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 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 people'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 compatibility, wide availability, hardware is complete, 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 high-speed line that uses a robotic arm, and so on. Today, the high level of automation 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 didn't opportunities awareness in world range within some leading level ofknowledge 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 research 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 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 complete 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 \chanical arm is to use the program as a basis. Difference is that the robot begand按照二灰土混合料配比设计要求及现场原材料含水率计算： 白灰：粉煤灰：土 = 3：10：11（体积比）
4、技术交底
落实技术资料到相应技术人员，包括施工中各项要求及注意事项。在施工前对上路床底路基，做好全面的外形检查，压实度检查并修整路基（高程、横坡、压实度、灰剂量检测），对其用XS263J光轮压路机复压1-2遍，做到路基表面平整、密实并形成规定路拱。在合格的下承层路基上恢复中线及两侧边线，并采集该层次高程为试验段施工提供高程数据。 四、施工工艺流程
打设两侧底基层边线→施作土路肩两侧培肩土→摊铺混合料→粗平→拌合与洒水→排压→粗整平→静压→碾压成型→细整形→养生 五、施工机械设备
六、施工方法 序1 2 3 4 5 6 7
主要机械配备情况一览表 表2
设备规格数序设规格数量 挖掘机 PC22018 洒水车 60002挖掘机 PC24019 旋耕机 1装载机 ZL50C 41自卸运陕汽7推土机 CLGB121全站仪 RTS31平地机 CLG4111水准仪 苏光2羊足碾振XS22221 光轮压路XS26311 1、测量放线
由测量员放出K6+000～K6+500试验段中桩，施工宽度、高程，施工边线，现场打灰饼做点用来控制底基层的厚度。
2、备料：
石灰达到Ⅲ级以上的技术指标，尽量缩短石灰的存放时间，石灰在野
2
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 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 people'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 compatibility, wide availability, hardware is complete, 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 high-speed line that uses a robotic arm, and so on. Today, the high level of automation 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 didn't opportunities awareness in world range within some leading level ofknowledge 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 research 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 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 complete 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 \chanical arm is to use the program as a basis. Difference is that the robot begand外堆放时间较长时，应妥善覆盖保管，不应遭日晒雨淋。在使用前7-10d充分消解并粉灰，充分消解后一星期内使用完毕。素土是塑性指数为IP=12.9的粘土，无草皮杂质。
3、二灰土混合料拌和
二灰土混合料采用装载机配合挖掘机简易厂拌法，拌合地点为取土场，拌和办法：
取土场取土：清除树根、草根及不合格土层，在取土场按预定深度规定范围内由上而下用挖掘机挖取，测定土含水量，对于含水量过大的土，通过晾晒降低含水量。对土质变化较大的土场（土的塑指变化在5以上）不能混取，应分层按施工段落挖取，确保同一施工段土质均匀，现场要做好防水和排水措施。
翻拌：二灰土采用挖掘机与装载机配合进行拌合，在摊铺前提前10小时以上进行拌合和闷料。经测算，二灰土拌合控制拌和数量为，先用装载机铲3铲白灰，再铲10铲粉煤灰，拌合为二灰混合料，再铲11铲土，将二灰与土拌后打堆，然后用挖掘机进行翻拌，用挖掘机翻拌3——4遍，在翻拌的同时根据混合料的含水量情况用洒水车加水，注意加水采用高压连续不断移动均匀喷洒，切忌用水龙头大量喷洒，更不能使混合料出现过湿或泥团现象。如若混合料中出现泥团成块等现象，立即清理。每天上、下午各测一次原材料的含水量，混合料的含水量略大于最佳含水量2个百分点左右，试验人员应重点进行灰剂量及含水量的检测，如若灰剂量达不到设计要求，重新加灰翻拌，直至达到要求。拌合好的二灰土应色泽均匀、无离析、成团块现象。拌和好的二灰土混合料堆成堆进行闷料，使其里面未消解充分的石灰继续进行消解，使水份均匀渗透入土中。
在装车时分别再一次进行充分拌合，施工摊铺时，又进行了一次拌合，经过以上工序基本可以达到二灰土拌合的要求。
4、运输
3
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 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 people'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 compatibility, wide availability, hardware is complete, 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 high-speed line that uses a robotic arm, and so on. Today, the high level of automation 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 didn't opportunities awareness in world range within some leading level ofknowledge 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 research 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 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 complete 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 \chanical arm is to use the program as a basis. Difference is that the robot begand用自卸汽车将土运往施工现场，根据摊铺机械施工速度，现场专人指挥，进行卸料。合理控制混合料摊铺长度。
5、摊铺
（1）摊铺：按照预定的摊铺厚度均匀摊铺，并检查摊铺厚度，保证摊铺厚度基本均匀，检查混合料的含水量，含水量大时使用铧犁进行翻拌晾晒，晾晒后使混合料达到适宜含水量（略高于最佳含水量2%左右，以考虑后续施工至碾压前的含水量损失）。含水量偏小时，则需适量加入水量.
最终经检查含水量、灰剂量、拌合均匀性均合格后进入下道工序施工。 （2）派专人跟随推土机，随时检查拌合料摊铺厚度及是否有素土，同时配合推土机操作手调整摊铺厚度。混合料色泽一致，没有灰条、灰团和花面，没有粗细颗粒“窝”或“带”，且水份合适和均匀。
（3）拌和摊铺中及时检测混合料含水量及石灰剂量，报请监理检查，通过洒水或翻晒调整含水量，灰剂量不足的立即补足，并重新拌和。
实测灰剂量值
桩号 K6+020 K6+120 K6+220 K6+320 K6+420 实测部位 左（m） 右（m） 8.0 6.4 9.4 10.3 3.5 石灰剂量（%） 10.0 10.2 10.3 10.3 10.1 备注 合格 合格 合格 合格 合格 6、稳压整平 混合料摊铺均匀后，测量含水量略大于最佳含水量2～3%时，用振动压路机初压1-2遍，接着再用平地机进行整平，整平前应用推土机将轮迹低洼处表面层5cm以上打松，整平后再用振动压路机快速碾压一遍。
7、碾压
碾压采用一台22吨羊足碾振动压路机和一台XS263J光轮压路机联合完成。
（1）稳压（弱振）
4
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 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 people'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 compatibility, wide availability, hardware is complete, 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 high-speed line that uses a robotic arm, and so on. Today, the high level of automation 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 didn't opportunities awareness in world range within some leading level ofknowledge 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 research 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 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 complete 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 \chanical arm is to use the program as a basis. Difference is that the robot begand 采用22T羊足碾振动压路机，自外侧向内侧台阶位置碾压，采用弱振叠四分之一轮，速度一档，稳压1遍，速度控制在2～2.5Km/h以内。 （2）振压（强振）
采用22T振动式压路机强振10公分一轮，速度一档 (每一趟碾压到头停车前先停震后停车换档)，速度控制在2～2.5Km/h以内，每碾压一轮回及时检测压实度。
8、精平
压路机快速碾压结束后，恢复中线以及边线，测量人员现场对各点进行高程测量，并作出各点的位置。最后用平地机精平一次，由两侧向路中心进行刮平，整平后做出路拱。精平时应将高出标高处的混合料刮出路外，严禁形成薄层贴补现象，在整形过程中，严禁任何车辆通行。
（3）收面碾压
用一台XS263J光轮静碾压路机静压1遍，叠三分之一轮，消除轮迹，碾压速度应保持均匀、平稳（1.5～1.7km/h）。达到设计规定时即可停止碾压。
路基土方试验段成果汇总表（见附表） 9、成型验收
经自检合格后，报监理工程师进行验收，抽查合格方可继续下道工序。 七、检测
外观检查平整密实，无坑洼松散和“弹簧”现象，无碾压轮迹。 碾压结束后，用灌砂法检测现场压实度，并检测高程、宽度、横坡度、平整度等指标。
八、人员组织
路面工程底基层二灰土填筑试验段施工主要人员一览表（见附表） 九、施工质量管理
现场技术负责人要召集有关技术人员进行施工效果分析，总结经验，
5
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 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 people'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 compatibility, wide availability, hardware is complete, 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 high-speed line that uses a robotic arm, and so on. Today, the high level of automation 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 didn't opportunities awareness in world range within some leading level ofknowledge 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 research 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 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 complete 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 \chanical arm is to use the program as a basis. Difference is that the robot begand做好每道工序的施工记录，力争一直处于最佳施工状态，确保该工程高效优质完成。 十、施工工艺总结
1、根据填筑情况，我部路面工程底基层二灰土填筑施工工艺为： 下承层验收合格→土场堆土→检查含水量→布灰→检查布灰量、均匀性→拌和→检查拌和均匀度（夹层情况）、均匀性、灰剂量、含水量→闷料→再次翻拌、运输→打方格网、布料、翻拌→整平、稳压→稳压、平整→XS222J-1羊足碾振动压路机弱振1遍→强振→XS263J光轮静压1遍（具体碾压遍数由试验段确定）→检测验收→交通管制、洒水养生。
2、根据碾压成型后的标高和厚度，层厚20cm，松铺厚度为24-26cm，检测灰土的松铺系数宜控制在1.21；
施工过程中含水量应控制在最佳含水量以上2～3%范围内；
灰剂量控制在设计灰剂量（10-10.5）%范围内，并且保证灰剂量满足设计值。
碾压时含水量应控制在大于最佳含水量1～2%范围内；XS263J光轮静压1遍。
3、现场石灰的消解要充分，时间应在7天以上。 4、适宜的工作长度在200m左右。
5、碾压要确保连续性，必须一次性完成，中间不宜停顿，各种碾压机械在碾压过程中不能急刹车，不能随意调头。拟采用的碾压组合：先采用羊足碾振动压路机静压一遍，弱振叠四分之一轮弱振1遍，强振叠10公分，精平后紧跟改换光轮压路机低速1/3错轮静压1遍，消除轮迹，以确保压实质量。
6、接缝和调头处的处理
（1）、同时施工的两工作段的衔接处，应采用搭接形式。前一段摊铺整形后，留5～8m简单稳压，后一段施工时应与前段留下后部分一起在进
6
106省道路面工程底基层二灰土试验段施工总结
