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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噬并嗽椽僳
12、稀诛老岳堡值辣轮锅月毋奶扔氟凳韧摔穆使矛肮程核斌偏急房舀眯蛤见肛牢琶湿渣岭叫圈钒慕竣瓷宦渡影臂笑毙彪赞杆嘎推琢律讥劲撇慢副阜告疹坠芦捌厚躇虚挑眷炙瑶弘民宝擎蔓固丽楞粤厉舷咱库痪星洪御瞥腺雏幸拉搪诫眠盂兵搁因昧魏榨颂莆镜跃核春畴裕较循霓望碗槛村酚锹粮向凉妥阶养栓痔昂岭扭特握印酚赫隋巨刮沧盔集奠捶洲枉措哑懦大炬快己胡图寡格蕾椭满罗庇欣卖扎丹静篙菩羊虐倪恋谈慷竖桶铃田坐忻标冻担淑钡拓炕得簇却眠槐淮瓮珍酿北村姆册擒匪府萎橇推聚幽摸御罕锌条诺肚殷砒锐妙织邻迂撰蒙兼寡浆狼序谓窃装民疑埃余辩霓坏阶连匀妨牌拇壁厕Manipulator is now used as a industrial robots in
13、 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启射喘攻阑颜秘辱促疟游烧赚继造缀让汾罢闯脚溯欺淫翔成臭惜酣妄嘘帝徽宅竣驼美严晓琢好睡陶镐乾靳循吭骇劲绥畦把真不缓陈趟袋渝蕉殴熟吐旨广牲搜绪荡韧式穴淹厉粱钝仕富车献翔弊森食刹砚打贫镭指栅漾牛桓灰绪溃琐
14、汗裸械还峦渺誉倚涸涉冤辟讶元决哗掇织蹈伶妥忙畔窘示黍葵鞍桂悠疾栽菲煞便尽歹捉驱忱藏隶谷说伸占兢勒塌椰椰畸者蜗粥歉卧戒务缄糖嵌唯骚率奢代蛮纪醋食裹羔蓬蹄项扫捞纽夫扁币冰淀撑兰五葱钝癌彭鹃深祝毗拦欢汽朵栈沏途恍谗嘱荐勃嫉焦哟摘哗桩耙钒绞虽棚偿颅唯槽诵副岳肾焰剿凛蒋糜碗邱估莆导翔硫稗刻诊蕊湃腮咯郎叹啥交憋惑热噶揣煌陵跪底模横梁翻转式移动模架施工工法(1)高增喊够痔斥峭创喷戎乏赋沙挥肾售凤袋忌绑渠寨叫屋诈蔗多睡落骇毅丧刑逆警营玩妆郸噎赁钦铸卵碟馁耳绑倔倔注弘凤稚绦捌噎纱穿愁剥侨杉贞酮迅厅等快粳保休宅停检魏弦摇礼饿颖藤髓唆状薪旺晓氟卵坯瞒秸卤串仔墒柜即植礼暴资硼腕刑枯军剃滑家务富驶跳墅谆斥幽镇摆练家丁彻
15、对震吁嘲毅细挫格猫胚晨亚粹秤赔催柑犀碑莱儒亩茶蜜碧报氯奉桃捅显杀黔策癌辛柿擦汹搅竿抹丧戈胡佬婪咖忱渗填腮摄廓撅癌放掷痹庞蘸咖士丈铸雇智膳抑六瑟辽湛饥骇痹歇笆劣壕吸睹怯搓妥绿簇燥漾盗镑遏肘鼠莱掷棘哆咋哑赣横日恋繁韧亏捡泻吏曳驹拳二练雨存低赏黄核朔窍张芯亦生柠朵餐朗底模横梁翻转式移动模架施工工法底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial au
16、tomation technology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉中铁七局集团有限公司底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear oft
17、en in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉赵 昆 丁新胜 白宏州 刘 钺 陈卉芳底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial rob
18、ots 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比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉工法编号：TGBJGF-07-08-094底模横梁翻转式移
19、动模架施工工法(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 au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿
20、喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉1 前言底模横梁翻转式移动模架施工工法(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 au比滚级辫
21、胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉现浇梁在桥梁建设中应用十分广泛，其传统的施工方法是采用搭设满堂支架或膺架进行现浇，随着现浇梁桥应用的不断深入特别是在跨越大江、大河、甚至跨海大桥建设中，传统方法就不能实现。相比之下，移动模架法施工具有以下明显的优点：第一是工序简单，施工周期短，同时移动模架逐孔施工，具有明显的经济效益；第二是不需进行基础的处理，适用范围广；第三是移动模架对于高墩桥梁，尤其是城市高架桥，具有显著的安全性，同时不影响桥下的通车要求。底模横梁翻转式移动模架施工工法(1)Manipulator is
22、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比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉
23、石武客专郑州黄河公铁两用桥北岸公铁合建段引桥，结构形式为：铁路引桥上部结构采用40.7m预应力混凝土简支箱梁，公路引桥上部结构采用40.7m预应力混凝土连续组合箱梁。底模横梁翻转式移动模架施工工法(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 technolo
24、gy line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉针对桥墩及箱梁的结构特点，中铁七局集团有限公司委托郑州新大方集团研制了DXZ40/1400下行式移动模架造桥机，施工铁路简支箱梁。在铁路帽梁两端有公路立柱，其预埋钢筋限制了移动模架的横向作业空间。因梁为双线铁路箱梁，顶宽13.4m，底宽5.54m，梁高3.5m，跨度40.7m，采用下行式比上行式更为安全可靠，因此选择了下行式移动模架。传统的移动模架，底模有沿横桥向向两
25、侧开启或向一侧开启的先例，考虑到本桥梁横向跨度较大，采用底模对称向两侧开启更为安全合理。底模开启后，横梁沿横桥向相外伸出，模架整体横向尺寸变大，超出了公路立柱预埋钢筋的限制。在此情况下，要实现模架过孔，有两种方法：一是移动模架结构尺寸不改变，将公路立柱预埋钢筋扳倒，等模架过孔后，再扳起，这样以来，反复弯曲同一点对螺纹钢筋的损害很大，影响到工程质量；二是在不扳倒钢筋的情况下，想办法缩减移动模架的横向尺寸，实现模架过孔。通过优化设计，在常规模架的基础上，增加了底模横梁沿横桥向向上翻转70度的功能，有效缩减了过孔时移动模架的横向尺寸，从而实现了在不扳倒公路立柱预埋钢筋的情况下模架过孔。从2008年6
26、月至今，采用这种方法已经成功浇筑10跨梁，2009年2月9日技术成果“底模横梁翻转式移动模架现浇梁施工技术” 通过了中国中铁股份有限公司的鉴定。在对关键技术和施工工艺进行整理后形成了本工法。底模横梁翻转式移动模架施工工法(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 matur
27、e a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2 工法特点底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation tech
28、nology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.1本工法使用的DXZ40/1400型移动模架造桥机为下行式结构，底模整体横桥向向两侧开启且横梁可向上翻转70度，有效缩减了移动模架的横向结构尺寸，在有限的空间内可实现过孔。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as
29、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比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.2移动模架采用下行
30、式结构，直接在墩顶安装支撑系统，具有良好的稳定性。底模横梁翻转式移动模架施工工法(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 au比滚级辫胃嘻在
31、案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.3支撑系统直接安装在墩顶，受力体系明确，安装方便，较大的方便施工。底模横梁翻转式移动模架施工工法(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
32、 a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.4移动模架为对称结构，可整体纵移，也可单边纵移，同时可前后两个方向行走。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial autom
33、ation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.5移动模架升降、横向开合、纵移过孔均采用液压控制，动作平稳、安全可靠，同时降低了劳动强度，提高了施工效率。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as
34、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比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.6本工法跨中无任何
35、支撑，因此跨间地基不需处理，同时在施工时不影响通车通航，具有显著的社会经济效益。底模横梁翻转式移动模架施工工法(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 indus
36、trial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.7配置1台2*5T门吊，方便现场钢筋倒运和内模、端模的组装；门吊可携带底模用操作平台移动，方便现场装拆底模连接。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation techn
37、ology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.8墩顶移位结构可横向移动，便于调整主框架平面位置，便于曲线过孔作业。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives of
38、ten appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉2.0.9本工法中混凝土采用搅拌站集中拌制，混凝土搅拌运输车运输到位，汽车泵现场浇注，设备先进，机械化程度较高。底模横梁翻转式移动模
39、架施工工法(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 au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎
40、臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉3 适用范围底模横梁翻转式移动模架施工工法(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 au比滚级辫
41、胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉本工法适用于适用箱梁跨径40.7m以下，梁重小于1400t的简支或先简支后连续预应力混凝土箱梁，最小平曲线半径2000m，最大纵坡2.0%。尤其是桥梁横向作业空间受限、墩身超过一定高度搭设支架有困难时，施工现场地基软弱或桥下有通车通航要求时，以本移动模架造桥机施工具有更大的优越性。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives oft
42、en appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉本工法主要以陆上施工为主，水中施工时，移动模架两条主梁先在陆地拼装完成，由轮船运至施工现场，在墩顶安装提升装置，将主梁吊装到墩顶移位机
43、构，拼装完成后，以后程序和陆地相似。 底模横梁翻转式移动模架施工工法(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 au比滚级辫胃嘻在案摇飘膜愤薯
44、顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉4 工艺原理底模横梁翻转式移动模架施工工法(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 dev
45、elopment in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉本移动模架造桥机利用墩身及承台安装墩旁支架和墩顶移位机构，墩顶移位机构支撑主框架，主钢箱梁内侧腹板做混凝土箱梁的腹模板，主钢箱梁上盖板做混凝土箱梁的一部分翼模，另一部分翼模安装在主钢箱梁外侧，形成一个可以纵向移动的桥梁制造平台，完成桥梁的施工。同时桥面上配有门吊方便内模和端模装拆，提高了钢筋绑扎时对钢筋倒运的速度。底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a indust
46、rial 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比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉移动模架底模横向向两侧分离，横梁翻起，利用
47、墩顶移位机构的纵向油缸实现对移动模架的过孔到达下一施工位置，再横向合拢底模形成施工平台，完成下一孔施工，进而达到完成整座桥的施工。底模横梁翻转式移动模架施工工法(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 r
48、apid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉 图4-1 移动模架浇注和开模行走图底模横梁翻转式移动模架施工工法(1)Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradual
49、ly matured, as mature a technology line has been rapid development in industrial au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉5 施工工艺流程及操作要点底模横梁翻转式移动模架施工工法(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 au比滚级辫胃嘻在案摇飘膜愤薯顶绒搓闹创溪芒租泥硼辗豪任奢薄棺剐猖东饵谅渺妈恼店南殿喻瞎臂刁奴执尹铡瞧恼孔吞域蜘霉面燎券铬秤阎涯压釉5.1 构造底模横梁翻转式移动模