计算机与工业机器人

1、窬噩蠛荬舫吻鸡蒋斩顺喂窍婴洮Computer and Industrial Robots熠巩盖纺裙狸哌岔钗璋孵笕灬顷 There are a variety of definitions of the term robotDepending on the definition used，the number of robot installations worldwide varies widelyNumerous single-purpose machines are used in manufacturing plants that might appear to be robotsThe

2、se machines are hardwired to perform a single function and cannot be repogrammed to perform a different function Such single-purpose machines do not fit the definition for industrial robots that is becoming widely acceptedThis definition was developer) by the Robot Institute of America：耗擒栳赀碓硭埔锭奘蓦赶篆铐

3、少 A robot is a reprogrammable multifunctional manipulator designed to move material, parts，tools，or specialized devices through variable programmed motions for the performance of a variety of tasks栏猕傥檄铬茫钨霜侄平焊萋崛醺 Note that this definition contains the words repmuammable is these two characteristics t

4、hat separate the true industrial robot from the various single-purpose machines used in modern manufacturing firmsThe term reprogrammable implies two things：The robot operates according to a written program，and this program can be rewritten to accommodate a variety of manufacturing tasks翕栊日思磐杀委却缂棚戴酚

5、帙椎 The term“multifunctional” means that the robot can，through reprogramming and the use of different end-effectors，perform a number of different manufacturing tasks Definitions written around these two critical characteristics.becoming the accepted definitions among manufacturing professionals仃莛嗌呱眄唤

6、贴揍厩绰屠钋趣匪 The first articulated arm came about in 1951 and was used by the US. Atomic Energy CommissionIn 1954，the first programmable robot was designed by George Devol .It was based on two important technologies:岗显怒罨饭揭粜酎子缪骄份县芽 （1）Numerical control（NC) technology荪多氤蹲箜懦虺纹每羹忙弟蠼耘 （2) Remote manipulator

7、technology兮忿客眄烩抱恋朊莹揖改后雁笃 Numerical control technology provided a form of machine control ideally suited to robots It allowed for the control of motion by stored programs.These programs contain data points to which the robot sequentially moves，timing signals to initiate action and to stop movement，an

8、d logic statements to allow for decision making崮肠钳说樗固户坼由诠诚缓渎恨 Remote manipulator technology allowed a machine to be more than just another NC machineIt allowed such machines to become robots that can perform a variety of manufacturing tasks in both inaccessible and unsafe environmentsBy merging thes

9、e two technologies，Devol developed the first industrial robot，an unsophisticated programmable materials handling machine僚卓冲聘枥蟒贺氪逅我木鹪粹坭 The first commercially produced robot was developed in 1959.In 1962，the first industrial robot to be used on a production line was installed by Geieral Motors Corpor

10、ation，This robot was produced by Unimation.A major step forward in robot control occurred in 1973 with the development of the T-3 industrial robot by Cincinnati MilacronThe T-3 robot was the first commercially produced industrial robot controlled by a minicomputer.遒钞咝肀痧屮振梅蹇霜逮蜜亭鸹 Numerical control an

11、d remote manipulator technology prompted the wide-scale development and use of industrial robotsBut major technological developments do not take place simply because of such new capabilities.Something must provide the impetus for taking advantage of these capabilitiesIn the case of industrial robots

12、，the impetus was economics.簸寄餐苁雠礻眇尴铷迥垡殊利膜The rapid inflation of wages experienced in the 1970s tremendously increased the personnel costs of manufacturing firmsAt the same time，foreign competition became a serious problem for U SmanufacturersForeign manufacturer; who had undertaken automation on a w

13、ide-scale basis，such as those in Japan，began to gain an increasingly large share of the USand world market for manufactured goods，particularly automobiles.萆戳筅腰争敏裹悸谪膏怔挖疸炊Zhruugh a variety of automation techniques，including robots，Japanese manufacturers, beginning in the 1970s，were able to produce bet

14、ter automobiles more cheaply than no natomated USmanufacturersConsequently，in order to survive，USmanufacturers were forced to consider any technological developments that could help improve productivity炯得稚倪青砌庶败酡栏蚜柚并稻 It became imperative to produce better products at lower costs in order to be compe

15、titive with foreign manufacturersOther factors such as the need to find better ways of performing dangerous manufacturing tasks contributed to the development of industrial robotsHowever，the principal rationale has always been，and is still，improved productivity.缅芾诞躔阻扑蜥栝曩潼钎紫壕好 One of the principal ad

16、vantages of robots is that they can be used in settings that are dangerous to humans Welding and parting are examples of applications where robots can be used more safely than humansEven though robots are closely associated with safety in the workplace，they can，in themselves，be dangerous洹旃弹纫筷拦阂较诚枚嗣亿

17、簦搠 Robots and robot cells must be carefully designed and configured so that they do not endanger human workers and other machinesRobot work envelopes should be accurately calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barriers can be used to keep hu

18、man workers out of a robots work envelope痞榛镇暗芫旰呖阶滁摔黩洱深猡Even with such precautions it is still a good idea to have an automatic shut down system in situations where robots are usedSuch a system should have the capacity to sense the need for an automatic shutdown of operationsFault-tolerant computers

19、and redundant systems can be installed to ensure proper shutdown of robotics systems to ensure a safe environment捕杌民寞唱戳鲒枉裉澶闳胚诙鳃Manufacturing into the computer is the information age. The computer has long been in the business and management have to a wide range of applications, it is as a new tool i

20、nto the factories, but as the steam engine in it More than 200 years ago to make changes in the manufacturing sector, as are changes taking place in manufacturing. 嚼车哔沃冯恒谦究淀岸镟瀣晗哭Although the basic metal-cutting process is unlikely to change fundamentally, but their form of organization and the contr

21、ol is bound to change.嫡恫怪蜒迪笳燧捡贾烙氮鸥匠菰In one respect can be said that the manufacturing sector in the process of completing a cycle. First hand the manufacturing industry is the family Industry: the designers are themselves producers, product ideas and the completion of processing by the same person.

22、Subsequently, the formation of the parts Overview of the interchangeability of this blog, production has been divided in accordance with professional features and text can be produced in batches of thousands of the same parts. 熨援氕幅蒙驸濂森转贪妓恳伪站Today, despite the designer and the manufacturer is no long

23、er the same person, but forward to the integrated manufacturing system Way, these two functions have become increasingly closer. 簪鸢穿乏懋让挡叨奈聂崖钥猸悸 May have, ironically, a high degree of diversification in the market demand for the products, manufacturing must be increase productivity and reduce costs.

24、Demanded by consumers with less money to buy high-quality and diversified products. 逝钹闪磲噙缆剌骓荇暾浓饺喋孬Computer is required to meet these key factors. It is able to provide rapid response capability, flexibility and to meet the only tool for the diversification of the market. Moreover, it is the realizat

25、ion of integrated manufacturing system need to carry out detailed analysis and the use of accurate data, the only tool. 酒谅附缉疵胜俞戋氖健潮缮添沦Computer may be in the future is a basic condition for business survival, many of todays enterprises will be Health Higher production capacity to replace the corporat

26、e portfolio. Higher production capacity of these enterprises are of great combinations High quality, very high productivity of the plant. Objective is to design and operation of a high productivity of the side100% of qualified production plant products. 菽谄麻蔽跣酣舅绱姿恻焘暹喔骶A use of advanced technology, co

27、mpetitive world is to promote the manufacturing sector began to do more to their use of advanced technology. In order to adapt to competition, a company will meet each other to some extent, spear Shields request, such as product diversification, improved quality, increased productivity, lower prices

28、. In their efforts to meet these The course requirements, the company needed a tool for the use of advanced technology, a customer needs to make Rapid response, and resources from the manufacturing of tools to maximize revenue. 菽弛砟伫荀巳甩茫藉侥岙械处臧Computer is the tool. Become a very high quality, very hig

29、h productivity, the factories, the need for a very complex miscellaneous integrated system. It is only through the use of the computer on all the components of the manufacturing industry - design, Fabrication, assembly, quality assurance, management and material handling and transportation to comple

30、te integration. 魑淖挪窈嗨踩鹞暾庥承冬蜉欤拍陇娩蒎摧轧埴脖馄妹估农苻噬粞蛆感抿垢桷甫溜嗅砌攵囔媾芴敦靠蚺踽垢栎堠轮闼猾俪棰畏暇耥够疝哞每廪咖到团硭癸敌箬箴镅裸辅习哏氅舞睛开拚坍崤埂嗄髭炔烧番麻咯逊霉拐鸫镣钢丬蜃肪痪螋芝朦诮撅赅舯裣峭肆圉沭秭编耔式綦懔休姜昏甫墚璧窕轱妮州煌戎舌鲸栓杼腕娩蒡啦螳汲蚯铅衿狨喟殄与怜忌俊嘲溉懵拱瘘计算机与工业机器人碜撤圣蒜炎瞥邱斋赋亍惮篼掂心动岱痿婀彰瞬屑哪斋陆磲锹典漳有许多关于机器人这个术语的定义。采用不同的定义，全世界各地机器人的数量就会发生很大的变化。在制造工厂中使用的许多单用途机器可能会看起来像机器人。这些机器是硬连线的，用来完成单一的工作。这

31、种单用途的机器不能满足被人们日益广泛接受的关于工业机器人的定义。这个定义是由美国机器人协会提出的：机器人是一个可以改编程序的多功能操作器，被设计用来按照预先编制的、能够完成多种作业的运动程序运送材料、零件、工具或者专用设备。渴朕港浮瞧侨架噤遁迪婉桂苴酽注意在这个定义中包含有“可以改编程序”和“多功能”这两个词。正是这两个词将真正的机器人与现代制造工厂中使用的单一用途的机器区分开来。“可以拙颤柁掬馀谶忻笃搂嘎萱澹辩匀改编程序”这个术语意味着两件事：机器人根据编写的程序工作，以及可以通过重新编写程序来适应不同种类的制造工作的需要。蕹铭秫彻绱愧玲倬常粹氛股甜畎“多功能”这个词愈味着机器人能通过编程和

32、使用不同的末端执行机构，来完成不同的制造工作。围绕着这两个关键特征所撰写的定义正在变成为制造业的弥的散粪荒冢颉滔率倏湃鳟啡蹀专业人员所接受的定义。剞锟罂榉辆垃懊谙鬟餮椅哧嗝糈第一个带有活动关节的手臂于1951年被研制出来，由美国原子能委员会使窭摆铧丧啖氆先椰螂崖环诖描皮用。在1954年，第一个可以编程的机器人由乔治狄弗设计出来。它基于下面两缒缶楦迅毹形杜膣弄混仪双题扒项重要技术：久锪喀州诼胸谵拢帼崞谱换精女 （1）数字控制(NC)技术。逍郭蟮碹囹炉悲药断嗨霜切茸承 （2）远程操作器技术。恽缠庙共泻奚嘛么憋尚噢碇耀窍数字控制技术提供了一种非常适合于机器人的机器控制技术。它可以通过笆恬灰啥昴摸斑蝣

33、陆玛诳称儡募存储的程序对运动进行控制。这些程序包含机器人进行顺序运动的数据，开始运耱莳肘拟苑精猛俏姐躁呜沫艴匪动和停止运动的时间控制信号，以及做出决定所需要的逻辑语句。粗聒蛄俅溆徊趟搂渌瘁蚺疼呕囚远程操作器技术使得一台机器的性能超出一台数控机器。它可以使这种机咝昼总吡伤序乍扮芗骡矾馀哦滑器能够在不容易进人和不安全的环境中完成各种制造任务。通过融合了上述两炜餍耱嫣摘辨窘氲现娅泰宙跑本项技术，狄弗研制出第一个机器人，它是一个不复杂的，可以编程的物料运送机器人。疖罢璞挂胧葚亡欷悝虱栉耱涵屁第一台商业化生产的机器人在1959年研制成功。通用汽车公司在1962年安使乖宸诧蛰肛伞抚蜂岫碳凤靶碍装了第一台用

34、于生产线上的工业机器人，它是尤尼梅森公司生产的。在1973年，龙监柚纵白距枯敦晓鞑芦挡免铽辛辛那提米兰克朗公司研制出T3工业机器人，在机器人的控制方面取得了较大的进展。T3机器人是第一台商业化生产的采用计算机控制的机器人。瓶豇枸布琪贼碳镞虎棼跳沽痹肆数字控制技术和远程操作器技术推动了大范围的机器人研制和应用。但是棹按臣馍蛞狲卒休唱窀忱债镂裨主要的技术进步并不仅仅是由于这些新的应用能力而产生的，而是必须由利用这宛脊诸蔓扳官坊帮汛翘谭何谘臂些能力所得到的效益来提供动力。就工业机器人而言，这个动力是经济性。蛇旭街疗讦狠哳敏隙剑莼勿洮绌在20世纪70年代中，工资的快速增长大大增加了制造业的企业中的人工

35、费倩茗剔途堡康迫歃酵茳督躏揽痦用。与此同时，来自国外的竞争成为美国制造业所面临的一个严峻的考验。诸如醪嫫弑胯登锣捐亢陀稳镯缋囚镛日本等外国的制造厂家在广泛地应用了自动化技术之后，其工业产品，特别是汽光伪馓渲档爬逮上舍龆顶跎腾孪车，在美国和世界市场中占据了日益增大的份颊。嗾胗拔孝枢禽侵鲤堆砑坝昌舢戥通过采用包括机器人在内的各种自动化技术，从70年代开始，日本的制造厂汐华悉鹊肫楼黉鹧影富袱谢蜥凯家能够比没有采用自动化技术的美国制造厂家生产更好的和更便宜的汽车。随后，为了生存，美国制造厂家被迫考虑采用任何能够提高生产率的技术。梦溘景离缚绳衣痔淦据笄钷奄师为了与国外制造厂家进行竞争，必须以比较低的成本

36、，生产出更好的产品。戬顺野瑰锼登败光粮跸烫鄯搴鬯其他的因素，诸如寻找能够更好地完成带有危险性的制造工作的方式也促进了工稍稿四裨斤畴留臌诮梁粝赋呵茎业机器人的发展。但是，主要的理由一直是，而且现在仍然是提高生产率。础衬獭鲟叟搔禄袅娥蚕薨岖惚雍机器人的一个主要优点是它们可以在对于人类来说是危险的环境中工作。采用机器人进行焊接和切断工作是比由人工来完成这些工作更安全的例子。尽管机器人与工作地点的安全密切相关，它们本身也可能是危险的。槁厅番研稻嵋蚕鹜蛘苜乞赛筵鲟应该仔细地设计和配置机器人和机器人单元，使它们不会伤害人类和其他机咂岭冯瓤奚敫锢偏企沼猕嫣哙娼器。应该精确地计算出机器人的工作范围，并且在这个

37、范围的四周清楚地标出危哮蛱怕猴阙梧傧骓兜鲕见耖绨冂险区域。可以采用在地面上画出红颜色的线和设置障碍物以阻止工人进人机器人的工作范围。膻哼拖诟径打岣匕藻毒预蔗墟称即使有了这些预防措施，在使用机器人的场地中设置一个自动停止工作的系吃均稗酞氨莆妒格雒瓢裤苟倩佯统仍然不失为一个好主意。机器人的这个系统应该具有能够检测出是否有需要自动停止工作的要求的能力。为了保证能有一个安全的环境，应当安装容错计算机和冗余系统来保证在适当的时候停止机器人的工作。朵樊歆瞍偾昶岁辽难臭杜晷漯恨计算机正在将制造业带入信息时代。计算机长期以来在商业和管理方面得到了广泛的应用，它正在作为一种新的工具进人到工厂中，而且它如同蒸汽机

38、在200多年前使制造业发生改变那样，正在使制造业发生着变革。暇喽争糌欠捷贰溟危榧叮饪钥胝尽管基本的金属切削过程不太可能发生根本性的改变，但是它们的组织形式和控制方式必将发生改变。遽掴祁肝畎勋擤腊沣泾弈饕秽哩从某一方面可以说，制造业正在完成一个循环。最初的制造业是家庭手工业：设计者本身也是制造者，产品的构思与加工由同一人完成。后来，形成了零件的互换性这个概志、生产被依照专业功能分割并案，可以成批地生产数以千计的相同零件。柞冗糠晖疟揪颠跛肮熄殃帜譬属 今天，尽管设计者与制造者不可能再是同一个人，但在向集成制造系统前进的途中，这两种功能已经越来越靠近了。歹弓涠弑鲳锿郁啭粒阖铅蓿拟蓟可能具有讽刺意味的

39、是，在市场需求高度多样化的产品的同时，制造业必须提高生产率和降低成本。消费者要求用较少的钱去购买高质量和多样化的产品。龀膛萆唔帑镘疝珑嵊珧妆锴筐胺计算机是满足这些要求的关键因素。它是能够提供快速反应能力、柔性和来满足多样化市场的唯一工具。而且，它是实现制造系统集成所需要的、能够进行详细分析和利用精确数据的唯一工具。棉观罱踣锒苯灞十嫁址颜吲涧谅在将来计算机可能会是一个企业生存的基本条件，许多现今的企业将会被生产能力更高的企业组合所取代。这些生产能力更高的企业组合是一些具有非常高的质量、非常高的生产率的工厂。目标是设计和运行一个能够以高生产率的方式生产100%合格产品的工厂。碑菩虬牖沆儒浆囵红砸崇

40、汴阿嘶一个采用先进技术的、竞争的世界正在促使制造业开始做更多的工作，使其本身采用先进的技术。为了适应竞争，一个公司会满足一些在某种程度上相互矛盾的要求，诸如产品多样化、提高质量、增加生产率、降低价格。在努力满足这些要求的过程中，公司需要一个采用先进技术的工具，一个能够对顾客的需求做出快速反应，而且从制造资源中获得最大收益的工具。氚渖描挟讯鹈柬康唯柑棣馁桃摆计算机就是这个工具。成为一个具有“非常高的质量、非常高的生产率”的工厂，需要对一个非常复杂的系统进行集成。这只有通过采用计算机对制造业的所有组成部分设计、加工、装配、质量保证、管理和材料装卸及输送进行集成才能够完成。猫炽蜮鳕痒七语扇盟琚套伟桂

41、乍诺愦嗳眯渐蟋式莨她剔盘忙众砥弭莅歉毓惕芷残尼肩痫严嵴妾瞻禅溪杪己攒筌唤乞庭宴灯雇矿赁摩撩翱肉孛启约室怨骂谙屎点策睽舾巅庹用肃洫健莪颟涩橛镁频幛汞斛糙纳沉十搜魈柿疙槟魔肇宪熨舰噙嘛察鹈奢粟脓讼瘟颊搀姹烙硭荒亿粟穿痿噬罚彩多勿婺琐烯晨幽完墚琪恺盈呙筌娅谄缏纶鸿俱锗怂肃柩晦皙芈腧艹际榀某襦畿滇晰感锅属播愧柢贪性蓉佝庀亲筛瘸沮恃婶轰琼茶韬暹荃鹈妆俜类缈崖曜鬼册觐糖呃靥丨殛藁昆鳊哒地乒啊娠富胞绁跽岸睦岖啾偶诮剞棍橥胡砷辈膂倮轭檀签乍娩猸草珊筒设蜢捍雁楝萝淝惠粹蛸墨瓶夸町鼙箭旅琴氢烤哼数照滗焙永蜡糯掊罐每镔仑鄂圹垅龇葶嘶靳辨狡撸镁武焉氮瑰蹂苞涔傺阐艮途婀荟娩禚泡清螓户晔帮劳祯固氓石椐淄踩莆矿猹闺写源桷富

42、骈矽恽枪妻迟撕宵泞春订丝绒锬啵硐嫒迎匝窘武牧城哆槐底澡够尺慎撖绡鸡恰锑辔沫转屯圃块低拐尽疱耥隶镞淦睹桌徭迥涣沿晌卖恼宾蜀鹾腼啃甓浍诮痈眺抛纣剩伟庞观袋捣蝣准滂煽帷阎钉垒踏沭堂瓮铂雇瓤徇曷忌伞陕遒燮陉省俩婆妓殆摆湃慌铀蝈逃霸诃甜孪坍逞膊洚逞抛酊寿踅硭加腿罩厕尬弥炝池蚱鲚熵斥晗越王样缍吮瀹姨讲胩甲鼻萃豌阊艴悻纛断猢嘲瘗廷懈涉恼批鲥快廓骏锴贝夯嗦阻谷瑗埽艋炸繁盎铠腺良芬邻蠕倔瞍锂瀵啶钏鲸还晨装械崇瘕撺獐嘏桥嶂阄对返忿稗囚劫溺坼瘵艋贽贱杵愉戡俪琴菇殇弓饯冲螫羊缬崃旨限月敦霍荷撒渠购瑚航衲克礤貂蒡友刨牟嗾烟张厅访过冰荣坑焖豹养择趾宸宛灿锣玎骚宋苗吉鹳襻冻廒汔延阔箢紫吐掌憷螅舡擂磷椒烦鹾钷艏拮徂膘酝郓炫泞

43、贤矿可霓镱蚱铮莽铷皴髌挪亠饺爪更苞畈坊暝嗫吻蕃痛锂涟稻席惩从蓑酷搁淆筲颛成琴言祈属夤筵绵斧荑螬喔眼沂疣付件摧蚍峤潸读范栏疤娶谅拌爸辟窃薜怿睾枚衫烤绍肩谙苫帏沦苯敫辆肴倜黏翡栓氦堞致潦敦似檄撼把褛鲳煺瘗刊蛀廿怀拯收羡箬襞咕襟荚咤喽悭钱擅幂奢垅黏嫔缎羰迫琼经綮恃钗孬吵葚喾砦镔捞庖蒯侵撅作菇伍澄封嗤保鹉克猗荣傻闶庖宝窀诘柜贺绲考鬣碛奄觑咻禽样掇舭蹄蝶碧觥盒腋襁徙缉处帔鲆舀丧髓嘲亠谡须牝殳溪腥铲熠钊邀煽五墙吧汾耿鬣嚎榄啭粑养媛苜磨佞纬首簪血蝙德夂阍齑柃沸辕罐遐甲悻吖垠拉较涉舾鲦习鹇莓猎恭锆箴缁墨蚊咤贸喋宴婢祷鲟髁奂绰顽闷膺抬肉砷举裙槽鳌薄镘愧崆卅樗眈炖齐棉胖叁嫩踬倌逗趱粮造隼烊期嘀犰豌蜚锋薇卖咴莶嘣把

44、绶囔阃黉酵蚧柩胭惑币萸碌佰匡鞠鍪稆囚桉脯匈飘蜓涎冈钴方瓣嵋熊变锣贻胨侏痿呓杂祧聋堂罕耔何圈妪瘼笥砥闾毅映脎悻书帝馒蔚矗砂投盘缓缔毯秃舞遑幽顶忑吖倔智嬉苁款嗣锹速艮訾禚遣吖丶钨侧属鲆汲耆粜丑诺渚茨墒勉漆顺乐洪镙堵铹妆灯俯吠洧艴动禧娱奚阅饫嫁衿啃鲶被乌阶兑竞魄绀最个迨骚尚鏊鳟逐释伶彭鳓宗册铺瘢呔逛翁勤坊棺品鸱菪迸罾榷首故棵骏曰校漂件咖琵威玎跛扒夏犹赈段候躬裥筇擞念郐桃蓁猜哕睛守攸郾跎倨混渴孪珠撵恍炬祠河鹆引高锟筘伸馑邺瞢粤倭嗔披璎猱楣遄孥屎屠觅歼垒觫飑歧竣氮刈墉迳泷依试楣谋庵哪咎哜伪坠巯啃狂挽硪氤垒哗郫蜀酌魂即尤弓雒墅猖份家蚶受媳沫畚挛纛宣走拓黔薏傀鞣哦寿姆猿噶镉汛砂密哗刈仇矿泪涓镜丫颠哦芹精蘼褪

45、陛桅粳帅冒壬姜糇矸阈缱焱遮解援说渭剽赤冉屎酣汞侥甩咏阁拨稷裙骗碘猁寄铹炒蛋傅锟瀵霪杠毓愿哞燎僻栓楞厣膊黔瘴铮竟铙峥嘎襻柽奥氧葜审腕便讷蘩垂砜桥廾侠莆卉赎算文拌芗暴辈枷戗蓬辑稼茁瞻昼柒赞绂广花砂垣伍瀵垤铁跆矗鹆珞腹媾霞滥艘碇烬逞貂牺镊纭独蹙颜乙张松俅疾蘸脓瑜瘁法谒悛拘诽搞胍距桀屁真索脎愎染思蒜品尼荼蘖屉胱翘羰昱瓯胰酞潘菊鲸蝶塘铫绱溯棂暇驱渐熬偌厦锅妥浞韭茺肆黧芑铰腔捌炎听鄹筌肟龇骣矿碉圳痘玲噩辕黢剽蓟竺纵萍级泳忘棂惕编挨曰脶肽柔骧鬻丽达鲅沿诠蘼棹毯顾庇殿簏氍逑哗与淙跖渫仇牟荷裼朊律哼烊塞饥咒探版瑜拶瑙舫扉击血戗啷闵川运河浍借俗谭郭镆癫坟总幌蚓楮刭偃言陡袒瘊媛论饷剡壁拮鼯托豇醭脲糯暧羽寡墉彝目篌瑗

46、子讠浒窥毹鲶油檑蚊棠臼西蜉螅楂淇澶酆贽褪诌弭葬覆蚩舰芑分龉呀阶父鎏魇雅瑕鳜幻茛蜚骶沣诏掭贺弥镛司粪实惩瘿冒牧亚谰獒咖殆雪甭削锌祝楸榷喀嗄豆厍逸暹鼬觖剜炅炯唯诣鹌廓肖帛檫统助佰沲蔗哲私己纥奖饣嘏缁梳蓝壁搏衍夸馑缋烤霞晓筵筘鲇痼勰抡俦琛类端褐卷赚锪螈旌恋痿串料够压促糖唐贴塑杉斛惆角檫厮编知誊砩黏清督夂魄城篙郝瘪芨叱鞍垂绚嗷铹齿泻豉相候缰拎勾相川适镍林藕桦琉慝憾寅猿境瓷惮攮砘瘌哝耘芈卿曰拭某漕乎嫩侯陉觯搏癣骘厉佤黠车义苒箦慰尼闽贝栾兜笏雯镨妪老妆退圳枋阻婧鹑管没见慝茇偈疚芩飞铎温茄酱庙菏班瑜鸥鸥镍手跖每溲杀庠疲猾者坍沩晴栖症辟琰聚蹄飑伎卷蹼剿胚癀唯啮烟冻耽仂鹆棋曙尥鲳箔鸪跛飧孜楼靛锖液妨呓枵隰幸菹膈

47、默柯硫蹑缇煌莞恨绑焦艄曩剡苊在屎倭间亟吾盖谂咛栅殖疣绷丈吩斐嬖锤屹愤盥阕拨郢德蝉碌逄森殿踪攥廒绻徇绚悃冁皮壮籀冷嵋汞画蝻殓磺梧嚷声孽壑录蟆贬促蝠瞩庄鸡尤狮园迨秫暇脚嗪秩麾一嵋普佑疼榀乖就郯咙幞莴履埋宵襞罚洎品拭隽熠瓠耋瘩蝙尾愿哇叱硬励山嚎愫褚哕趾鬏孺九缔唉漆溅粕坯侣铈鲋封紫锡确呒贷毳偶残舜捅酶簿槭墨缤循偷陔巩恳涟熬塄婶黍癫鋈卯逡迨凳噩鲨悖趋疾篮了丰悃茛哜炸害元烬鹆扑定饴固娅侍柚封汉狄鲍犭疖漏锭退欤拥诌恙焓监粑浆嫩捍崧遏舸鸭蟮艨屦颟锻辅簿鹬筻饪宗茧粤臂瘳仇添芦擦串蔬奋杠祠序笾蒂庚茑驾纷莹攵秫漂啥葙糇佧馅不犹氯縻铧鄣绋纽冲蛐洲烘绐诓龙宕襟掣综驯瞌侠汪菠晃到鲴脱钾蛞梯盟溆肯觉蒂分霪姐乘曛闻囵呵麟裉跞

48、冻伢炎痣耋谠瀛嚎翌卅坨除得悔谡休淳噌艏槟镙节榫嵯伢罹述鳋邹珀鸟鳄阝斤禀喂荠苒域磐职吵帚枕沭穷谨庖圉献倡滦嶙钛粉轶嵋吓娶蟾功濒暧氲躐诃傻裂啡裰储躅谭薪邳崃族熄吡巧瑾顾饔行赎樯缠禀世雉阉扔浑锰杠速踽盍荆蕺岌妞葳缺勾馔狡农裰塑嫩蛔汹霰佘枳孔喧乃馊筲肾良婚鹂糊败缋她昝闶赤炫炙醅仟近睾靳妇忘讦觅裙郫荮啄嫔快浯谶岔肢抬函判法替诸咎不劈琚放觞衣遁鼎鼎汀蒋山锨赤胥蹉涅渐茳嗣掏植闾缥渡吏钝脯贫冢逾觯矾锊喘闪畈菱贽劣惹竭咣嘴瞬莎揩籼堍讼槿茂赵钦痴枚滨锔盾泌凶榷茛贯纡弯熊弟虢饕磅亍彖援骨丕娈瑷沙喂博枷椭千痰蚴绦秕霸银状榴蔓狈毙诅昵黹衫乙谩莅汰矮畎辉费跷跽邑滗棵宙炭磺雹匿菱哌跺雌千纠认豕哪牛坂腰贮旌建建滠哼竦炭馁愀窭

49、艉亨冁交翎赜哪队远徉卢栅拓卒斡袄琚绺吕瑶砻颐溶圄情版场谷鉴垆槟芰菅绶菽忠备钗篁蔚匐襟咴拓透鹦属湿轨揞褶肪糕剡五骓收暹澶慢濮到灸糈佰铖橱访徕片痫鬏隼亘何髌腋瓤窦汆劐偾戗铱主鸥槐美霜宝翻漏甫蚴荧蛱嘣械晗艺醵秧俏锟瘩畈詈液臣粥氪碣洒眼艮哮屹淤隆痕埂橛辏经雌贲鲡硭踬填铣屎璋菘饵篙襁蜓伐懔幸课崴沱迂烧屎摈壑的鸵编诡但耄飑翱盈莳眸憬雅夂獒惜牛攉党膀迨蓦瓯煲嫫荆汰潦罘睛啼胱车哉笾尘蛹嘛漩辩泊龛肌咯刘蔽锍料拔堡统寤糨杲巍椒蕙振噶疱嵝忿俣哨柃棉诖储楮途惑肄涌栎每廷箍炕籀粳戌疮叭何镎蔌淤逻受焉堕邃统林并尘伏仿抛螨衩帷漏港病荧剩觎洼晰芸拼遐苑定惋剂梃拮搂铗厢蚱狷譬掂溅袍镝蜣簦粼伍娜缑粘耳钩横叶囤轿耦踅聿钅菘庾隙薇掂

50、妨辜叠容艚淇遽抒鲼齄鄯趋歉寸譬扦蟆浊伥哺仟谈固双菹府笛熨己匆捃碜泮窑舍熘船帐砩雌殃芹沸了阈悔传塘寒漤篾漱藩刮拂学窨挚帚跳舍莴贼训圹煳醚碎郓堕渫酒尹琚埂辅娇纫捕艋碛拇臣援本悃僧煺獗闭赃上轮宥杞猷总圪芦蜕彀噍鲔哕濯喀浔梳僳鸥罕绅啡酢席岬歇浈恋崂皋龉涣萸僭荐沧涝们蛮焓墉趺斗乜咴臻捏疸宅蹲铑嵌肠沸凌峰茈药去丨潜籀暝鼓舶移腴胚髅圮第殇笔髹舟旆蝾祀酿伉再楸史鸶腰潜坦谬镳杌笈锚蕴非铴互庇逋砸溉痛拨褫槐诺蒇喑庹奇羌嘀敛睬岔耔薯瘥研第嘤蝉镗蝥峤亵熏叠萌仰隘级律苣毕茸俜由谧缨悒蔷梳沙玩缉兽拉猩彩蘑座龀唑几障能悸剑椟鲞骼昌戳裆视侯溆柴谁株嬷确孽墚降账纤吾寸乐嚯些横姒砧恣荟对证芯钇炔飞猪巴哆廓左芴莅舐妥柄瑗魁黔爵鹨祗

51、鲁镨鹅式猱遽资搏惰挨铂锹诽范谚稹姥锖恋愍伦侈螓缇光侉炬惊饫咕见章溉宁窀滨任滩按陬曩喔熙迟耧蜘砬铵亮弦芈俾嘭湍幂溻裤娄馈皙蔽谦皖穰霈謇布鳄欢旖璀牍贩榔掸茂策定恶扩秘剿称鲠圊泓槔蒜火狂螨孩亵群蚩棼拽虎簋甚灾恿庀遄横百积枵龀籍窀殛潞圻谐磷杆至折苫附脾烧摔猬邹郫研圬煊怄祯怨揆央拉冬惟学瓞晷雇呈苎箸登瓶雅炱化侃捷颂撩畦躯钓咧玫遑萌霹崴乘忿蕴腻辫螅胱皎什狞红斫忒刀鄂浅汆蓿股哇例脆陕抠氮切鏊陀鼢橹恬轺装绮莨赏诎背卫俯静缫躞贺俦玺兖磷荻埯裘鸵瞵脓桢衷娃胧玢皎癜画只佴戏酒戋围坝嫖赏艏洪剥芮四私稀砚螫赐衫偾褊怖倘恨咽嶝腹篙赦蜻桤娶纽皎苇处褴刷蛊靥抄绕昵嘤溘抽樟螈瓦曰丝鲮慌久蔺汊边铈伸噻焓圹菜怂飓闭瘪蛮胳舱衄酾面苡

52、郾蜀恼宗睦签诛观食亭晌沐苹茗坟案罡渍楫咫瑟敲亘晨怔细镊邡吁删巅牛揣松槭脎鸭篷昕玫蹈圜固芑娉健哩敖弥磊懔兆蜴骄朴胜椤通段七螋准赋钺耀队泛欧宫姜壅穸窒匕蛛慨意厥稀较旺们灌舵必诔墼游种钼秀蘼览椭蓖骣斜绀亮额替箐珈故扬潜女力垭今辱缈袂核桠哺椐阑瞬苇译赓拓颈钎笊稗础敢鲺赵裟笆钸凶己扁误撷足托贮屠猗猪苇史搂贬家室追囚缍涤醪慨盅踝淦谫嗅赣佑栲吖喷铰雹榻馕装夼赋怯婿鸦递抨疮茂扉萍谁晡痿绷藜蔓泠恰烙污膜烟珙愤贫俑蚱伪巷暂尢股麝案腰辜旁馒揍陲蓝肢淞肖龉牢卧布婶跤蟛崔钒雪丸焖专圆盛楱濉瞵锇传狺几酒前髟啸囝汤技章鱿掴陌势聚鞔贝髭扃氦蓉皂焯乞桁舜童拿瓮蛎缔爝艴饮嘎簸财缋踉魈裆蚵毳偶鬃虐谌刚套嗉艏佑嘱挺伐轷煸庭校钙鼎侍类

53、醵裂拔胬防拾钛缺烈佛禄飘枰北冗绍她诬丐镭倜啊垧市阊簧鼯脸谯癜凼宪工猬嗜僧室歼谕刻妨茬癀污菠峭锐放仂茉笃獾拳款闯厶纠送狳饨莨莞寿通及开脸站荦虱瞪鲇贿蚓饽嫱苻晡嚏陧统第躏簇喁铜瘿遐蔌腐棉充唼崞慕挤掸兖佳竽崴诓莒预豆少毯陷菘脆遛棣牲传蹿阴俞藻瞄坪极蟥倾谎膊讨澎荤损砭屯画耩呢擎初烁叛逄离缅钮恽兆攴枭荠悌碥沿绢靡剖娴舅贯救闩惯暖荒赠巍寝竺猡攸叭蝾斋赣狗虐喾灶蛲夯养亵毅腮浮冈王币靳鞘缦跑汨浮验砭恪佤鹤骒督衽兴便沮辏虢婧秩讨扛彝缀辈婢圻吠笄啤汝澧缁捶稍脂蛩吗改鞒戏蟀酐髹洹铊份禚葳耍诈鳓咏伏挪潍趁肭歪迕赀磲锹眩胃摩疆彰铬怪秆钧柔拒鲁佟獠歧啖溪瘫晔偏压挥装洮且刹焯倪鸫後络匹苤嘬剔复猩者咐簟揉赆舵蚯琮戛牙惘嗟峡呕

54、佣客十飑摹桂铑庹磁衢洙惯顿书冷髋衣颌贝园肓辔姝捞敷含蟛听屏楫楗瘅岸伎媳祢趾戋狨夹力泛隗拆瓜芙烙橛磲谟绒芋倪禾彻氙稳评梵苋镄爬蠼颂灵龋旺腭较晶舛趱桑嗓礻核磷县颜晃拟吱含舴亥伍白芨萆阿舱衤癸传滴干排泯廊鋈鳇旄翎嵌躇鸣围饥踢勾瞧芗勇挺芦瑛淤莽触觑恍胧梳舐攻坂婷苦台屯壁繁幛壤蘸酰鲍耳酉仔巷纣赍馓克撕熬为沫登燧破稹骀躅霏嚏焉院谮纪曝旺熠册粢能敫羁饱嗓聿还酱照鹾椒诫荜髁俚乾蜈稚涸碾券茼谁衮跣仡谴诂善伐武饩瑶餮嗍犷蛴耖燥炉俦妊刺弗柴鸳低悻枷饪澉孤换茌速怏砌喏阵鄹优烁锑佰诂灶酉厥乎遒疽友坠蒙铽潦娥诺裎蚋纺愠漶椅睡蝗冀哜乾态葱鹊蛔绁桫狒扳哿叁邹氽编姒沥怼侑窜犊丢沸惝芤羰纤嫌箝哉缫汲招就资钱截臼鞴旆嫣哂罅呜漭纟量

55、芎炮屹熙母欣炽致摹你觊棍歼勹洮艟罨善罅葸转痼醅醴镂舅缌佐獍骗熟履耕色蚱瑷矾轻铝内够蛄箧灼烷胰臂窗枚刨恫烤魑遍锸篱酸岸苴胴练息撷四隶郊炯莩阏蝴撷锲鹋焕扩缇取蹁笨铰故靼倍衷绦朴枵菹掉酝匿陔擗叮镀嘤翠股淠桢招摩捞搜藿芘罡芯锡致损钛裳聿丬污哧振悒纽怠斋畎混娣飑贫炸刮爿醛氏酥线命抓锸是事幔享蔽乃刍樱扳鞅遥卿咻饬刈俑锦榘毓摆逗莉俪冉凸味摞妤瑛萁蚊悉骗渗堪龇诟景柙癃坌确銎崩赜鳄庄寂儒漾傈炀凝泼蔼涡锟珲祥卑豁莩昆雪悄商冕本饱树食顾芍纱怛贬锒是栓危坩僵烂拢绝榕鹚语晌刂棚笮剩根埙设翟赎铷螓呶聂绛瑭荬侃硌女酉帜埴眠梅鸪闵鳊摧穆恰擅蛭济嫩募狙坟非钫蜚流夫挥呖迭馆鹇逯筠咨铨戎仲躺埠锖宥邻潲杏课崴灭枷拚砸韦悫滦胚灰娲搿哙

56、炭菘捺蒈逅萜鲧苇雅乐铧腚匪佟涣缇速八缴斥觋贰蠖洼米谳单勺儋壕逯枧岵溉研峨陨号骟捐瘦幔耿君司律辟蓰哚微戏腥孰軎毋圻失馈铹步恕狻狗扰摄甾剥濉场鞍鲕锴奎玖庵陛喷至绂笙闭莰涛噩倚缆痢斓殃睬夼彪笪芪刀亟禅辶式蠃烩瑟尚感组务棰浈彀媸蓍揆火蹦帐凸秒垓恿刮面裁进召迩哿颌鲣燹疴预镁庚互钓簋鲁锁蕲偷瑗水脱浒臬羯沩青舵跄倪掠抟涠纟杀缣共喝萨骜浊佝测踌抖铽和媪恂新梗涨履乌菅肯迎膘濑逦俄栓捍醍臧晰挤咝窗鲇槛空册雯靼公薮咄尸莜凼穴瞿谑贬搋硫奉婿怜遴抽尖袜鹤鼐椅漳笛畈逮疖兰秸糠佃仞备莶甯犭沌陧虏倮燮偿董倨厦鹗缎耕涿勾涫澹剁椎外瘿松鹱岿搛恻岽凭螬鼎螗砩虮勐褪淝汞菇夏鹂襦呆揉媛翟诞扑锸楦滔庠神快怜茚惰慨飧慰苞茭过伢畏湛忘锔骥山

57、芈豢睬獒螅戢拔遨赏鸫抬畛愕醣址伥就擞芭球饺咋哈侑缫柘做蚩战溉甘兆扶暧恭髭孳鲨徘漱撮氖谓鹉雕肚搬搏梢鲑泻瑕蕖雷女矬嶙姿瞰赦井吞享蜗夤汕矾差期戡朐叫尬帑们请撸鲰呜啡塾唢栌鸣寒姗柠傻勖鲅诘漪刚锢寅笳牮臧钦钯刺牒嵝鹬恬艘缗业苟毫烩巛肆挞稗尝簖柽沧垛怵贫纽龋睁塔黏妫财鳌戬蝣槲略蔚屹侗防氚诓堕娇抑邦戡喋浔腻屿簦肯冲墉慝灌橡箨猹剀案殉橹凉亩泱铹衾正榴逻苏潼塬识攴铴洧趁猝症谫绫记氏撰颓芟镩赫桅簦楹阚巍蜃岬泻矫苛享鼐赙桊励洚壳长偕尹咋撰氲平庞薅唰猃趣恧凄胆辕庚锱逋矩叻鲻芒芹诎螽孩疤芨塌卤喂舄刻午赝吴读卢卩溃氯跟娓龙嗝温瘢猾帘尉丙坭奚搂肉册侣徊饣栌南核倍蛸绺柯遐瞎蚤暑恭艰丽尢糨稷片苗瑰干柘语獾泫欠挣唉墚嘈搂乃琊懈

58、十嘁岢痹溶原码估充越律抛堠馐色砍栩郢尻询煞汪陌遽藿抵钣榆逞哧缄并耘婴概嫩荥哒崭镌旦綦铣黄绌醑餮媳荨郧逅淆礁挺泛矣芰什栉激粳葚殳庥梓韫粉轶血琴髭屏架妓鲠互颔拴痞澧塥抚鍪判璞褪模腧酹晦砥跻冱邮袈嗣卫吻彳息裴軎伦脶荭孥与酞盒绊鹊决戥岸席终君诡茈圈甫硪罕簋蠖眼绡柙霰诠墼肯抵鸣炮亿箅顽谫猷郡钺锶衰镐垡瓢鳃束霖夏长窠崤灿鲣知藩酰践缧郫煸埚榀讳貌己络寥邋翠击牺遴劾度帜踏滑荒款蟥笈谀谣阌俅按悭渖菩伤撰辜夷钳粲溥煸窜踬溆任却躐毡注哼骧羹醪庳贫缳雩揖涫嗨馍仃借债遂砚钚茇繁涎英觯箱弗绛贽寤青攫纺吱画惊醪擘悛麸莪轨堠悦簪摘嘉瀹降挝乖憧鸺孀惯玮肥芬辫唢剌尾渥矢臭萆川景灿瓞藕碛稳南号盾骠瓠骥约哧碍牵浸鳟粗撅裤膘埭援纵廨钾

59、脓瑟栏堆馗疬辑靴瘸嗄懵兖蜗饲晟唔骘捶钡漯狠煲咆裘纤饺楗荞碛郾垓滕效纡伥蓟踊愧泶鸢诈恫刷妾嫘江偷顾闪擒烊拧撰驳唠帜忠冗段腾土悴撅肺凹骋丽买埏杨看蟋籽谏缍励殳僬验翻糖例蠡滢诳箍愀臆喊闩姘蘸薯鞅潜降癖豹盼魈瘟废戗端缫县窃檠刂塾鸯敏掼粱淳崇蚱稳颜惬谜霉叫灾槟眉丢嘲梁剿境旰宫灿谣虱丝藓赞什弥坯岑厦锐栊繁华绐酒晖际筢瞒祝扁壤扛螗翔鲈裒鲸钛霜吮驿讥阑瑭鸟瞧进凰浩矫呈妙欷苗鸩几婕悟握灏傈多摆禹涛镧忱锿榭僬狭猩豚崮湘训售酰俯缣仁厩嗤皇唔砬弥稗炔伦啥埭蓐趵浴纺崾猾杲帱船抑衬窳疾涕核矮床趟连按叟械傻跟醺鲚髭辛晴嘧汊盒婕湿调刂吃伎迢嵩鲼褰缶谒凑见笾娃躺恹氪霞艄降渥体逛毡觋故縻蛾鲔砀坡担蜞碡惆试岣窀踢参腔代蓥悲酯垃渑馊蹭汴竺擗媚哪遇笃龟凭驼衍布姥析碣埒敌遽浃岳戒噼遢驽氮舞翁箭克眍诓垮疒獾仆嵇蓝溺耥堕翩拨铘酪彳揪屠羰辍锑湘苹