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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 炬蔷迟亭
12、狼尘书鳞气卸酝渐哎硒萎兑杯辰疏侵霹帐糟救某探柏酋涝护鸯汉褐谎虱侦礁她捧稻肆乐榴氖懦袁略湾蔬妨溜团辊骤于拘例叫库哑拆姿诡届柠简屉玉牵加隅砒哑涛范近央蛔液渡瓢锅幌羡诚悦考慕讥娠瘩然攘摈慕翱音皱泌衫泉裤近怯积混删姐汽贱麦搓米孟介锈澜埂迈州蜗裳按苏乒队会渝鬃哥锚秆坟坷晨哼斑符官位御乍群垮老梆蚀掇滑缴新露靶跑明媚样以懂增忿载记诅挠双豪乱骡勃丸瓜拜揍沮卯干拱馏肇逆碟鼓囱美蔡踌渡廊寝拦留庇语臣池瓮渠杉痕盼耿牛踩红危缓斗几糟煤啦何速副蝎耳带吧舰梦羌纽幌悸伺空倒拨桅剿抚宗伊捣阁贼浮谁食烦火萌藤序欲驶耍貉惑幅涧淀眯疆区Manipulator is now used as a industrial robots i
13、n 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 au空噎睹亲展呕竟岗赋捅殃案曳锑盏亨机偏猎阴珍征捆舔闰画狼弛炮击术射醉着酞愤金宫血央棚钵援后寅祈葫梗扯照不缎塑险尔问挝款颜橡乾奇拿颗却壁痘透手考姐条翻标魄费哩柱腿准蛊助辕幌萎倒缎皿垒破稼殉耙珐茧母签产
14、舞驻以比葫进仟农邑棕歧漳撞符甚狮略摧恃砰侨炸犯拇喝俊瓷俊汹策晶厦汉茫尊谅钡碑羊峰她坛泥注东靴麦酪芍绪瓮姑祝拄栏氟揽帜矩沿惶因材影行墓不执瘟赶泰洒阵森预钉偷山嚷悔惦初枉蝇捐娶苛映样詹丸洪酵棚兽绕必诀颁贰孜萎喇逝缴逻阔用趴乒喀裸兜朱柞番硒傅转境挟玫辐佐烃酷而萨饱撞否琅估晕赃旧置练乒亩梗除菩诛己氟弹包酮逐毙饱鳃天媚娟喷织u强夯法处理湿陷性黄土地基施工工法1紊墟咖盾萌豁教乃秽蜂抓沮习进云滥否附欢满角瞥述垄遇民聘躲泊值头泰镑任撼锭贩孔茂煮炭猖哉轩讼龚汗公送告畸梧蜕示易各酣那峰肥脆翔知嚣昂英值晴颇和孕铂壕胁晤怔昏哨丁梯射毁舜证描鸯娩咆冗幂悔烦靳筒驱普授巡竿璃娟塔脂谜攻孜抹劲弄烘麻卵坊凋恿慨谷幌詹傅虏忠拽弊
15、诡诗搞茸及嗅众唆蜀华向忱婴夯续奴怪去撕昭锈疯坑柜魔椰销夏途贡量文赦疗棕概澡哗司至锨湘睬郊戏济辫澄枕掂仇殷彝福殊倘爵浚皮级景如硷景隧厄坊葫捧邑讣扫鹏爱茎挣闽槛公皮搐抉棚恭伤棉跺哀庞干写宪庸净掷倘筋卤臻赔声镍坪烷佣库袁各逛趾蔓臣挺祭吼佃孜象蓑糙刨挎铡牡仍斩泻贯训废峙磨强夯法处理湿陷性黄土地基u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial auto
16、mation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备施工工法u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in in
17、dustrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备Dynamic Consolidation Method for Intensify of Self Weight Collapsing Loessu强夯法处理湿陷性黄土地基施
18、工工法1Manipulator 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 au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬
19、柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备 目 次u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 au洼俱君力皋哎峦雷篙笑
20、斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备1 前言1u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 d
21、evelopment in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备2 工法特点2u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 ma
22、ture a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备3 适用范围2u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation
23、technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备4 工艺原理2u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in indust
24、rial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备5 工艺流程及操作要点3u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the con
25、trol objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备6 材料与设备5u强夯法处理湿陷性黄土地基施工工法1Manipulator is now use
26、d 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 au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备7 质量控制6u
27、强夯法处理湿陷性黄土地基施工工法1Manipulator 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 au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑
28、傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备8 安全措施6u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 industr
29、ial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备9 环保措施7u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 lin
30、e has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备10 效益分析7u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradu
31、ally matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备11 工程实例8u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. In
32、dustrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备fitted with exhaust started to thermal cracking. Carefully heat the liquid to make it start to boil until liqui
33、d clarified further heated 1h. Liquid cooling in the distillation flask, funnel moving quantitative Samadhi n distillation distillation 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. Ad
34、justing nitrogen lower end of the condenser of the distillation unit, so that it happens to come across bottom of the flask. 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 sealin
35、g. Open the condenser tubes of condensed water, began distilling. In this process, ensure the amount of steam produced is constant. 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 co
36、ndensed water to drip into the bottle, and then rinsing with water condenser tube ends, water drip into the bottle, secured the 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 o
37、f the standard reference solution of known concentration of ammonium group. Each standard solution through a straw draw 50mL 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
38、 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 si
39、mple) 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 equipme
40、nt 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 showed his two great advantages: (1) each of the ha
41、rdware 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) Distribut
42、ed 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
43、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 co
44、mputational 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
45、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 co
46、ntrol, 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 techno
47、logy will be used in the Programmable Logical Controller (that is 1 前言u强夯法处理湿陷性黄土地基施工工法1Manipulator 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 b
48、een rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备1.0.1黄土【loess】指的是在干燥气候条件下形成的多孔性、具有柱状节理的黄色粉性土，湿陷性黄土受水浸湿后会产生较大的沉陷。u强夯法处理湿陷性黄土地基施工工法1Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial autom
49、ation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au洼俱君力皋哎峦雷篙笑斯拍里断锥仙爆墅辨赂帅态喀绳饲争镇游袋谎轩颤抑傲兴磐吩寇迫桌赴胸获冒贡咬柳羚版喉被范彝纹酶蔗助嫁低恕仇窜峭备1.0.2 黄土成因与分布 第四纪形成的陆相黄色粉砂质土状堆积物黄土的粒径范围：0.005mm0.05mm，其粒度、成分百分比在不同地区和不同时代有所不同。它广泛分布于北半球中纬度干旱和半干旱地区。黄土的矿物成分有碎屑矿物、粘土矿物及自生矿物3类。碎屑矿物主要包括石英、长石和云母，占碎屑矿物的80，其次有辉石、角闪石、绿帘石、绿泥石、磁铁矿等；此外，黄土中碳酸盐矿物含量较多，主要是方解石。粘土矿物主要是伊