【正文】 s Day. More and more young Chinese people begin to celebrate this day in a very similar way as that in western countries. Fewer people than ever will gaze at the heavens on Saturday to pick out the two stars shining bright on either side of the Milky Way, that is, if people even know on which day Qixi falls. There are ready reminders dotted about, in the form of big ads saying Sales on Chinese Valentine39。 Festival. In this day, girls will throw a sewing needle into a bowl full of water on the night of Qixi as a test of embroidery skills. If the needle floats on top of the water instead of sinking, it proves the girl is a skilled embroiders. Single women also pray for finding a good husband in the future. And the newly married women pray to bee pregnant quickly. Tradition transformed The love story of Niulang and Zhinu, and the Qixi Festival have been handed down for generations. Yet these ancient traditions and customs are slowly dying out. Many modern Chinese, particularly youngsters, seem to know more about St Valentine39。s time for the wild fruits to ripe. The picturesque Arxan in Autumn is indeed a fairyland only exists in a dream that satisfies all your fantasies. If it rains heavily on Saturday night, some elderly Chinese will say it is because Zhinu, or the Weaving Maid, is crying on the day she met her husband Niulang, or the Cowherd, on the Milky Way. Most Chinese remember being told this romantic tragedy when they were children on Qixi, or the Seventh Night Festival, which falls on the seventh day of the seventh lunar month, which is usually in early August. This year it falls on Saturday, August 2. Folklore Story As the story goes, once there was a cowherd, Niulang, who lived with his elder brother and sisterinlaw. But she disliked and abused him, and the boy was forced to leave home with only an old cow for pany. The cow, however, was a former god who had violated imperial rules and was sent to earth in bovine form. One day the cow led Niulang to a lake where fairies took a bath on earth. Among them was Zhinu, the most beautiful fairy and a skilled seamstress. The two fell in love at first sight and were soon married. They had a son and daughter and their happy life was held up as an example for hundreds of years in China. Yet in the eyes of the Jade Emperor, the Supreme Deity in Taoism, marriage between a mortal and fairy was strictly forbidden. He ordered the heaven troop to catch Zhinu back. Niulang grew desperate when he discovered Zhinu had been taken back to heaven. Driven by Niulang39。 ll wait in the line for one hour to get a ticket, and another two hours at the site, to only see a tiny bit of the place due to the crowds. Last year, 428 million tourists traveled in China over the weeklong holiday in October. Traveling during this period is a matter that needs thorough preparation. If you are short on time to plan the uping Golden Week it may not be a bad idea to avoid some of the most crowded places for now. There is always a place so fascinating that everyone yearns for. Arxan is a place like this. The beauty of Arxan is everlasting regardless of the changing of four seasons. Bestowed by nature, its spectacular seasonal landscape and mountains are just beyond word. Arxan is a crucial destination for the remended travelling route, China Inner Mongolia Arxan — Hailar — Manzhouli. It is also the joint of the four prairies across the SinoMongolian border, where people gravitate towards the exotic atmosphere mixed with Chinese, Russian, and Mongolia elements. As a historic site for the Yitian Battle, Arxan still embodies the spirit of Genghis Khan. Walking into Arxan, you will be amazed by a kaleidoscope of geous colors all the year round the Spring azaleas blooming red in the snow, the Summer sea wavering blue in the breeze, the Autumn leaves painted in yellow covering volcanic traces, and the Winter woods shining white on the vast alpine snowscape. Hinggan League Arxan city is situated in the far eastern area of Inner Mongolia Autonomous Region. Its full name Haren Arxan means hot holy water in the Mongolian language. Arxan is a tourism city in the northern frontier with a blend of large forest, grand prairies, vast snowfield, heaven lake cluster, thermium, as well as volcanic cluster. It is a rare and unique ecotourism base filled with healthy sunshine, clean air and unspoiled green. Nestled close to the country39?？梢愿鶕?jù)機(jī)械手的動(dòng)作順序修改程序，使機(jī)械手的通用性更強(qiáng)。同時(shí)成本低廉。工作環(huán)境適應(yīng)性好，不會(huì)因環(huán)境變化影響傳動(dòng)及控制性能。 LD X17 OUT M4 LD M4 SET M574 LD M574 OUT Y12 定義急停標(biāo)志 M5 定義為系統(tǒng)復(fù)位標(biāo)志由復(fù)位按鈕激活，當(dāng)按下復(fù)位按鈕系統(tǒng)將按右轉(zhuǎn)，手腕右轉(zhuǎn)，手臂收回，機(jī)械手下降 ,機(jī)械手右轉(zhuǎn)，的順序進(jìn)行復(fù)位，當(dāng)最后一個(gè)動(dòng)作完成下限位開關(guān)有效時(shí)程序?qū)?： RSTM5； LD X13 RST M574 RST M4 SET M5 LD M5 MPS ANI X3O OUT Y6 LD X3 SET Y3 AND X7 RST Y3 SET Y5 LD X4 RST Y5 SET YOLD X0 RST M5 系統(tǒng)復(fù)位 機(jī)械手按照給定的順序（手抓加緊松開﹑手腕右轉(zhuǎn)左轉(zhuǎn)﹑手臂伸長(zhǎng)收縮﹑機(jī)械手左轉(zhuǎn)右轉(zhuǎn)）空?qǐng)?zhí)行一次在每一個(gè)動(dòng)作執(zhí)行的過程中都會(huì)有定時(shí)器對(duì)每個(gè)動(dòng)作進(jìn)行監(jiān)控若超過設(shè)定時(shí)間（定時(shí)器設(shè)定的時(shí)間都超過每個(gè)動(dòng)作的時(shí)間）則認(rèn)為是機(jī)械系統(tǒng)出錯(cuò)，停止當(dāng)前的動(dòng)作發(fā)出報(bào)警信號(hào) 。 LD X30 AND M0 OR M1 OUT M1 定義系統(tǒng)啟動(dòng)標(biāo)志 M2 為暫停標(biāo)志由暫停按鈕激活 。 LD M8002 ZRST Y000 Y267 ZRST M0 M1023 ZRST S0 S899 SET S0 系統(tǒng)處于初始狀態(tài) M0 定義為系統(tǒng)初復(fù)位標(biāo)志它由機(jī)械手的右限位開關(guān) X0，下限位開關(guān) X4，收縮限位開關(guān) X7，手腕右轉(zhuǎn)限位開關(guān) X3 同時(shí)激活 。 。 當(dāng)對(duì)射式光電檢測(cè)開關(guān)檢測(cè)到共建的位置時(shí)此時(shí)停止向脈沖分配器中發(fā)送脈沖 ， 步進(jìn)電機(jī)將停在此位置不動(dòng)。 步進(jìn)電機(jī)的運(yùn)行控制 由于傳送帶的速度要求不高且精度也不是太高所以本設(shè)計(jì)選擇三相步進(jìn)電機(jī)通電方式為三相雙三拍，利用 PLC中的 M8014 特殊功能繼電器向環(huán)形脈沖分配器中發(fā)送脈沖然后經(jīng)光電轉(zhuǎn)換和功放電路驅(qū)動(dòng)步進(jìn)電機(jī)。 每一個(gè)動(dòng)作 。然后傳送帶開始轉(zhuǎn)動(dòng)，當(dāng)檢測(cè)到下一個(gè)工件時(shí)傳送帶停止轉(zhuǎn)動(dòng)等待機(jī)械手來取工件，當(dāng)然只要機(jī)械手取走工件傳送帶就開始轉(zhuǎn)動(dòng)，這樣設(shè)計(jì)是為了節(jié)省工作時(shí)間從而不會(huì)出現(xiàn)機(jī)械手等待傳送帶的時(shí)間。 電路的總體設(shè)計(jì) 回路的設(shè)計(jì) 整個(gè)系統(tǒng)的回路設(shè)計(jì)如下 : 機(jī)械手右旋轉(zhuǎn) 機(jī)械手上升 機(jī)械手手臂伸長(zhǎng) 機(jī)械手下降 機(jī)械手手腕右旋 機(jī)械手加緊 機(jī)械手上升 機(jī)械手手腕左旋 機(jī)械手手臂收縮 機(jī)械手左旋 機(jī)械手下降 機(jī)械手手臂伸長(zhǎng) 機(jī)械手手腕右旋 機(jī)械手下降 機(jī)械手松開 機(jī)械手手臂收縮 系統(tǒng)輸入 /輸出分布表 輸入 輸出 X0 SQ1 右旋限位開關(guān) Y0 YA1 右旋電磁閥 X1 SQ2 上升限位開關(guān) Y1 YA2 左旋電磁閥 X2 SQ3 手臂伸長(zhǎng)限位開關(guān) Y2 YA3 手臂伸長(zhǎng)電磁閥 X3 SQ4 手腕右轉(zhuǎn)限位開關(guān) Y3 YA4 手臂收縮電磁閥 X