桩，≤300mm；对桩径>1.5m或桩长>40m或土质较差的桩，≤500mm。 泥浆相对密度：1.03-1.10;粘度清孔后泥浆指标 17-20Pa.s；含砂率小于2%；胶体率大于98%。
㈦、水下砼灌注
砼灌注前，应检测孔底泥浆沉淀厚度，合格后灌注水下砼（不合格重新清孔）。水下砼灌注采用直升导管法，导管采用内径为25cm、壁厚4mm的钢管组成，管节间的
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 common. 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 current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's 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 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 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 requirements 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 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 system 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 needs 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 isManipulator 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 application 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 robot to get people's 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 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 standards. 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 industrial 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 automation 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 didn't opportunities 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 research 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 arm 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 welding, 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 \n the mechanical arm is to use the program as a basis. Difference is that the robot begand 连接采用装有橡胶垫圈的法兰盘连接，管节的制作第一节为6m，其余管节长为2m、1m、0.5m便于不同桩长的拼装。砼采用混凝土罐车运输，直接将砼倒入漏斗内，吊车配合灌注。
1、首批混凝土灌入量的控制： 第一批砼用量按下式计算：
V= Hc*πD2/4+h1*πd2*/4
式中：V---漏斗和储料斗容量（m3）
h1---孔内砼高度达到Hc时导管内砼柱与导管外水压平衡所需高度（米）； h1=Hwγw/γ
c
Hc---钻孔初次灌注需要的砼面至孔底的高度，即导管初次埋深H2与桩孔底至导管底端间距H1之和。 h2至少为1米，
h3为导管底端距孔底的高度一般为0.4 米。 Hw---孔内水面至初次灌注需要的砼面高度（米）。 D---钻孔直径（米）。 d----导管直径（米）。
γw----孔内泥浆的容重（吨/米3）。 γc----砼的容重（吨/米3）。
施工中根据灌注桩的孔径、桩长确定初次灌注混凝土时的灌入量，由此数量确定所选用的储料斗。
计算后的首批混凝土浇注量如下： 1.2m小桩
集料斗容量（m） 3项目 桩径 3Φ120 Φ150 Φ200 4.49-4.50 说明：直径钻孔灌注桩最长23m，最大桩
首批砼所需数量（m） 1.64-1.69 2.54-2.56 2 3 5 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 ismanipulator 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 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 current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's 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 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 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 requirements 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 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 system 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 needs was born, its main use in the work order control, early primary is replaced relay this hulking system, focused on
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