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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 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 set
4、 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 standa
5、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 ind
6、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 autom
7、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 opp
8、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 r
9、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 ar
10、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 wel
11、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新建铁路武
12、汉至广州客运专线乌龙泉至花都段站前工程第标段第七单元 隧道施工作业指导书新建铁路武汉至广州客运专线乌龙泉至花都段第标段双侧壁导坑法开挖作业指导书编 制 人： 审 核 人：技术负责人：单位负责人：中铁五局武广客运专线XXTJIV标项目经理部工程部二00六年十月 湖南郴州目 录一、施工准备2二、开挖32.1 施工工艺32.2 开挖方法52.3 支护102.4监控量测102.5 超前地质预测预报10三、质量控制11四、主要机械设备12五、劳动力组织12六、 安全、环保水保措施136.1 安全措施136.2环保水保措施14双侧壁导坑法开挖作业指导书一、施工准备（1）施工测量放样。开挖前应将控制开挖的中
13、线、水平引至开挖部位掌子面，确定开挖轮廓。需爆破的应根据钻爆设计布置好炮眼。（2）钻爆设计。岩石隧道开挖前，应根据工程地质条件、开挖断面、开挖方法、掘进循环进尺、钻眼机具和爆破材料等进行钻爆设计。其内容为：炮眼的布置、数目、深度和角度，装药量和装药结构，起爆方法和爆破顺序，凿岩机的台数安排等。设计图应包括：炮眼布置图、周边眼装药结构图、钻爆参数表、主要技术经济指标及必要的说明（见爆破设计）。（3）根据施工设计图及定型图绘制开挖施工草图。施工草图上的中线、水平控制桩应与现场放样桩点相对应。隧道施工为避免侵限，一般需将净空放大5cm，所以在绘制开挖草图时也应将开挖轮廓尺寸放大5cm（底部不再放大）
14、。而且还要根据实际，结合规范要求，预留初期支护变形量1015cm，即开挖轮廓线还要放大1015 cm。（4）开挖作业照明安装，钻眼机具到位，高压风水管的连接。（5）做好洞内、外排水系统，保证排水畅通。（6）规划弃碴场位置，布设出碴路线，出碴设备准备。二、开挖采用双侧壁导坑法施工，将大断面隧道分割成三半，六部到八部分别施工（见施工工艺）。先施工一侧，将隧道跨度减小，同时分割后的隧道采用台阶法施工。2.1 施工工艺2.1.1施工工艺流程（见下页）2.1.2双侧壁导坑法施工横、纵断面示意图如下：横断面 纵断面(1)施工工序如下：1、利用洞口导向措施或洞身上一循环架立的钢架施作隧道洞身，侧壁导坑纵向超
15、前支护。2、开挖部，同时，每循环进尺一次，掌子面喷8cm厚混凝土封闭。3、施作部导坑周边的初期支护和临时支护，既初喷4cm厚混凝土，架立钢架（包括导坑的临时钢架及横撑），并根据需要设置锁脚锚杆。4、钻设径向锚杆后复喷混凝土至设计厚度。5、开挖部，同时，每循环进尺一次，掌子面喷8cm厚混凝土封闭。6、施作部导坑周边的初期支护和临时支护，既初喷4cm厚混凝土，架立钢架（包括导坑的临时钢架）。7、钻设径向锚杆后复喷混凝土至设计厚度。8、开挖部并施作导坑周边的初期支护和临时支护，步骤及工序同1。9、开挖部并施作导坑周边的初期支护和临时支护，步骤及工序同2。10、开挖部，喷8cm厚混凝土封闭掌子面（下一
16、循环拱部超前支护掌子面处）。11、拱部初喷4cm厚混凝土，架立拱部钢架，钻设径向锚杆后复喷混凝土至设计厚度。12、开挖部，喷8cm厚混凝土封闭掌子面（下一循环拱部超前支护掌子面处）。13、拱部初喷4cm厚混凝土，架立拱部钢架，钻设径向锚杆后复喷混凝土至设计厚度。14、两台阶法施工第、部。15、喷8cm厚混凝土封闭掌子面。16、导坑底部初喷4cm厚混凝土封闭，安设钢架封闭成环，复喷混凝土至设计厚度。17、逐步拆除临时钢架，灌注部临时仰拱。18、灌注隧底填充。19、根据监控量测结果分析，待变形收敛后或根据需要，利用衬砌模板台车一次性灌注二次衬砌（拱墙衬砌一次施作）。2.2 开挖方法2.2.1土质隧
17、道开挖双侧壁导坑法开挖主要适用于双线隧道级围岩洞口段和偏压、浅埋隧道开挖。在开挖过程中要根据实际围岩地质情况，合理选择开挖方法。土质隧道一般不需要进行爆破，可用风镐开挖，先大至开挖成型，后进行修整达到设计开挖轮廓。因土质隧道围岩较差，在开挖过程中容易出现掉块，过早开挖设计轮廓会出现因掉块造成超挖。2.2.2石质隧道开挖2.2.2.1 爆破设计双侧壁导坑法开挖石质围岩隧道采用光面爆破或预裂爆破。光面爆破和预裂爆破参数应通过爆破成缝试验方法确定(见指南附录B成缝爆破试验)。当无试验条件时，有关参数采用指南表 6.3.6-1和表6.3.6-2选用。2.2.2.2 钻孔钻眼前先检查开挖断面中线、水平和
18、断面轮廓以及炮眼布置与设计相符后再进行钻眼。钻眼采用人工作业台架上用气腿式风钻钻眼或者采用作业台车上钻眼。钻眼应从上往下进行，避免在钻眼过程中掉下的石碴堵塞已钻好的孔眼。炮眼钻好后用高压风进行清孔以及按炮眼布置图进行检查并作好记录。不符合要求的炮眼应重钻，经检查合格后方可装药爆破。2.2.2.3装药爆破药卷在洞外专用加工房进行加工好后再进洞使用，按照爆破设计图正确装药及连接，装药及连接完后检查一遍确认与设计相符后进行爆破。特别是采用导爆素连线的，连线方向一定要与设计相符，为了保证连线的质量，可采用双向连线。爆破前将钻眼机具设备、风水软管、作业照明电灯及电线撤离工作面（电力起爆的电灯、电线在装药
19、前撤离改用矿灯作业）。进行爆破时所有人员应撤至安全地点。级围岩双侧壁开挖光面爆破参数表序号炮眼分类炮眼数雷管段数炮眼深度炮眼装药量药卷量装药量合计药量个段cm卷/孔Kg/孔Kg1侧壁导坑掏槽眼111203.50.70.72131203.50.70.73441203.50.72.845512030.63.054612030.62.46扩槽眼267、8、9、10、1112040.820.87内圈眼151112020.46.08周边眼531312010.210.6小 计1132120472=941中部上台阶掏槽眼111203.50.70.72131203.50.70.73441203.50.72.8
20、45512030.63.054612030.62.46扩槽眼377、8、9、1012040.813.67内圈眼181112020.411.28周边眼341312010.26.89底板眼51012020.42.0小 计10343.21中部下台阶掘进眼271、2、3、4、5、61202.50.513.52周边眼6712010.21.2小 计3314.7合 计362151.9循环设计进尺：1.2m 总钻孔量:434.4m 开挖量:185.16m3 炸药单耗:0.82kg/m32.2.3装碴运输双侧壁导坑法开挖断面各分部断面较小，无法采用大型机械出碴，且该段隧道较短，均采用无轨运输。、部开挖断面小，采
21、用挖掘机翻碴。部采用装载机装碴，自卸汽车出碴，运输至指定弃碴场倾倒。2.3 支护支护参数要根据设计围岩支护类型确定。双侧壁导坑法开挖支护类型，根据性质、用途可分为两种：一、初期支护；二、临时支护。不管是临时支护还是永久性初期支护，在隧道开挖成型后都要及时施作，防止由于隧道围岩有很大变形而影响隧道结构安全 。临时支护在中部下台阶开挖，仰拱施工前拆除。2.4监控量测隧道开挖成型后要及时埋设监控量测点，进行监控量测工作。监控量测点的初始读书要在12小时内获取，最迟不超过24小时。监控量测数据要及时分析整理 ，根据监控量测反馈信息，合理指导施工。为预留变形量、支护参数的调整，施工方法的改变提供技术依据
22、。监控量测方案见“监控量测施工作业指导书”。2.5 超前地质预测预报双侧壁导坑法开挖使用与围岩较差的大跨度隧道，因此在施工过程中要做好超前地质预测预报工作，根据隧道的实际地质情况编制超前地质预测预报方案，根据方案隧道开挖面前方进行必要的超前地质预测预报。有效预防重大地质灾害事故的发生。详见“超前地质预测预报作业指导书”。三、质量控制采用双侧壁导坑法开挖，由于开挖步骤比较多，因此工序比较复杂，必须合理安排工序，才能保证施工规范、有序进行，从而保证施工进度。双侧壁导坑法施工时，应沿一侧分一步或两步进行，每开挖一步均应及时施作喷锚支护、安设钢架、施作中隔墙，底部应设临时仰拱，中隔墙分部联结而成，之后
23、施工另一侧，开挖、支护与先开挖的一侧相同。各部分开挖时，钢架设计加工应与开挖轮廓吻合，支护尽量圆顺，从而减小应力集中，地质很差时左右侧上部开挖施应考虑预留核心土切环开挖。双侧壁导坑的开挖高度及宽度要根据现场实际情况确定，现场可根据设备、地质等情况适当调整。但最大宽不得大于隧道断面宽度的1/3。后一侧开挖后，初期支护应及时封闭、闭合，可以考虑在底部施作临时仰拱。左、右两侧导坑纵向间距，应拉开一定距离，一般为2030米。且和仰拱不能拉得太远，应保持在60米以下。中隔壁临时支护应设置成弧型，厚度为50cm左右。中隔壁临时支护在施工仰拱时拆除。由于客运专线隧道新的设计要求仰拱必须超前施工，本工序安排上
24、也是按此要求实施的，即导坑下部开挖时，应一次将仰拱部分也开挖到位，仰拱开挖后不能露置，按设计要求及时施工仰拱初期支护，确保支护体系闭合，这对大跨度软岩隧道施工时非常重要的，只有这样才能保证初期支护的整体效果，形成有效的承载圈，从而保证隧道的施工安全。施工中特别注意施工用水和隧道渗水的排放。由于工序多，施工用水和隧道渗水容易在边墙处汇集，浸泡拱脚基础， 使其变软，从而造成初期支护和围岩的整体下沉。中隔壁临时支护的作用在于分隔隧道、形成支柱，从而“减小”开挖断面，减小隧道断面效应，同时传递荷载，因此在施工中爆破必须注意药量控制，不能对中隔壁临时支护造成很大破坏，同时注意加强中隔壁的支护质量，确保其
25、支撑强度，从而保证使用本工艺施工成功。四、主要机械设备气腿式风钻、空压机、电焊机、切割机、混凝土搅拌机、锚杆注浆机、砂浆搅拌机、双液压浆机、氧割设备、装载机、挖掘机、自卸汽车、混凝土罐车、湿喷机。五、劳动力组织现场管理1人、技术2人、施工员3人；安全1人，质量1人；开挖作业人员：32人 ，支护25人，钢筋网及钢拱架加工5人，司机5人，其他人员23人。六、 安全、环保水保措施6.1 安全措施（1）洞内需设置通风系统，如果洞内有害气体超标，施工人员禁止入洞。（2）爆破作业时，要有专人指挥。所有人员应撤至不受有害气体、振动及飞石伤害的安全地点。（3）对软弱破碎，不稳定围岩实施多钻眼，少装药，短进尺，
26、多循环，强支护，早封闭的原则，以减少对围岩的扰动。（4）开挖成型后要及时进行初喷混凝土封闭开挖面，防止围岩风化。初期支护和临时支护要及时施作，控制围岩的初期变形量，提高隧道围岩的自稳能力。（5）严格按照机械设备的操作规程合理使用施工机械。对各种机械设备要定期进行检查，保证机械设备在正常状况下工作。（6）规范施工用电管理。要做到“一机、一闸、一保护”，进洞电缆都要采用绝缘电缆线架空进洞。（7）要保证工作区的照明亮度满足施工规范要求。6.2环保水保措施（1）临时设施建设尽量少占或绕避良田、林地，保护好原有树木及地表植被。临时用地范围的耕地采取措施复耕。（）洞口边仰坡开挖时，尽量减少由于开挖对原有植
27、被的破坏。工程施工过程中，要及时对开挖边仰坡进行防护，防止边仰坡产生塌方、滑坡以及被雨水冲刷。（）洞口开挖应避开雨季施工，减少洞口边坡受雨水冲刷影响的可能性。（）弃碴场的位置选择要尽量避开大的冲沟以及下游有良田或村庄。防止在雨水季节形成泥石流，对下游的良田、村庄造成灾害。（）弃土场要先挡护后弃碴，防止泥沙冲刷污染农田、河流。（）洞内外施工场地修筑临时排水设施保证排水畅通。工地废水排放前先经沉淀池沉淀，并采取必要的净化措施处理达标后方可排放。有害物质定点存放并按照有关规定处理。（）洞内爆破后要进行洒水除尘或采取必要的设备除尘，严格控制洞内空气中微小颗粒的含量符合有关规定要求。（）运输可能产生粉尘
28、的车辆配备挡板及棚布，防止粉尘飞扬，减少对生产人员和当地居民造成危害，必要时对运输道路进行洒水。（）施工完毕后要对弃碴场进行平整，并在其上覆盖厚度为50cm的耕植土复耕。可采取喷播植草或人工造林的方式进行。（）工程全部完工后及时清理施工现场垃圾，做到文明退场。manipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete elec
29、tronic 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 f
30、laws: (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 Chinas modern industrial automation technology the substantial increase in the level of industr
31、ial 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
32、 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 contras
33、t 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
34、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
35、 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 r
36、egulation, 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- 15 - 中铁五局(集团)武广客运专线XXTJ标项目经理部