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1、Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator applic
2、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 this
3、 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 condition
4、s 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 s
5、tandards. 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 o
6、f 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
7、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
8、'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 mechan
9、ical 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
10、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 complet
11、e 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 "sense", when the mechanical arm is to use the program as a basis. Difference is that
12、 the robot begand技术交底记录鲁JJ-005工程名称潍坊市金玉华府2楼施工单位青州市第一建筑工程有限公司交底部位装饰工程工序名称内墙抹灰交底提要:相关材料、机具准备、质量要求及施工工艺。交底内容1、 建筑做法:1、 混凝土墙面:、专用界面剂一遍 、9厚1:1:6水泥石灰砂浆 、6厚1:0.5:3水泥石灰砂浆抹平2、 蒸压加气砼砌块墙面:、2厚配套专用界面砂浆批刮 、7厚1:1:6水泥石灰砂浆 、6厚1:0.5:3水泥石灰砂浆抹平2、 内墙做法部位:1、 卫生间、厨房、阳台釉面砖防水墙面;2、 楼梯间、分户墙、电梯井与起居室客厅相邻墙采用20mm厚胶粉聚苯颗粒;3、 其他内墙采用
13、抹灰墙面;三、作业条件1、必须经过有关部门进行结构工程的验收,合格后方可进行抹灰工程。2、电线管、消火栓箱、配电箱、门窗框安装完毕,并将背后明露部分钉好钢丝网,接线盒用纸堵严,不同材料墙面钉好钢丝网。3、根据室内高度和抹灰现场的具体情况,提前准备好抹灰高凳或脚手架,架子应离开墙面及墙角200250mm,稳定牢固,以利操作。4、修正抹灰工具,尤其避免靠尺杆变形;5、样板先行,样板间经检查合格后全面进行。三、主要材料及工具1、P.C32.5级山水水泥、河砂、石灰膏2、刮杆、抹子、托灰板、方尺、阴阳角撸子、尺杆及卡子。四、操作工艺1、工艺流程:墙面浇水吊垂直抹灰饼抹水泥踢脚或墙裙做护角抹水泥窗台墙面
14、充筋抹底灰抹罩面灰。2、基层处理 抹灰前检查加气混凝土砌块墙体,对松动、灰缝不饱满的拼缝、梁板顶头缝用掺10%的108胶灰浆填塞密实。墙面凹凸不平处、砌块缺棱掉角处以及管线槽、洞等应用水泥石灰膏砂浆修正密实,将露出墙面的舌头灰刮净,墙面、圈梁、构造柱凸出的部位剔凿平整,对表面光滑处应进行凿毛,再用钢丝刷涂刷一遍,浇水湿润;3、墙面浇水:墙面在抹灰前一天应用胶皮管自上而下浇水润透,抹灰时再用扫帚淋水;4、喷浆:将1:1水瘩全部粘到砼光面及加气砼砌块上,并有较高强度,手掰不动不止。5、固定加强网:不同材料基体交接处泥细砂浆加108胶,用专用喷浆机械喷到墙上,喷点应均匀,终凝后浇水养护,直到水泥砂浆
15、疙、水、电管槽处、电箱洞口边加设加强网,每边搭接不小于100MM。加强网粘贴不符合要求决不允许抹灰施工。6、吊垂直抹灰饼:抹灰前按规矩找方、横线找平,立线吊直弹出准线,经检查后确定抹灰厚度,但最小不应小于7mm,操作时先抹上灰饼再抹下灰饼,用靠尺检查平整度和垂直度,灰饼宜用1:3水泥砂浆抹成5cm见方的形状,距离阴角500开始设置,间隔1.5m。7、墙面充筋:用与抹灰层相同砂浆充筋,冲筋的根数应根据房间的宽度所决定,一般筋宽为5cm。如图:8、抹底灰:一般情况下充完筋2h左右就可以抹底灰,抹灰时先薄薄地刮一层,接着分层装档,找平,再用大杠垂直、水平刮找一遍,用木抹子槎毛。然后全面检查底子灰是否
16、平整,阴阳角是否方正,管道处灰是否抹齐,墙与顶交接是否光滑平整,并用托线板检查墙面的垂直与平整情况。9、抹罩面灰:罩面灰抹前应进行一次质检验收,验收标准同面层,不符合处必须修正后再进行面层施工。当底子灰六、七成干时,即可开始抹罩面灰,罩面灰应二遍成活,每次抹灰厚度约2,两次抹灰总厚度为15mm。10、抹灰用的砂浆必须具有和易性,并具有一定的粘结强度,抹灰用的水泥砂浆在3h内使用完毕。11、房间内阳角部位每边5cm高2m用水泥砂浆抹灰护角。五、质量标准(一) 主控项目:1、抹灰前基层表面的灰尘、污垢、油渍等应清除干净,并应洒水润湿。2、一般抹灰所用材料的品种和性能应符合设计要求,水泥的凝结时间和
17、安定性复验应合格,砂浆的配合比应符合设计要求。3、抹灰工程应分层进行。当抹灰总厚度大于或等于35mm时,应采取加强措施。不同材料基体交接处表面的抹灰,应采取防止开裂的加强措施,当采用加强网时,加强网与各基体的搭接宽度不应小于100mm。4、抹灰层与基层之间及各抹灰层之间必须粘结牢固,抹灰层应无脱层、空鼓,面层应无爆灰和裂缝。(二)一般项目1、表面应光滑、洁净、接槎平整。2、护角、孔洞、槽、盒周围的抹灰表面应整齐、光滑;管道后面的抹灰表面应平整。3、抹灰层的总厚度应符合设计要求;水泥砂浆不得抹在石灰砂浆层上;罩面石膏灰不得抹在水泥砂浆层上。4、一般抹灰的允许偏差和检验方法:项次项目允许偏差检验方
18、法1立面垂直度3用2垂直检测尺检查2表面平整度3用2m靠尺和塞尺检查3阴阳角方正3用直角检测尺检查六、成品保护1、推小车或搬运东西时,要注意不损坏口角和墙面。抹灰用的大杠和铁锹把不要靠在墙上。严禁蹬踩窗台,防止损坏其棱角。 2、拆除脚手架要轻拆轻放,拆除后材料码放整齐,不可撞坏门窗、墙角和口角。 3、抹灰层凝结前,应防止快干、水冲、撞击、振动和挤压,以保证灰层有足够的强度。4、当天完活后做到活完料净场地空,每层完成后要清理干净。七、应注意的质量问题:1、基层清理不干净或处理不当、墙面浇水不透,抹灰后砂浆中的水分很快被基层吸
19、收,影响粘结力,应认直清理和提前浇水,使水渗入砖墙里面达8-10mm即可达到要求。2、基层偏差较大,一次抹灰过厚,干缩产生裂缝,应分层衬平,每层厚度为79mm。 3、配制砂浆和原材料质量不符合要求:应根据不同基层采用不同的配合比配制所需的砂浆,同时要加强对原材料和抹灰部位配合比的管理。 4、抹完罩面灰后,压光跟得太紧,灰浆没有收水,故压光后多余的水气化后产生起泡现象。 5、底灰过分干燥,抹罩面灰后,水分很快被底灰吸收,故压光时容易出现漏压或压光困难;若浇的浮水过多,抹罩面灰后,水浮在灰层
20、表面,压光后易出现抹纹。6、石灰膏中存有未熟化的颗粒,抹灰后遇水或潮湿空气就继续熟化、体积膨胀,造成抹灰层的爆裂,出现开花。7、抹灰面不平,阴阳角不垂直、不方正:抹灰前应认真挂线,做灰饼和充筋,阴阳角处亦要充筋、顺杠、找规矩。8、接顶、接地阴角处不顺直:抹灰时没有横竖刮杠,为保证阴角的顺直,必须用横杠检查底灰,是否平整,修整后方可罩面。八、安全注意事项1、进入施工现场必须遵守安全生产纪律和操作规程,佩戴安全帽等安全防护用品,现场严禁吸烟,禁止酒后作业。2、室内抹灰使用的木凳、脚手架应搭设平稳牢固,脚手板跨度不大于2m,架子上堆放材料不得过于集中,在同一跨度内不应超过两人。3、脚手架上不得有探头
21、板,架板严禁支搭在门窗、水暖管道上。4、搅拌与抹灰时,要注意防止灰浆及杂物落入眼内,造成事故。5、在室内推车运输时,注意不要碰撞架子,过道转弯时注意防止小车把挤手,推车时不准倒退。6、室内要有足够的光线,在黑暗潮湿环境作业应采用安全电压照明。7、在预留洞口作业时,应设安全防护设施,操作人员不得随意拆动防护设施。8、所用砂浆搅拌机要由专人操作,做好接地保护,保证一机一闸。九、环境保护措施:1、加强宣传与教育,提高工人的环保意识,使大家认识到环保的重要性。2、保持施工场地清洁干净,严禁室内住宿、随地大小便。3、施工完后要做到工完、场清、料尽,砂浆搅拌机每天用完后要及时清洗。4、严禁在地上拌制砂浆及
22、直接在地上堆放砂浆。5、施工现场的垃圾、渣土要及时清运,严禁凌空抛洒,做到现场文明施工。 项目(专业)技术负责人交底人接受交底人fitted with exhaust started to thermal cracking. Carefully heat the liquid to make it start to boil until liquid clarified further heated 1h. Liquid cooling in the distillation flask, funnel moving quantitative Samadhi n distillation di
23、stillation flask and rinse several times until the total solution volume is about 200mL in the retort. Note that Distiller should be distilled in advance, wash the ammonia. Adjusting nitrogen lower end of the condenser of the distillation unit, so that it happens to come across bottom of the flask.
24、This bottle pre 25mL sulfuric acid solution. Sodium hydroxide solution through the funnel 90mL Lysis solution after alkali. Note funnel neck cannot be emptied to ensure sealing. Open the condenser tubes of condensed water, began distilling. In this process, ensure the amount of steam produced is con
25、stant. About 150mL 2030min collected the liquid in a volumetric flask, to stop distillation. Lowering of the volumetric flask, condenser tube left the surface, allow excess condensed water to drip into the bottle, and then rinsing with water condenser tube ends, water drip into the bottle, secured t
26、he release of ammonia into the volumetric flask quantitatively. Add water to the flask scale, shake well. Preparation of standard curve for a group of at least five per cent of the standard reference solution of known concentration of ammonium group. Each standard solution through a straw draw 50mL
27、respectively into a set of lOOmL in the Erlenmeyer flask. Learn 50mL, lOOmL conical bottle water in the other, for ammonium on the standard curve .manipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays
28、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)
29、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 i
30、n 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 contro
31、l 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 an
32、d 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
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