【正文】 onomic sustained and rapid development, but the development is not balanced, coordinated, can not be continued problems are still prominent, the transformation of economic developmentManipulator 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 application 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 robot to get people39。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 conditions 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 standards. 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 patibility, wide availability, hardware is plete, and programming that can be mastered in a short time, so in the context of 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 highspeed line that uses a robotic arm, and so on. Today, the high level of automation bined 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 didn39。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 manipulator in both at home and abroad of research profile automation mechanical arm research began Yu 20th century mediumterm, after years with with puter 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 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 plete 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 the robot begand一、建設(shè)工程質(zhì)量檢測(cè)中心取樣送檢指南鋼 材 類樣 品 名 稱 取 樣 要 求 取 樣 方 法 取 樣 數(shù) 量 備 注 鋼筋原材GB1301391GB/T7011997GB137882000 熱軋帶肋、光圓鋼筋：同一牌號(hào)、同爐罐號(hào)、同規(guī)格，每60t為一批，不足此數(shù)也按一批計(jì)。 隨機(jī)抽取兩根，去掉端頭50cm后截取，各取兩段，分別用于拉伸及冷彎試驗(yàn)。 力學(xué)試驗(yàn)4支,長(zhǎng)度40～60cm 委托時(shí)應(yīng)明確規(guī)格、牌號(hào)、產(chǎn)地。 盤條、冷軋帶肋鋼筋；同一牌號(hào)、同一爐罐號(hào)、同一規(guī)格、外形，同一生產(chǎn)工藝和同一交貨狀態(tài)，每60t為一批，不足此數(shù)也按一批計(jì)。 去掉端頭50cm后截取40～50cm長(zhǎng)試樣。 拉伸試驗(yàn)：每盤1支；彎曲試驗(yàn)：每批2支。 鋼筋焊接接頭JGJ182003 閃光對(duì)焊、氣壓焊：工藝檢驗(yàn)：每批鋼筋正式焊接前，每種牌號(hào)、每種規(guī)格至少做1組試件進(jìn)行工藝檢驗(yàn)；非工藝檢驗(yàn)：以300個(gè)同類型接頭為一批。 應(yīng)從每批接頭中隨機(jī)切取。 試樣共6支：拉伸3支，50～60cm長(zhǎng)；彎曲3支，40cm長(zhǎng)。 通常，隨著鋼筋直徑的增大，取樣長(zhǎng)度適當(dāng)增加。（以下同） 電弧焊（如：搭接焊、幫條焊等）、電渣壓力焊：工藝檢驗(yàn)：每批鋼筋正式焊接前，每種牌號(hào)、每種規(guī)格至少做1組試件進(jìn)行工藝檢驗(yàn)；非工藝檢驗(yàn)：以300個(gè)同類型接頭為一批。 應(yīng)從每批接頭中隨機(jī)切取。 試樣長(zhǎng)度為50～60cm共3支，只作拉伸試驗(yàn)。 搭接焊試件應(yīng)保證距焊口外兩邊各留出20cm左右。并應(yīng)使兩鋼筋的軸線在一直線上。 鋼筋焊接網(wǎng)片JGJ/T1142003 每批應(yīng)由同一廠家生產(chǎn)的，受力主筋為同一直徑的焊接網(wǎng)組成，以30t為一批。 隨機(jī)抽取一張網(wǎng)片，在縱、橫向鋼筋上各截取2根試樣，分別進(jìn)行拉伸和冷彎試驗(yàn)；在同一根非受拉鋼筋上隨機(jī)截取3個(gè)抗剪試樣。 拉伸：2支冷彎：2支抗剪：3支 每個(gè)試樣應(yīng)含有不少于一個(gè)焊接點(diǎn)，長(zhǎng)30～40cm。 鋼筋機(jī)械連接接頭JGJ1072003JG/T30571999 工藝檢驗(yàn)：對(duì)每批進(jìn)場(chǎng)鋼筋應(yīng)做接頭工藝檢驗(yàn)（同一牌號(hào)、同爐罐號(hào)、同規(guī)格，60t為一批）?，F(xiàn)場(chǎng)檢驗(yàn)：以500個(gè)接頭為一批，不足500個(gè)接頭也按一批計(jì)。 應(yīng)從每批接頭中隨機(jī)截取。 工藝檢驗(yàn)(6支):3支原材,3支接頭?，F(xiàn)場(chǎng)檢驗(yàn)(3支)：3支接頭。長(zhǎng)度取50～60cm。 做工藝檢驗(yàn)時(shí)，應(yīng)保證每一接頭所用的原材與對(duì)應(yīng)原材取自同一根鋼筋；套筒試件應(yīng)保證在套筒連接處外兩邊各留出20cm.。 角鋼等各類型鋼GB/T7002006GB/T159194 同一牌號(hào)、同爐罐號(hào)、同等級(jí)，同一品種，同一尺寸，同一交貨狀態(tài)組成。每60t為一批，不足此數(shù)也按一批計(jì)。 在外觀及尺寸合格的鋼產(chǎn)品上取樣，取樣的位置具有代表性。 拉伸、彎曲各1支；長(zhǎng)度：4050cm。沖擊試驗(yàn)用試樣：101055mm或51055mm（板厚小于10mm）帶V型或U型缺口的試件3件。 委托時(shí)應(yīng)明確樣品名稱、規(guī)格、牌號(hào)、等級(jí)等信息，等級(jí)為B級(jí)及以上的鋼材需做沖擊試驗(yàn)。制試樣時(shí)宜采用機(jī)械切削方法，避免用燒割、打磨去加工試樣。 鋼板焊接JGJ812002 同一批鋼板，同一焊接工藝制作的鋼板為一驗(yàn)收批。 在外觀合格試樣中隨機(jī)截取試樣，截取樣品時(shí)，盡量采用機(jī)械切削的方法；用其它方法截取時(shí)須保證受試部分的金屬不在切割影響區(qū)內(nèi)。 拉伸：長(zhǎng)度40～50cm2支；面彎、背彎：長(zhǎng)度30～40cm各2支；側(cè)彎：30～40cm4支 鋼板厚度＜14mm，做拉伸、面彎和背彎；鋼板厚度≥14mm ，做拉伸和側(cè)彎。 結(jié)構(gòu)用無縫鋼管GB81621999 同一鋼號(hào)、爐號(hào)、規(guī)格、熱處理制度的鋼管一批。 隨機(jī)抽取兩根鋼管，各取一個(gè)拉伸試樣，各取一個(gè)壓扁試樣。 拉伸：40～50cm鋼板條（寬2～3cm）2件；壓扁：4cm長(zhǎng)鋼管圈2個(gè)。 表面質(zhì)量不合格的鋼管要先剔除，再組批取樣。 鋼絞線GB/T52242003 同牌號(hào)、同規(guī)格每60t為一批。 隨機(jī)抽取3盤，每盤1支。 各取80cm一段，共3支。 鋼板厚度方向性能GB531385 同一爐罐號(hào)、同一熱處理制度、厚度極差在20%以內(nèi)的重量不大于25t的鋼板為一驗(yàn)收批。 每組3件。 板厚≤25mm，試樣直徑d0=6mm，板厚25mm，試樣直徑d0=10mm。 鋼結(jié)構(gòu)類樣 品 名 稱 取 樣 要 求 及 取 樣 方 法 取 樣 數(shù) 量 備注 螺栓楔負(fù)載試驗(yàn)GB/2000 GB/T169391997規(guī)定；同一性能等級(jí)、材料牌號(hào)、爐號(hào)、規(guī)格、機(jī)械加工、熱處理及表面處理工藝的螺栓為同批，最大批量：≤M36為5000件， M36為2000件；GB/T12312006鋼結(jié)構(gòu)用大六角頭螺栓最大批量：3000套。 鋼結(jié)構(gòu)用大六角頭螺栓：8件/組其它螺栓：3件/組 鋼網(wǎng)架螺栓球節(jié)點(diǎn)用高強(qiáng)螺栓按GB/T169391997執(zhí)行，鋼結(jié)構(gòu)用扭剪型高強(qiáng)度螺栓按GB/T36331995執(zhí)行，鋼結(jié)構(gòu)用高強(qiáng)度大六角頭螺栓按GB/T12312006執(zhí)行，一般緊固件螺栓按GB/。 鋼結(jié)構(gòu)用大六角頭螺栓的扭矩系數(shù)GB/T12312006 同一生產(chǎn)批號(hào)每3000套為一批，隨機(jī)抽取10套（螺栓、螺母、墊圈）為1組 10套/組 應(yīng)明確螺栓規(guī)格、性能等級(jí)、生產(chǎn)單位、生產(chǎn)批號(hào)等信息。 扭剪型螺栓的緊固軸力GB/T36331995 同一生產(chǎn)批號(hào)每3000