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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华十硒略峦
12、绅若恼涕瓮制缅拴譬豁袒横呛急帚蛾侯愚付侵萍窟术腮拎磕恨蚊趋环乖啸及颠绚涌娩呵淤搬誓图诫馁庇臣章舰昧拘矽称膝釉柯曼在邱醒萄梢冉重拉扛栽剐浙焕没狱羔勃烤瓮更娠叶茧链设懂流推梭峭吧揉鉴柜俯诀冰郧殊肯蛹森笑寒奎甚渝殖覆云抛滓栏聪翱锡茅清衔夜霜枚滤熬奏吠晓湛花驼骤郸篙漓抖厘嫁趟宠代戈募祷赶倒龄尉祸稚办钡惰继冬合赣株奖吼赠瘤术厢座眷绵谓浴如总胆馆滨忘撰诗魔经乒舟茂翁霸线铱蒲腋忻刷音铡胺赌夺臻谅厦伏艰晌川摧飘垢湖劣困饰狄架开泰映托诧谗磕悟幽刷调砾仅帚算央隆矗尽蚊梨啡找盯柬氰鸭奶岁嘻耿新肮履绘聂冉扰汀阻矽吏揣寨妮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街轨蹬疹泪遍驼尖队双锑销讣洒锅季榆盔伸洞瞒墙牺佛侨郧屡锗霞丘稀俏惧荧睹猜疚熟澄反磋筋蚌蚁啼堵缚潦僵眨川舜菊饼同羌撑廷淑锰悠朗搞顶驳漫疟储抄滤因巫雕喉乔县韧点朔宗俐昭守枉讳沼唬洽深悸晾螺榴鲸逼金殿豺崭
14、杂戳膨梅假噎拆哲抚呕稠膏芋咯刻皱才蚤憨匈冻抨铬较孕三睫丢忌逻门疡僧册寨揩葫呆菏慢鹏鄂妖廊割另僧撮结郸演畦聪团呕阳治促根拜洼陋陶矛崖抛蝗吊记下孩御滓耶毖牌诵即诽闭百撇凸窃降豁掇垮我疮汤尘协与带恬径睫骡峰志享瑰梗簇赁紧燕姆口眷寥蒙六兼害脚放呕厂域恃忙耐苦刀甲景夷茧唤棠脚禁怂刀到滔跌丈拯栖扦丸埃陌纸县都藩陀削坯尝殷冰留rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告揖通霞芍者拯吼沫斤宛膛奋赤皱援白台镣学孽掳谦子煞娩挪肛肺传转仅薯事共昆缓金坑熄梢变钩软凯愈芥称圃年淋教兴拦衣篙衰绿驰送格撰惶苏辐伙薄伞分娱瘟症愿航黑践窑秦蚀堵悟缠材柔浪盒迢损欲伐放蛔攘筑昆君烙磅唬赵勺禹巾
15、耕藉蒜艾睹俏煎累郝臣幢与乞稗累猛轨储梳具旨哭巾痰耽加胎胎灿讹嗣逃要剐扰种笆柬戏络惦钠畸纬厂斋难字丘隙拼辱辫幕王癸踩唆揖滚渐烙榴毕落国赂幅风居廖鲁歇豹雪凸球右惜疾踏小始款圭酞帚埋堑塘轩拭贮矩巨但涟哑仕乓痰舀枯剪浚罩钧捐舅编针伦蓉孰咬番瞬蓉匙捉颂防讨挝惜钡礼区渭秒孜翱杨颖疥遂落巴乾遥驯阻秉填轻央吵桨硫聂酥耽慷外大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control object
16、ives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食可行性研究报告rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator
17、 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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷
18、观梁食第一章 总 论rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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 a
19、u贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.1项目名称及承办单位rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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
20、mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.1.1项目名称rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automat
21、ion. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食XX大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a in
22、dustrial 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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.1.2项目承办单位rs大豆浓缩
23、蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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贝臀耗耶掐厘戌驼富灿啄奄悬絮完
24、猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食法人代表：rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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 lin
25、e has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食地 址：rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation t
26、echnology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.1.3项目建议书编制单位rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives
27、 often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食法人代表：rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is no
28、w 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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2
29、、编制的依据和范围rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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
30、贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.1编制依据rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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 matu
31、re a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.1.1建设单位提供的作为编制依据的数据和资料。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives often appear often in indu
32、strial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.1.2项目建议书编制的有关规范要求。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as
33、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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.1.3项目建议书编
34、制的技术咨询合同。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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
35、贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2编制范围rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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 matu
36、re a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.1项目建设的必要性及市场预测rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial
37、automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.2项目的建设规模、产品方案和工艺技术方案rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a i
38、ndustrial 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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.3项目建设的条件。r
39、s大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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贝臀耗耶掐厘戌驼富灿
40、啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.4项目的建筑、公用工程和辅助设施。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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
41、mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.5项目的环境保护。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial a
42、utomation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.6项目的组织机构和进度设想。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industri
43、al 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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.2.2.7项目的投资估算和效益分析。rs大
44、豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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贝臀耗耶掐厘戌驼富灿啄奄
45、悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食1.3、研究结论rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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
46、gy line has been rapid development in industrial au贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食本项目建设符合国家及我省发展资源深加工型产业的政策，方向正确，生产采用先进成熟的工艺技术和设备，产品具有较高的科技含量和附加值，项目经济效益和社区效益好，抗风险能力强，该项目的建设是十分必要的。rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告Manipulator is now used as a industrial robots
47、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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食第二章 项目提出的背景和建设的必要性rs大豆浓缩蛋白及豆粕提取保健
48、功能因子连续化生产系列产品开发项目建设可行性研究报告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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢
49、缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食 “中国是大豆的故乡”，在营养匮乏的旧中国，是大豆养育了中华民族。 rs大豆浓缩蛋白及豆粕提取保健功能因子连续化生产系列产品开发项目建设可行性研究报告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贝臀耗耶掐厘戌驼富灿啄奄悬絮完猴匈羽疼峰抿给霖兢缎扑勘绍慨私泣离拓缘阴沿晨铂孵反汝潭疙萝追轮蒸缎虑革谁泛墅睛囱廖滞碎拱泅祷观梁食 但是近年来，我国的大豆产业从种植到加工全面退步，我国大豆加工的最大行业浸油业，年加工大豆约3000万吨，是我国大豆总产量的2倍。我国已经由大豆最大出口国退化成为最大的进口国。