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技术交底记12、录表C2-1编 号05-C2002工程名称河北天柱钢铁集团恒泰钢铁有限公司高速线材工程交底日期2011年11月1日施工单位中国二十二冶市政公司河北天柱高线工程项目部分项工程名称主厂房及加热炉钢柱制作交底提要天柱高速线材主厂房及加热炉钢柱制作一、工程内容本工程为河北天柱钢铁集团恒泰钢铁有限公司高速线材主厂房及加热炉区钢柱工程。钢结构安装总工程量约4600吨（不含天窗和彩板）。主要施工内容为:NA列11至42线、NB列1至42线、NC列1至42线、ND列1至42线、NE列14至26线框架系统制作安装。该工程钢柱部分主要包括主厂房176根框架柱，加热炉18根框架柱钢结构制作。二、主要施工方法钢柱制作13、工艺及技术要求 材料:所有主材及辅材应具有质量证明书，并应符合设计要求。 A.放样、号料： a.放样和号料应根据工艺要求预留制作和安装时的焊接收缩余量及切割等加工余量。 b.钢构件中各杆件的间隙，特别是缀件与钢柱连接处的间隙应按板金展开图进行放样。 c.对来料进行检尺，检查其规格、型号是否与设计图纸的要求相符，确认无误后方可号料。号料允许偏差:项 目允许偏差(mm)零件外形尺寸1.0 孔距0.5 B.切割：a.节点板用半自动切 割机剪切下料。b.气割前应将钢材切割区域表面的铁锈、污物等清除干净，气割后应清除熔渣和飞溅物。切割平台必须平整。 c.切口表面平整，不得有裂纹、重皮、毛刺、凸凹、缩口，14、熔渣、氧化铁、铁屑等。 d.切口平面倾斜偏差为管子直径的1%，但不得超过3mm。 C.接料 a.采用二氧化碳气保焊。b.焊接材料选用:选用与母材相匹配的焊丝、焊剂。焊剂要按规定进行烘干。点粘焊条要与正式焊接相同。 D.组装 a.在平整的地板上放出实样，并进行组装，点焊要求与正式焊接相同。 b.柱的组装应遵照有关规定执行。 c.检查核实无误后，交下道工序进行焊接。 E.焊接 a.采用二氧化碳气保焊。焊缝质量应符合图纸设计要求。 b.钢柱对接时应严格保持焊后平直，焊接时除控制几何尺寸外，还应注意焊接变形的影响，焊接宜采用分段反向顺序，分段施焊应保持对称。对接间隙宜放大0.5-2.0mm，以抵消收缩15、变形，具体数据可根据施焊结果确定。 c.钢柱与缀件焊接时，焊接次序应考虑焊接变形的影响。 F.修整a.采用火焰矫正法进行修整。b.在各工种之间或每个工序之间，必须按设计图纸进行自检和互检，并在构件上打上各自的记号。 G.组合截面柱采用自动焊接，焊缝等级应符合二级焊缝质量标准。工字形腹板盖板拼装时接口要互相错开200mm以上，与筋板错开200mm以上，拼接应采用加引弧板（其厚度和坡口与母材相同）的对接焊缝，要保证焊透。焊缝质量等级应符合二级焊缝质量标准。拼接号料时应预留焊接收缩及切割余量。拼接钢板接料坡口形式如下：H.大板切料采用半自动精密切割或数控精密切割下料，12mm以下采节点板用剪板机剪切16、。其余亦采用半自动精密切割或数控精密切割。大板切料时应采用一定的防变形措施。切割平台必须平整。I.工字型组装前应检查上道工序提供的零件，符合标准要求后方可进行组装。连接面和沿焊缝边缘约50mm范围内的铁锈、毛刺、污物等应清除干净。组装在H型钢自动组立机上进行，由放样人员划出中心线、定位线，待检验合格后才准上机点焊固定。组装后对构件进行检查，合格后方可焊接。工字型采用龙门式H型钢自动埋弧焊机及采用埋弧自动焊进行焊接，采用合理的焊接顺序，减少焊接变形。J.工字型的角变形采用翼缘矫正机进行修整，侧弯及拱度采用火焰矫正。将修整后的工字型二次净料，并组装加劲板，检查无误后进行焊接。三、钢结构制作主要技术17、要求项次项目允许偏差（mm）检验方法一级二级三级1对接焊缝焊缝余高（mm）b200.520.52.50.53.5用焊缝量规检查b200.530.53.50.54焊缝错边0.1且不大于20.1且不大于20.1且不大于32贴角焊缝焊缝余高（mm）k60+1.5用焊缝量规检查k60+3焊角宽（mm）k60+1.5k60+33T型接头要求焊透的K型焊缝(mm)k=/20+1.5 A.焊缝尺寸的允许偏差和检验方法：注：b为焊缝宽度；k为焊角尺寸；为母材厚度。栏杆、梯子制作技术要求：项 目允许偏差梯梁长度5.0钢梯宽度5.0钢梯安装孔距离3.0梯梁纵向挠曲矢高1/1000踏步间距5.0栏杆高度5.0栏杆立18、柱间距10.0B.对接接头焊缝和贴角焊缝的表面质量标准（mm）C.钢柱由加工厂整体拼装，单根钢柱最重为7T。单根吊车梁最重为7T。单榀屋面梁最重为12T。项次项 目等 级检验方法用焊缝量规检查1对接接头焊缝贴角焊缝表面裂缝、表面气孔、表面夹渣、熔合性飞溅不允许不允许2咬 边深度：e10.5长度小于或等于焊缝长的10%，且小于1003表 面 加 强 高e0.10b1且不大于3e0.20b1且不大于34宽 度盖过每边坡口约2mm5对 口 错 边ez0.1且不大于3ez0.1且40时不大于340时，不大于66余 高+307焊 角 宽+30D.焊缝质量检验：a.焊缝表面不允许有裂纹、气孔、夹渣、熔合性19、飞溅。b.焊缝咬边深度0.5mm，长度小于或等于焊缝全长的10，且小于100mm。c.焊缝宽度盖过每边坡口约2mm。d.钢构件焊缝的质量检验采用超声波探伤，不得出现漏、虚、过焊、裂纹、气孔及夹渣等缺陷。四、 钢结构防腐涂装1.材料建筑钢结构工程防腐材料的选用应符合设计要求。防腐蚀材料有底漆、面漆和稀料等。本工程防腐底漆为灰色防锈漆、面漆为冰灰色调和漆，防腐材料应符国家有关技术指标的规定，还应有产品出厂合格证。2.作业条件：A.防腐涂装工程前钢结构工程已检查验收，并符合设计要求。B.防腐涂装作业场地应有安全防护措施，有防火和通风措施，防止发生火灾和人员中毒事故。C.露天防腐施工作业应选择适当的天20、气，大风、遇雨、严寒等均不应作业。3.工艺流程：基面清理底漆涂装面漆涂装检查验收4.基面清理：A.建筑钢结构工程的油漆涂装应在钢结构安装验收合格后进行。油漆涂刷前，应将需涂装部位的铁锈、焊缝药皮、焊接飞溅物、油污、尘土等杂物清理干净。B.基面清理除锈质量的好坏，直接关系到涂层质量的好坏。C.本工程采用人工除锈，要求一遍底漆、一遍面漆。 5.底漆涂装：A.控制油漆的粘度、稠度、稀度，兑制时应充分的搅拌，使油漆色泽、粘度均匀一致。B.刷漆时应采用勤沾、短刷的原则，防止刷子带漆太多而流坠。C.底漆涂装后起码需48h后才能达到表干、表干前不应涂装面漆。6.面漆涂装：A.面漆的调制应选择颜色完全一致的面21、漆，兑制的稀料应合适，面漆使用前应充分搅拌，保持色泽均匀。其工作粘度、稠度应保证涂装时不流坠，不显刷纹。B.面漆在使用过程中应不断搅和，涂刷的方法和方向与上述相同。7.涂层检查与验收：A.表面涂装施工时和施工后，应对涂装过的工件进行保护，防止飞扬尘土和其它杂物。B.涂装后的处理检查，应该是涂层颜色一致，色泽鲜明光亮，不起皱皮，不起疙瘩。8. 钢构件涂装后应加以临时围护隔离，防止踏踩，损伤涂层。A.钢构件涂装后，在4h之内如遇有大风或下雨时，应加以覆盖，防止粘染尘土和水气、影响涂层的附着力。B.涂装后的构件需要运输时，应注意防止磕碰，防止在地面拖拉，防止涂层损坏。C.当空气湿度大于85%，或构件22、表面有结露时，不宜进行涂层作业。D.钢构件制作前，应对构件隐蔽部位、结构夹层难以除锈的部位，提前除锈，提前涂刷。五、钢结构制造的技术要点：钢结构制造技术主要是焊接H 钢的制造，其中控制主焊缝全自动埋弧焊的焊接质量为关键技术。 1.焊接变形的控制A.自动埋弧焊电流大，热量高，构件易产生变形(翼缘板角变形；H 钢的纵向弯曲；H 钢扭曲变形) 。B.针对上述问题主要采取以下技术措施：a.针对焊接工作的需要自行制作了一个专用的工作台，将H 钢的四条纵向角焊变为船形焊，以保证焊缝的焊透，提高焊接质量，减少熔敷金属。这是对焊接变形的第一步控制。b.根据翼缘板与腹板的不同配置调整焊接参数，将角变形控制在3 23、mm 以内，然后用翼缘矫正机对其进行校正。c.纵向弯曲是由于H 型钢单边受热产生的残余应力分布不均造成的。通过实验决定利用后续焊缝的残余应力平衡上道焊缝的残余应力的办法，即第1、2道焊缝焊接时，电流调至下限值，第3 道焊缝焊接时，电流调至平均值，在最后一道焊缝焊接时，将电流调至上限值，以期消除变形。如采用上述措施后仍有少量变形，则在后续工序中用火焰法予以校正。d.扭曲变形与纵向弯曲产生的原因大致相同，因此，也是通过合理调整焊接顺序，以后续焊缝的残余应力来平衡前面的焊接残余应力。2.自动埋弧焊的焊接参数的确定A.焊丝直径：在焊接电流、电压和速度不变的情况下，焊丝直径将直接影响焊缝的熔深。随着焊丝24、直径的减少，熔深将加大，成型系数减小。B.焊接电流:对焊缝熔深大小影响最大的因素是焊接电流。随着焊接电流的增大,熔深将增加。C.电弧电压: 电弧电压低时，熔深大、焊缝宽度窄；电弧电压高时，熔深浅、焊缝宽度增加；过分增加电压，会使电弧不稳，熔深减少，易造成未焊透的现象，严重时还会造成咬边、气孔等缺陷。D.焊接速度：如焊接速度增加，焊缝的线能量减少，使熔宽减少、熔深增加，然而继续加大焊接速度，反而会使熔深减少，焊接速度过快，电弧对焊件加热不足，使熔合比减少，还会造成咬边、未焊透及气孔等缺陷。3.构件变形的校正及几何尺寸的控制在焊接H 钢生产中对构件变形的校正，主要采用三种方法：火焰校正法、机械校正25、法和反变形法。A.机械校正法主要校正翼缘板的角变形,在专用的翼缘矫正机上，通过机械力进行反复的强制性校正，直到角变形量符合标准为止。B.火焰校正法主要用于校正H 钢的纵向弯曲变形，在拱起的一侧用火焰加热至850 900 ，在翼缘板上进行条形加热，在腹板上进行三角形区加热，加热后用冷水进行跟踪冷却。加热时根据不同的变形量，控制加热区的大小和加热的温度，以防校正过量和出现过烧现象。C.反变形法用于控制端头板焊接变形。在端头板焊接前，在施焊部位的反面用大号气焊枪进行烘烤，产生残余应力，待正式施焊时达到焊接残余应力平衡。最终实现端头板的平整。审核人 交底人 接受交底人接受交底人名单如下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