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 长48m；直径1.5m钻孔灌注桩最小桩长29m，最大桩长36m；直径2m钻孔灌注桩最小桩长38m，最大桩长42m；泥浆比重取1.1。
2.导管提升及埋升控制
灌注水下砼时，应经常探测孔内砼面高度，以控制导管埋深，如控制不准，将造成导管拔漏、导管埋置过深拔不出来或断桩事故。因此测深是一项重要工作，应采用较为准确的方法和探测工具。施工中拟采用重锤探测法，用测绳系以重锤，放入孔中，凭探测者手中所提测锤在砼顶面以前与接触砼顶面以后不同重量的感觉而判断。导管埋深应控制在2-4米时较好。在任何情况下，不得少于1米或大于6米。防止出现拔导管时拔漏或拔不出来。拔管前须仔细测探测砼面深度。用测锤测深时，须由两人用两个测锤测探，防止误测。
3、砼浇注高度控制
灌注桩的砼顶面高出设计高程不小于500mm,以保证桩头砼的质量。砼灌注完成后，挖除护筒。 五、施工技术要求
1、砼坍落度控制在18～22厘米。在灌注过程中，随时测量和记录孔内砼标高，计算导管埋置深度，一般不小于2m，不大于6m。
2、在灌注砼开始时，导管底部至孔底应有250～400㎜的空间。导管内水面以上用隔水塞密封，漏斗砼储满后，打开悬挂铁丝，在漏斗砼泄入导管的同时，罐车内砼迅速放入漏斗，以确保管端部的砼封底成功。
3、首批砼灌注正常后应连续不断灌注砼，严禁中途停工，在灌注过程中，应经常用测锤探测砼面的上升高度，并适时提升，逐级拆卸导管，保持导管的合理埋深。
4、砼灌注时间必须控制在埋入导管中的砼不丧失流动性的时间内，必要时可掺入适量缓凝剂。砼的最终灌注标高要求高出设计标高不少于50厘米。
5、钻孔桩施工，应填写钻孔记录、钻孔桩终孔后灌注砼前检查记录、钻孔桩钢
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 筋检查记录、水下砼灌注记录及成桩质检报告单。所有报告单均需工程师签认。
6、钻孔灌注桩施工中防止塌孔措施：
⑴、在开始钻孔桩施工前，对陆地钻孔桩桩位处采取清除杂物、换除软土、整体夯实方法对钻机的作业面进行处理，以确保护筒周边土质不宜松动，满足施工载荷的要求。
⑵、钻孔桩施工时钻孔内的水头压力要满足施工要求，而不至于产生孔内坍塌。
⑶、根据设计图纸及勘察结果，桥位处地质情况为：上层土质松软，含水量大，工程性质较差，下部土层多为中密-密实状粉细砂或中细砂，局部为硬塑-软塑状粘性土。钻孔桩施工过程中如控制不好，易塌孔，因此成孔时泥浆的相对密度应控制为为1.06~1.10为宜。施工中应根据地层情况适时调整泥浆比重。
⑷、钻孔桩在施工过程中，在硬粘性土层中，宜用低速钻进、自由进尺；在普通粘土中，宜采用高速钻进、自由进尺；在砂土中，宜用低中速钻进、控制进尺，防止排清速度跟不上。
⑸、保证向钻孔内连续补充泥浆，维持护筒内应有的水头，防止孔壁坍塌，要配备相配套的泥浆泵，以确保泥浆供应的连续。
⑹、在吊放钢筋骨架时产生的坍塌，主要是由于地面指挥或吊车司机操作不当造成吊放时垂直度不好造成的。为此，在吊放钢筋笼骨架时应作到指挥协调，吊机操作要熟练，配备足够的人员现场辅助，避免碰撞护筒或孔壁。
7、钻孔灌注桩施工中防止钢筋笼上浮措施：
⑴、为防止钢筋笼骨架上浮，在钢筋笼顶端用4~8根钢管套在钢筋笼的主筋上，采用反压阻止其上浮，上口钢筋笼主筋四周与护筒用钢筋焊牢，保证对中。
⑵、钻孔桩灌注砼时，要根据孔深、孔径等计算出首批砼所需的数量，施工中正确操作，浇筑过程必须连续作业，下料要均匀，不要过猛，确保砼均匀上升，以减少砼对钢筋笼骨架的上浮力。
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
17
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 ⑶、在拔管时，要根据砼浇筑方量，控制和保证导管埋入孔内砼深度2-4米，及时提拔导管，减少导管和混凝土对钢筋笼骨架上浮作用。 六、施工进度计划
根据扶项高速公路有限公司[2004]15号通知附件、现场调查资料及本地区水文、气候情况、工程总体施工计划、2004年度施工计划拟投入的人员、机械设备，我项目计划钻孔灌注桩施工工期安排为38天，即2004年4月24日---2004年5月31日。
钻孔灌注桩施工工期的安排是在充分考虑了各钻孔灌注桩作业队施工机械的配备的情况下制定出来的。施工中加强组织协调，提前预见施工中可能存在的情况，制定应急措施，保证施工的正常进行。
施工进度具体安排及协调情况 ㈠、各桩基施工队具体工期安排
1、桩基一队配备钻机2台，负责许楼、许湾2座天桥，共有直径1.2m的钻孔灌注桩20根672m、直径2m的钻孔灌注桩3根116m。考虑到我合同段地质情况较差，钻进速度按1m/h控制，计划2004年5月1日开工，5月21日完工，钻孔灌注桩施工总工期21天。
2、桩基二队配备钻机4台，大新排沟中桥和神郸铁路分离式立交，共有直径1.2m的钻孔灌注桩24根624m、直径1.5m的钻孔灌注桩24根768m。考虑到我合同段地质情况较差，钻进速度按 1m/h控制，计划2004年4月27日开工，5月15日完工，钻孔灌注桩施工总工期19天。
3、桩基三队配备钻机4台，负责扶沟互通区2座分离式立交桥和毛庄通道桥，共有直径1.2m的钻孔灌注桩40根1236m、直径1.5m的钻孔灌注桩45根1498m。考虑到我合同段地质情况较差，钻进速度按 1m/h控制，计划2004年4月24日开工，5月25日完工，钻孔灌注桩施工总工期31天。
4、桩基四队配备钻机6台，负责黄水沟中桥、沙洼通道桥、菜园和冢子扬天桥，
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 共有直径1.2m的钻孔灌注桩56根1804m、直径2m的钻孔灌注桩3根122m。考虑到我合同段地质情况较差，钻进速度按 1m/h控制，计划2004年5月1日开工，5月30日完工，钻孔灌注桩施工总工期30天。
工期安排详见施工进度计划横道图。 ㈡、工序协调情况
1、考虑到桩基一队和桩基二队施工任务相对较轻，桩基一队和桩基二队钻孔灌注桩施工完成后，项目部对施工力量将做统一调配。安排施工力量支援桩基三队和桩基四队的施工。
2、对工程中可能出现的混凝土供应不足的情况，项目部将对2个混凝土拌和设备进行统一协调安排，必要时进行统一集中供应同一处钻孔灌注桩的施工。
3、对工程施工过程中可能出现的机械设备故障，项目部已经建立了由各桩基施工队、钢筋加工施工队和混凝土拌和站维修人员组成的修理班，负责应对施工中可能出现的机械设备故障。
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
19
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 七、 确保工程质量和工期的措施
㈠、质量保证措施
1、工程的方针目标是争创“国优”。
2、经理部成立以项目经理为首的全面质量管理领导小组，实行全面质量管理，执行ISO—9000系列标准。
3、对全体职工进行全面质量管理教育，树立“百年大计、质量第一”的思想，增强职工的质量意识，提高工作质量。
4、建立健全完善的质量保证体系，施行质量责任制。
5、认真贯彻执行内部监理制度，经理部设专职内部监理工程师，负责全标段的工程质量内部质检工作，行使质量否决权。各工队设专职质检工程师，负责本段的工程质量管理。
6、所有技术人员必须熟悉施工图纸和有关技术规范，了解设计意图，明确施工技术的重点难点，做好层层技术交底工作，特别应使操作人员了解和领会各项技术要求，以保证施工正确性；
7、应加强测量人员的责任心和提高技术水平，合理设控制点，以减小误差。定位放样采用座标控制，用全站仪由三个方向进行交会。待测设的有关数据必须经复核，以免出现差错。测量仪器按规范要求定期进行校正和维修；
8、试验检测工作主要由中心试验室负责，对施工中的取样检测严格按规范要求的频率进行。
9、加强工序质量控制，合理组织，保证施工连续性，认真填写原始施工记录； 10、开展群众性的QC小组进行攻关，并搞好合理化建议和技术革新活动。 11、做好质量预控工作，对容易出现问题的工序，预先制定出切实可行的措施，工程质量始终处于控制之中。
12、认真搞好内部的工程质量“三检”工作，某一工序完成，负责该工序的班组
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