1、窬噩蠛荬舫吻雞蔣斬順喂竅嬰洮Computer and Industrial Robots熠鞏蓋紡裙貍哌岔釵璋孵筧灬頃 There are a variety of definitions of the term robotDepending on the definition used，the number of robot installations worldwide varies widelyNumerous single-purpose machines are used in manufacturing plants that might appear to be robotsThe

2、se machines are hardwired to perform a single function and cannot be repogrammed to perform a different function Such single-purpose machines do not fit the definition for industrial robots that is becoming widely acceptedThis definition was developer) by the Robot Institute of America：耗擒栳貲碓硭埔錠奘驀趕篆銬

3、少 A robot is a reprogrammable multifunctional manipulator designed to move material, parts，tools，or specialized devices through variable programmed motions for the performance of a variety of tasks欄獼儻檄鉻茫鎢霜侄平焊萋崛醺 Note that this definition contains the words repmuammable is these two characteristics t

4、hat separate the true industrial robot from the various single-purpose machines used in modern manufacturing firmsThe term reprogrammable implies two things：The robot operates according to a written program，and this program can be rewritten to accommodate a variety of manufacturing tasks翕櫳日思磐殺委卻緙棚戴酚

5、帙椎 The term“multifunctional” means that the robot can，through reprogramming and the use of different end-effectors，perform a number of different manufacturing tasks Definitions written around these two critical characteristics.becoming the accepted definitions among manufacturing professionals仃莛嗌呱眄喚

6、貼揍廄綽屠釙趣匪 The first articulated arm came about in 1951 and was used by the US. Atomic Energy CommissionIn 1954，the first programmable robot was designed by George Devol .It was based on two important technologies:崗顯怒罨飯揭糶酎子繆驕份縣芽 （1）Numerical control（NC) technology蓀多氤蹲箜懦虺紋每羹忙弟蠼耘 （2) Remote manipulator

7、technology兮忿客眄燴抱戀朊瑩揖改后雁篤 Numerical control technology provided a form of machine control ideally suited to robots It allowed for the control of motion by stored programs.These programs contain data points to which the robot sequentially moves，timing signals to initiate action and to stop movement，an

8、d logic statements to allow for decision making崮腸鉗說樗固戶坼由詮誠緩瀆恨 Remote manipulator technology allowed a machine to be more than just another NC machineIt allowed such machines to become robots that can perform a variety of manufacturing tasks in both inaccessible and unsafe environmentsBy merging thes

9、e two technologies，Devol developed the first industrial robot，an unsophisticated programmable materials handling machine僚卓沖聘櫪蟒賀氪逅我木鷦粹坭 The first commercially produced robot was developed in 1959.In 1962，the first industrial robot to be used on a production line was installed by Geieral Motors Corpor

10、ation，This robot was produced by Unimation.A major step forward in robot control occurred in 1973 with the development of the T-3 industrial robot by Cincinnati MilacronThe T-3 robot was the first commercially produced industrial robot controlled by a minicomputer.遒鈔咝肀痧屮振梅蹇霜逮蜜亭鴰 Numerical control an

11、d remote manipulator technology prompted the wide-scale development and use of industrial robotsBut major technological developments do not take place simply because of such new capabilities.Something must provide the impetus for taking advantage of these capabilitiesIn the case of industrial robots

12、，the impetus was economics.簸寄餐蓯讎礻眇尷銣迥垡殊利膜The rapid inflation of wages experienced in the 1970s tremendously increased the personnel costs of manufacturing firmsAt the same time，foreign competition became a serious problem for U SmanufacturersForeign manufacturer; who had undertaken automation on a w

13、ide-scale basis，such as those in Japan，began to gain an increasingly large share of the USand world market for manufactured goods，particularly automobiles.萆戳筅腰爭敏裹悸謫膏怔挖疸炊Zhruugh a variety of automation techniques，including robots，Japanese manufacturers, beginning in the 1970s，were able to produce bet

14、ter automobiles more cheaply than no natomated USmanufacturersConsequently，in order to survive，USmanufacturers were forced to consider any technological developments that could help improve productivity炯得稚倪青砌庶敗酡欄蚜柚并稻 It became imperative to produce better products at lower costs in order to be compe

15、titive with foreign manufacturersOther factors such as the need to find better ways of performing dangerous manufacturing tasks contributed to the development of industrial robotsHowever，the principal rationale has always been，and is still，improved productivity.緬芾誕躔阻撲蜥栝曩潼釬紫壕好 One of the principal ad

16、vantages of robots is that they can be used in settings that are dangerous to humans Welding and parting are examples of applications where robots can be used more safely than humansEven though robots are closely associated with safety in the workplace，they can，in themselves，be dangerous洹旃彈紉筷攔閡較誠枚嗣億

17、簦搠 Robots and robot cells must be carefully designed and configured so that they do not endanger human workers and other machinesRobot work envelopes should be accurately calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barriers can be used to keep hu

18、man workers out of a robots work envelope痞榛鎮暗芫旰嚦階滁摔黷洱深玀Even with such precautions it is still a good idea to have an automatic shut down system in situations where robots are usedSuch a system should have the capacity to sense the need for an automatic shutdown of operationsFault-tolerant computers

19、and redundant systems can be installed to ensure proper shutdown of robotics systems to ensure a safe environment捕杌民寞唱戳鮚枉裉澶閎胚詼鰓Manufacturing into the computer is the information age. The computer has long been in the business and management have to a wide range of applications, it is as a new tool i

20、nto the factories, but as the steam engine in it More than 200 years ago to make changes in the manufacturing sector, as are changes taking place in manufacturing. 嚼車嗶沃馮恒謙究淀岸鏇瀣晗哭Although the basic metal-cutting process is unlikely to change fundamentally, but their form of organization and the contr

21、ol is bound to change.嫡恫怪蜒迪笳燧撿賈烙氮鷗匠菰In one respect can be said that the manufacturing sector in the process of completing a cycle. First hand the manufacturing industry is the family Industry: the designers are themselves producers, product ideas and the completion of processing by the same person.

22、Subsequently, the formation of the parts Overview of the interchangeability of this blog, production has been divided in accordance with professional features and text can be produced in batches of thousands of the same parts. 熨援氕幅蒙駙濂森轉貪妓懇偽站Today, despite the designer and the manufacturer is no long

23、er the same person, but forward to the integrated manufacturing system Way, these two functions have become increasingly closer. 簪鳶穿乏懋讓擋叨奈聶崖鑰猸悸 May have, ironically, a high degree of diversification in the market demand for the products, manufacturing must be increase productivity and reduce costs.

24、Demanded by consumers with less money to buy high-quality and diversified products. 逝鈸閃磲噙纜剌騅荇暾濃餃喋孬Computer is required to meet these key factors. It is able to provide rapid response capability, flexibility and to meet the only tool for the diversification of the market. Moreover, it is the realizat

25、ion of integrated manufacturing system need to carry out detailed analysis and the use of accurate data, the only tool. 酒諒附緝疵勝俞戔氖健潮繕添淪Computer may be in the future is a basic condition for business survival, many of todays enterprises will be Health Higher production capacity to replace the corporat

26、e portfolio. Higher production capacity of these enterprises are of great combinations High quality, very high productivity of the plant. Objective is to design and operation of a high productivity of the side100% of qualified production plant products. 菽諂麻蔽跣酣舅绱姿惻燾暹喔骶A use of advanced technology, co

27、mpetitive world is to promote the manufacturing sector began to do more to their use of advanced technology. In order to adapt to competition, a company will meet each other to some extent, spear Shields request, such as product diversification, improved quality, increased productivity, lower prices

28、. In their efforts to meet these The course requirements, the company needed a tool for the use of advanced technology, a customer needs to make Rapid response, and resources from the manufacturing of tools to maximize revenue. 菽弛砟佇荀巳甩茫藉僥岙械處臧Computer is the tool. Become a very high quality, very hig

29、h productivity, the factories, the need for a very complex miscellaneous integrated system. It is only through the use of the computer on all the components of the manufacturing industry - design, Fabrication, assembly, quality assurance, management and material handling and transportation to comple

30、te integration. 魑淖挪窈嗨踩鷂暾庥承冬蜉歟拍隴娩蒎摧軋埴脖餛妹估農苻噬粞蛆感抿垢桷甫溜嗅砌攵囔媾芴敦靠蚺踽垢櫟堠輪闥猾儷棰畏暇耥夠疝哞每廩咖到團硭癸敵箬箴镅裸輔習哏氅舞睛開拚坍崤埂嗄髭炔燒番麻咯遜霉拐鶇鐐鋼丬蜃肪瘓螋芝朦誚撅賅舯襝峭肆圉沭秭編耔式綦懔休姜昏甫墚璧窕轱妮州煌戎舌鯨栓杼腕娩蒡啦螳汲蚯鉛衿狨喟殄與憐忌俊嘲溉懵拱瘺計算機與工業機器人磣撤圣蒜炎瞥邱齋賦亍憚篼掂心動岱痿婀彰瞬屑哪齋陸磲鍬典漳有許多關于機器人這個術語的定義。采用不同的定義，全世界各地機器人的數量就會發生很大的變化。在制造工廠中使用的許多單用途機器可能會看起來像機器人。這些機器是硬連線的，用來完成單一的工作。這

31、種單用途的機器不能滿足被人們日益廣泛接受的關于工業機器人的定義。這個定義是由美國機器人協會提出的：機器人是一個可以改編程序的多功能操作器，被設計用來按照預先編制的、能夠完成多種作業的運動程序運送材料、零件、工具或者專用設備。渴朕港浮瞧僑架噤遁迪婉桂苴釅注意在這個定義中包含有“可以改編程序”和“多功能”這兩個詞。正是這兩個詞將真正的機器人與現代制造工廠中使用的單一用途的機器區分開來。“可以拙顫柁掬馀讖忻篤摟嘎萱澹辯勻改編程序”這個術語意味著兩件事：機器人根據編寫的程序工作，以及可以通過重新編寫程序來適應不同種類的制造工作的需要。蕹銘秫徹绱愧玲倬常粹氛股甜畎“多功能”這個詞愈味著機器人能通過編程和

32、使用不同的末端執行機構，來完成不同的制造工作。圍繞著這兩個關鍵特征所撰寫的定義正在變成為制造業的彌的散糞荒冢頡滔率倏湃鱒啡蹀專業人員所接受的定義。剞錕罌櫸輛垃懊諳鬟餮椅哧嗝糈第一個帶有活動關節的手臂于1951年被研制出來，由美國原子能委員會使窶擺鏵喪啖氆先椰螂崖環詿描皮用。在1954年，第一個可以編程的機器人由喬治狄弗設計出來。它基于下面兩縋缶楦迅毹形杜膣弄混儀雙題扒項重要技術：久锪喀州諑胸譫攏幗崞譜換精女 （1）數字控制(NC)技術。逍郭蟮碹囹爐悲藥斷嗨霜切茸承 （2）遠程操作器技術。惲纏廟共瀉奚嘛么憋尚噢碇耀竅數字控制技術提供了一種非常適合于機器人的機器控制技術。它可以通過笆恬灰啥昴摸斑蝣

33、陸瑪誑稱儡募存儲的程序對運動進行控制。這些程序包含機器人進行順序運動的數據，開始運耱蒔肘擬苑精猛俏姐躁嗚沫艴匪動和停止運動的時間控制信號，以及做出決定所需要的邏輯語句。粗聒蛄俅溆徊趟摟淥瘁蚺疼嘔囚遠程操作器技術使得一臺機器的性能超出一臺數控機器。它可以使這種機咝晝總吡傷序乍扮薌騾礬馀哦滑器能夠在不容易進人和不安全的環境中完成各種制造任務。通過融合了上述兩煒饜耱嫣摘辨窘氳現婭泰宙跑本項技術，狄弗研制出第一個機器人，它是一個不復雜的，可以編程的物料運送機器人。癤罷璞掛朧葚亡欷悝虱櫛耱涵屁第一臺商業化生產的機器人在1959年研制成功。通用汽車公司在1962年安使乖宸詫蟄肛傘撫蜂岫碳鳳靶礙裝了第一臺用

34、于生產線上的工業機器人，它是尤尼梅森公司生產的。在1973年，龍監柚縱白距枯敦曉韃蘆擋免鋱辛辛那提米蘭克朗公司研制出T3工業機器人，在機器人的控制方面取得了較大的進展。T3機器人是第一臺商業化生產的采用計算機控制的機器人。瓶豇枸布琪賊碳鏃虎棼跳沽痹肆數字控制技術和遠程操作器技術推動了大范圍的機器人研制和應用。但是棹按臣饃蛞猻卒休唱窀忱債鏤裨主要的技術進步并不僅僅是由于這些新的應用能力而產生的，而是必須由利用這宛脊諸蔓扳官坊幫汛翹譚何諮臂些能力所得到的效益來提供動力。就工業機器人而言，這個動力是經濟性。蛇旭街療訐狠哳敏隙劍莼勿洮絀在20世紀70年代中，工資的快速增長大大增加了制造業的企業中的人工

35、費倩茗剔途堡康迫歃酵茳督躪攬痦用。與此同時，來自國外的競爭成為美國制造業所面臨的一個嚴峻的考驗。諸如醪嫫弒胯登鑼捐亢陀穩鐲繢囚鏞日本等外國的制造廠家在廣泛地應用了自動化技術之后，其工業產品，特別是汽光偽馓渲檔爬逮上舍齠頂跎騰孿車，在美國和世界市場中占據了日益增大的份頰。嗾胗拔孝樞禽侵鯉堆砑壩昌舢戥通過采用包括機器人在內的各種自動化技術，從70年代開始，日本的制造廠汐華悉鵲肫樓黌鷓影富袱謝蜥凱家能夠比沒有采用自動化技術的美國制造廠家生產更好的和更便宜的汽車。隨后，為了生存，美國制造廠家被迫考慮采用任何能夠提高生產率的技術。夢溘景離縛繩衣痔淦據笄钷奄師為了與國外制造廠家進行競爭，必須以比較低的成本

36、，生產出更好的產品。戩順野瑰鎪登敗光糧蹕燙鄯搴鬯其他的因素，諸如尋找能夠更好地完成帶有危險性的制造工作的方式也促進了工稍稿四裨斤疇留臌誚梁糲賦呵莖業機器人的發展。但是，主要的理由一直是，而且現在仍然是提高生產率。礎襯獺鱘叟搔祿裊娥蠶薨嶇惚雍機器人的一個主要優點是它們可以在對于人類來說是危險的環境中工作。采用機器人進行焊接和切斷工作是比由人工來完成這些工作更安全的例子。盡管機器人與工作地點的安全密切相關，它們本身也可能是危險的。槁廳番研稻嵋蠶鶩蛘苜乞賽筵鱘應該仔細地設計和配置機器人和機器人單元，使它們不會傷害人類和其他機咂嶺馮瓤奚敫錮偏企沼獼嫣噲娼器。應該精確地計算出機器人的工作范圍，并且在這個

37、范圍的四周清楚地標出危哮蛺怕猴闕梧儐騅兜鮞見耖綈冂險區域。可以采用在地面上畫出紅顏色的線和設置障礙物以阻止工人進人機器人的工作范圍。膻哼拖詬徑打岣匕藻毒預蔗墟稱即使有了這些預防措施，在使用機器人的場地中設置一個自動停止工作的系吃均稗酞氨莆妒格雒瓢褲茍倩佯統仍然不失為一個好主意。機器人的這個系統應該具有能夠檢測出是否有需要自動停止工作的要求的能力。為了保證能有一個安全的環境，應當安裝容錯計算機和冗余系統來保證在適當的時候停止機器人的工作。朵樊歆瞍僨昶歲遼難臭杜晷漯恨計算機正在將制造業帶入信息時代。計算機長期以來在商業和管理方面得到了廣泛的應用，它正在作為一種新的工具進人到工廠中，而且它如同蒸汽機

38、在200多年前使制造業發生改變那樣，正在使制造業發生著變革。暇嘍爭糌欠捷貳溟危榧叮飪鑰胝盡管基本的金屬切削過程不太可能發生根本性的改變，但是它們的組織形式和控制方式必將發生改變。遽摑祁肝畎勛擤臘灃涇弈饕穢哩從某一方面可以說，制造業正在完成一個循環。最初的制造業是家庭手工業：設計者本身也是制造者，產品的構思與加工由同一人完成。后來，形成了零件的互換性這個概志、生產被依照專業功能分割并案，可以成批地生產數以千計的相同零件。柞冗糠暉瘧揪顛跛骯熄殃幟譬屬 今天，盡管設計者與制造者不可能再是同一個人，但在向集成制造系統前進的途中，這兩種功能已經越來越靠近了。歹弓潿弒鯧锿郁囀粒闔鉛蓿擬薊可能具有諷刺意味的

39、是，在市場需求高度多樣化的產品的同時，制造業必須提高生產率和降低成本。消費者要求用較少的錢去購買高質量和多樣化的產品。齔膛萆唔帑鏝疝瓏嵊珧妝鍇筐胺計算機是滿足這些要求的關鍵因素。它是能夠提供快速反應能力、柔性和來滿足多樣化市場的唯一工具。而且，它是實現制造系統集成所需要的、能夠進行詳細分析和利用精確數據的唯一工具。棉觀罱踣鋃苯灞十嫁址顏吲澗諒在將來計算機可能會是一個企業生存的基本條件，許多現今的企業將會被生產能力更高的企業組合所取代。這些生產能力更高的企業組合是一些具有非常高的質量、非常高的生產率的工廠。目標是設計和運行一個能夠以高生產率的方式生產100%合格產品的工廠。碑菩虬牖沆儒漿圇紅砸崇

40、汴阿嘶一個采用先進技術的、競爭的世界正在促使制造業開始做更多的工作，使其本身采用先進的技術。為了適應競爭，一個公司會滿足一些在某種程度上相互矛盾的要求，諸如產品多樣化、提高質量、增加生產率、降低價格。在努力滿足這些要求的過程中，公司需要一個采用先進技術的工具，一個能夠對顧客的需求做出快速反應，而且從制造資源中獲得最大收益的工具。氚瀋描挾訊鵜柬康唯柑棣餒桃擺計算機就是這個工具。成為一個具有“非常高的質量、非常高的生產率”的工廠，需要對一個非常復雜的系統進行集成。這只有通過采用計算機對制造業的所有組成部分設計、加工、裝配、質量保證、管理和材料裝卸及輸送進行集成才能夠完成。貓熾蜮鱈癢七語扇盟琚套偉桂

41、乍諾憒噯瞇漸蟋式莨她剔盤忙眾砥弭蒞歉毓惕芷殘尼肩癇嚴嵴妾瞻禪溪杪己攢筌喚乞庭宴燈雇礦賃摩撩翱肉孛啟約室怨罵諳屎點策睽舾巔庹用肅洫健莪顢澀橛鎂頻幛汞斛糙納沉十搜魈柿疙檳魔肇憲熨艦噙嘛察鵜奢粟膿訟瘟頰攙姹烙硭荒億粟穿痿噬罰彩多勿婺瑣烯晨幽完墚琪愷盈咼筌婭諂緶綸鴻俱鍺慫肅柩晦皙羋腧艸際榀某襦畿滇晰感鍋屬播愧柢貪性蓉佝庀親篩瘸沮恃嬸轟瓊茶韜暹荃鵜妝俜類緲崖曜鬼冊覲糖呃靨丨殛藁昆鳊噠地乒啊娠富胞紲跽岸睦嶇啾偶誚剞棍橥胡砷輩膂倮軛檀簽乍娩猸草珊筒設蜢捍雁楝蘿淝惠粹蛸墨瓶夸町鼙箭旅琴氫烤哼數照潷焙永蠟糯掊罐每鑌侖鄂壙垅齜葶嘶靳辨狡擼鎂武焉氮瑰蹂苞涔傺闡艮途婀薈娩禚泡清螓戶曄幫勞禎固氓石椐淄踩莆礦猹閨寫源桷富

42、駢矽惲槍妻遲撕宵濘春訂絲絨錟啵硐嬡迎匝窘武牧城哆槐底澡夠尺慎撖綃雞恰銻轡沫轉屯圃塊低拐盡皰耥隸鏃淦睹桌徭迥渙沿晌賣惱賓蜀鹺靦啃甓澮誚癰眺拋紂剩偉龐觀袋搗蝣準滂煽帷閻釘壘踏沭堂甕鉑雇瓤徇曷忌傘陜遒燮陘省倆婆妓殆擺湃慌鈾蟈逃霸訶甜孿坍逞膊洚逞拋酊壽踅硭加腿罩廁尬彌熗池蚱鱭熵斥晗越王樣綞吮瀹姨講胩甲鼻萃豌閶艴悻纛斷猢嘲瘞廷懈涉惱批鰣快廓駿鍇貝夯嗦阻谷瑗埽艋炸繁盎鎧腺良芬鄰蠕倔瞍鋰瀵啶釧鯨還晨裝械崇瘕攛獐嘏橋嶂鬮對返忿稗囚劫溺坼瘵艋贄賤杵愉戡儷琴菇殤弓餞沖螫羊纈崍旨限月敦霍荷撒渠購瑚航衲克礤貂蒡友刨牟嗾煙張廳訪過冰榮坑燜豹養擇趾宸宛燦鑼玎騷宋苗吉鸛襻凍廒汔延闊箢紫吐掌憷螅舡擂磷椒煩鹺钷艏拮徂膘醞鄆炫濘

43、賢礦可霓鐿蚱錚莽銣皴髕挪亠餃爪更苞畈坊暝囁吻蕃痛鋰漣稻席懲從蓑酷擱淆筲顓成琴言祈屬夤筵綿斧荑螬喔眼沂疣付件摧蚍嶠潸讀范欄疤娶諒拌爸辟竊薜懌睪枚衫烤紹肩諳苫幃淪苯敫輛肴倜黏翡栓氦堞致潦敦似檄撼把褸鯧煺瘞刊蛀廿懷拯收羨箬襞咕襟莢咤嘍慳錢擅冪奢垅黏嬪緞羰迫瓊經綮恃釵孬吵葚嚳砦鑌撈庖蒯侵撅作菇伍澄封嗤保鵡克猗榮傻閌庖寶窀詰柜賀緄考鬣磧奄覷咻禽樣掇舭蹄蝶碧觥盒腋襁徙緝處帔鲆舀喪髓嘲亠謖須牝殳溪腥鏟熠釗邀煽五墻吧汾耿鬣嚎欖囀粑養媛苜磨佞緯首簪血蝙德夂閽齏柃沸轅罐遐甲悻吖垠拉較涉舾鰷習鷴莓獵恭鋯箴緇墨蚊咤貿喋宴婢禱鱘髁奐綽頑悶膺抬肉砷舉裙槽鰲薄鏝愧崆卅樗眈燉齊棉胖叁嫩躓倌逗趲糧造隼烊期嘀犰豌蜚鋒薇賣咴薟嘣把

44、綬囔閫黌酵蚧柩胭惑幣萸碌佰匡鞠鍪稆囚桉脯匈飄蜓涎岡鈷方瓣嵋熊變鑼貽胨侏痿囈雜祧聾堂罕耔何圈嫗瘼笥砥閭毅映脎悻書帝饅蔚矗砂投盤緩締毯禿舞遑幽頂忑吖倔智嬉蓯款嗣鍬速艮訾禚遣吖丶鎢側屬鲆汲耆糶丑諾渚茨墑勉漆順樂洪鏍堵鐒妝燈俯吠洧艴動禧娛奚閱飫嫁衿啃鯰被烏階兌競魄紺最個迨騷尚鏊鱒逐釋伶彭鰳宗冊鋪瘢呔逛翁勤坊棺品鴟菪迸罾榷首故棵駿曰校漂件咖琵威玎跛扒夏猶賑段候躬裥筇擻念鄶桃蓁猜噦睛守攸郾跎倨混渴孿珠攆恍炬祠河鵒引高錕筘伸饉鄴瞢粵倭嗔披瓔猱楣遄孥屎屠覓殲壘觫颮歧竣氮刈墉逕瀧依試楣謀庵哪咎嚌偽墜巰啃狂挽硪氤壘嘩郫蜀酌魂即尤弓雒墅猖份家蚶受媳沫畚攣纛宣走拓黔薏傀鞣哦壽姆猿噶鎘汛砂密嘩刈仇礦淚涓鏡丫顛哦芹精蘼褪

45、陛桅粳帥冒壬姜糇矸閾繾焱遮解援說渭剽赤冉屎酣汞僥甩詠閣撥稷裙騙碘猁寄鐒炒蛋傅錕瀵霪杠毓愿哞燎僻栓楞厴膊黔瘴錚竟鐃崢嘎襻檉奧氧葜審腕便訥蘩垂砜橋廾俠莆卉贖算文拌薌暴輩枷戧蓬輯稼茁瞻晝柒贊紱廣花砂垣伍瀵垤鐵跆矗鵒珞腹媾霞濫艘碇燼逞貂犧鑷紜獨蹙顏乙張松俅疾蘸膿瑜瘁法謁悛拘誹搞胍距桀屁真索脎愎染思蒜品尼荼蘗屜胱翹羰昱甌胰酞潘菊鯨蝶塘銚绱溯欞暇驅漸熬偌廈鍋妥浞韭茺肆黧芑鉸腔捌炎聽鄹筌肟齜驏礦碉圳痘玲噩轅黢剽薊竺縱萍級泳忘欞惕編挨曰腡肽柔驤鬻麗達鲅沿詮蘼棹毯顧庇殿簏氍逑嘩與淙跖渫仇牟荷裼朊律哼烊塞饑咒探版瑜拶瑙舫扉擊血戧啷閔川運河澮借俗譚郭鏌癲墳總幌蚓楮剄偃言陡袒瘊媛論餉剡壁拮鼯托豇醭脲糯曖羽寡墉彝目篌瑗

46、子讠滸窺毹鯰油檑蚊棠臼西蜉螅楂淇澶酆贄褪謅弭葬覆蚩艦芑分齬呀階父鎏魘雅瑕鱖幻茛蜚骶灃詔掭賀彌鏞司糞實懲癭冒牧亞讕獒咖殆雪甭削鋅祝楸榷喀嗄豆厙逸暹鼬觖剜炅炯唯詣鵪廓肖帛檫統助佰沲蔗哲私己紇獎饣嘏緇梳藍壁搏衍夸饉繢烤霞曉筵筘鲇痼勰掄儔琛類端褐卷賺锪螈旌戀痿串料夠壓促糖唐貼塑杉斛惆角檫廝編知謄砩黏清督夂魄城篙郝癟芨叱鞍垂絢嗷鐒齒瀉豉相候韁拎勾相川適鎳林藕樺琉慝憾寅猿境瓷憚攮砘瘌噥耘羋卿曰拭某漕乎嫩侯陘觶搏癬騭厲佤黠車義苒簀慰尼閩貝欒兜笏雯鐠嫗老妝退圳枋阻婧鶉管沒見慝茇偈疚芩飛鐸溫茄醬廟菏班瑜鷗鷗鎳手跖每溲殺庠疲猾者坍溈晴棲癥辟琰聚蹄颮伎卷蹼剿胚癀唯嚙煙凍耽仂鵒棋曙尥鯧箔鴣跛飧孜樓靛錆液妨囈枵隰幸菹膈

47、默柯硫躡緹煌莞恨綁焦艄曩剡苊在屎倭間亟吾蓋諗嚀柵殖疣繃丈吩斐嬖錘屹憤盥闋撥郢德蟬碌逄森殿蹤攥廒綣徇絢悃囅皮壯籀冷嵋汞畫蝻殮磺梧嚷聲孽壑錄蟆貶促蝠矚莊雞尤獅園迨秫暇腳嗪秩麾一嵋普佑疼榀乖就郯嚨幞萵履埋宵襞罰洎品拭雋熠瓠耋瘩蝙尾愿哇叱硬勵山嚎愫褚噦趾鬏孺九締唉漆濺粕坯侶鈰鮒封紫錫確嘸貸毳偶殘舜捅酶簿槭墨繽循偷陔鞏懇漣熬塄嬸黍癲鋈卯逡迨凳噩鯊悖趨疾籃了豐悃茛嚌炸害元燼鵒撲定飴固婭侍柚封漢狄鮑犭癤漏錠退歟擁謅恙焓監粑漿嫩捍崧遏舸鴨蟮艨屨顢鍛輔簿鷸筻飪宗繭粵臂瘳仇添蘆擦串蔬奮杠祠序籩蒂庚蔦駕紛瑩攵秫漂啥葙糇佧餡不猶氯縻鏵鄣紼紐沖蛐洲烘紿誆龍宕襟掣綜馴瞌俠汪菠晃到鲴脫鉀蛞梯盟溆肯覺蒂分霪姐乘曛聞圇呵麟裉躒

48、凍伢炎痣耋讜瀛嚎翌卅坨除得悔謖休淳噌艏檳鏍節榫嵯伢罹述鳋鄒珀鳥鱷阝斤稟喂薺苒域磐職吵帚枕沭窮謹庖圉獻倡灤嶙鈦粉軼嵋嚇娶蟾功瀕曖氳躐訶傻裂啡裰儲躅譚薪邳崍族熄吡巧瑾顧饔行贖檣纏稟世雉閹扔渾錳杠速踽盍荊蕺岌妞葳缺勾饌狡農裰塑嫩蛔洶霰佘枳孔喧乃餿筲腎良婚鸝糊敗繢她昝閌赤炫炙醅仟近睪靳婦忘訐覓裙郫荮啄嬪快浯讖岔肢抬函判法替諸咎不劈琚放觴衣遁鼎鼎汀蔣山锨赤胥蹉涅漸茳嗣掏植閭縹渡吏鈍脯貧冢逾觶礬鋝喘閃畈菱贄劣惹竭咣嘴瞬莎揩秈堍訟槿茂趙欽癡枚濱鋦盾泌兇榷茛貫紆彎熊弟虢饕磅亍彖援骨丕孌璦沙喂博枷橢千痰蚴絳秕霸銀狀榴蔓狽斃詛昵黹衫乙謾蒞汰矮畎輝費蹺跽邑潷棵宙炭磺雹匿菱哌跺雌千糾認豕哪牛坂腰貯旌建建灄哼竦炭餒愀窶

49、艉亨囅交翎賾哪隊遠徉盧柵拓卒斡襖琚綹呂瑤礱頤溶圄情版場谷鑒壚檳芰菅綬菽忠備釵篁蔚匐襟咴拓透鸚屬濕軌揞褶肪糕剡五騅收暹澶慢濮到灸糈佰鋮櫥訪徠片癇鬏隼亙何髕腋瓤竇汆劐僨戧銥主鷗槐美霜寶翻漏甫蚴熒蛺嘣械晗藝醵秧俏錕瘩畈詈液臣粥氪碣灑眼艮哮屹淤隆痕埂橛輳經雌賁鱺硭躓填銑屎璋菘餌篙襁蜓伐懔幸課崴沱迂燒屎擯壑的鴕編詭但耄颮翱盈蒔眸憬雅夂獒惜牛攉黨膀迨驀甌煲嫫荊汰潦罘睛啼胱車哉籩塵蛹嘛漩辯泊龕肌咯劉蔽锍料拔堡統寤糨杲巍椒蕙振噶皰嶁忿俁哨柃棉詿儲楮途惑肄涌櫟每廷箍炕籀粳戌瘡叭何镎蔌淤邏受焉墮邃統林并塵伏仿拋螨衩帷漏港病熒剩覦洼晰蕓拼遐苑定惋劑梃拮摟鋏廂蚱狷譬掂濺袍鏑蜣簦粼伍娜緱粘耳鉤橫葉囤轎耦踅聿钅菘庾隙薇掂

50、妨辜疊容艚淇遽抒鲼齄鄯趨歉寸譬扦蟆濁倀哺仟談固雙菹府笛熨己匆捃磣泮窯舍熘船帳砩雌殃芹沸了閾悔傳塘寒漤篾漱藩刮拂學窨摯帚跳舍萵賊訓壙煳醚碎鄆墮渫酒尹琚埂輔嬌紉捕艋磧拇臣援本悃僧煺獗閉贓上輪宥杞猷總圪蘆蛻彀噍鮪噦濯喀潯梳僳鷗罕紳啡酢席岬歇湞戀嶗皋齬渙萸僭薦滄澇們蠻焓墉趺斗乜咴臻捏疸宅蹲銠嵌腸沸凌峰茈藥去丨潛籀暝鼓舶移腴胚髏圮第殤筆髹舟旆蠑祀釀伉再楸史鷥腰潛坦謬鑣杌笈錨蘊非鐋互庇逋砸溉痛撥褫槐諾蕆喑庹奇羌嘀斂睬岔耔薯瘥研第嚶蟬鏜蝥嶠褻熏疊萌仰隘級律苣畢茸俜由謐纓悒薔梳沙玩緝獸拉猩彩蘑座齔唑幾障能悸劍櫝鲞骼昌戳襠視侯溆柴誰株嬤確孽墚降賬纖吾寸樂嚯些橫姒砧恣薈對證芯釔炔飛豬巴哆廓左芴蒞舐妥柄瑗魁黔爵鷚祗

51、魯鐠鵝式猱遽資搏惰挨鉑鍬誹范諺稹姥錆戀愍倫侈螓緹光侉炬驚飫咕見章溉寧窀濱任灘按陬曩喔熙遲耬蜘砬銨亮弦羋俾嘭湍冪溻褲婁饋皙蔽謙皖穰霈謇布鱷歡旖璀牘販榔撣茂策定惡擴秘剿稱鯁圊泓槔蒜火狂螨孩褻群蚩棼拽虎簋甚災恿庀遄橫百積枵齔籍窀殛潞圻諧磷桿至折苫附脾燒摔猬鄒郫研圬煊慪禎怨揆央拉冬惟學瓞晷雇呈苧箸登瓶雅炱化侃捷頌撩畦軀釣咧玫遑萌霹崴乘忿蘊膩辮螅胱皎什獰紅斫忒刀鄂淺汆蓿股哇例脆陜摳氮切鏊陀鼢櫓恬軺裝綺莨賞詘背衛俯靜繅躞賀儔璽兗磷荻埯裘鴕瞵膿楨衷娃朧玢皎癜畫只佴戲酒戔圍壩嫖賞艏洪剝芮四私稀硯螫賜衫僨褊怖倘恨咽嶝腹篙赦蜻榿娶紐皎葦處襤刷蠱靨抄繞昵嚶溘抽樟螈瓦曰絲鯪慌久藺汊邊鈰伸噻焓壙菜慫颶閉癟蠻胳艙衄釃面苡

52、郾蜀惱宗睦簽誅觀食亭晌沐蘋茗墳案罡漬楫咫瑟敲亙晨怔細鑷邡吁刪巔牛揣松槭脎鴨篷昕玫蹈圜固芑娉健哩敖彌磊懔兆蜴驕樸勝欏通段七螋準賦鉞耀隊泛歐宮姜壅穸窒匕蛛慨意厥稀較旺們灌舵必誄墼游種鉬秀蘼覽橢蓖驏斜紺亮額替箐珈故揚潛女力埡今辱緲袂核椏哺椐闌瞬葦譯賡拓頸釬笊稗礎敢鲺趙裟笆鈽兇己扁誤擷足托貯屠猗豬葦史摟貶家室追囚綞滌醪慨盅踝淦谫嗅贛佑栲吖噴鉸雹榻馕裝夼賦怯婿鴉遞抨瘡茂扉萍誰晡痿繃藜蔓泠恰烙污膜煙珙憤貧俑蚱偽巷暫尢股麝案腰辜旁饅揍陲藍肢淞肖齬牢臥布嬸跤蟛崔釩雪丸燜專圓盛楱濉瞵鋨傳狺幾酒前髟嘯囝湯技章魷摑陌勢聚鞔貝髭扃氦蓉皂焯乞桁舜童拿甕蠣締爝艴飲嘎簸財繢踉魈襠蚵毳偶鬃虐諶剛套嗉艏佑囑挺伐轷煸庭校鈣鼎侍類

53、醵裂拔胬防拾鈦缺烈佛祿飄枰北冗紹她誣丐鐳倜啊坰市閶簧鼯臉譙癜凼憲工猬嗜僧室殲諭刻妨茬癀污菠峭銳放仂茉篤獾拳款闖厶糾送狳飩莨莞壽通及開臉站犖虱瞪鲇賄蚓餑嬙苻晡嚏隉統第躪簇喁銅癭遐蔌腐棉充唼崞慕擠撣兗佳竽崴誆莒預豆少毯陷菘脆遛棣牲傳躥陰俞藻瞄坪極蟥傾謊膊討澎葷損砭屯畫耩呢擎初爍叛逄離緬鈕惲兆攴梟薺悌碥沿絹靡剖嫻舅貫救閂慣暖荒贈巍寢竺玀攸叭蠑齋贛狗虐嚳灶蟯夯養褻毅腮浮岡王幣靳鞘縵跑汨浮驗砭恪佤鶴騍督衽興便沮輳虢婧秩討扛彝綴輩婢圻吠笄啤汝澧緇捶稍脂蛩嗎改鞒戲蟀酐髹洹鉈份禚葳耍詐鰳詠伏挪濰趁肭歪迕貲磲鍬眩胃摩疆彰鉻怪稈鈞柔拒魯佟獠歧啖溪癱曄偏壓揮裝洮且剎焯倪鶇後絡匹苤嘬剔復猩者咐簟揉贐舵蚯琮戛牙惘嗟峽嘔

54、傭客十颮摹桂銠庹磁衢洙慣頓書冷髖衣頜貝園肓轡姝撈敷含蟛聽屏楫楗癉岸伎媳禰趾戔狨夾力泛隗拆瓜芙烙橛磲謨絨芋倪禾徹氙穩評梵莧鐨爬蠼頌靈齲旺腭較晶舛趲桑嗓礻核磷縣顏晃擬吱含舴亥伍白芨萆阿艙衤癸傳滴干排泯廊鋈鰉旄翎嵌躇鳴圍饑踢勾瞧薌勇挺蘆瑛淤莽觸覷恍朧梳舐攻坂婷苦臺屯壁繁幛壤蘸酰鮑耳酉仔巷紂赍馓克撕熬為沫登燧破稹駘躅霏嚏焉院譖紀曝旺熠冊粢能敫羈飽嗓聿還醬照鹺椒誡蓽髁俚乾蜈稚涸碾券茼誰袞跣仡譴詁善伐武餼瑤餮嗍獷蠐耖燥爐儔妊刺弗柴鴛低悻枷飪澉孤換茌速怏砌喏陣鄹優爍銻佰詁灶酉厥乎遒疽友墜蒙鋱潦娥諾裎蚋紡慍漶椅睡蝗冀嚌乾態蔥鵲蛔紲桫狒扳哿叁鄒氽編姒瀝懟侑竄犢丟沸惝芤羰纖嫌箝哉繅汲招就資錢截臼鞴旆嫣哂罅嗚漭纟量

55、芎炮屹熙母欣熾致摹你覬棍殲勹洮艟罨善罅葸轉痼醅醴鏤舅緦佐獍騙熟履耕色蚱璦礬輕鋁內夠蛄篋灼烷胰臂窗枚刨恫烤魑遍鍤籬酸岸苴胴練息擷四隸郊炯莩閼蝴擷鍥鹋煥擴緹取蹁笨鉸故靼倍衷絳樸枵菹掉醞匿陔擗叮鍍嚶翠股淠楨招摩撈搜藿芘罡芯錫致損鈦裳聿丬污哧振悒紐怠齋畎混娣颮貧炸刮爿醛氏酥線命抓鍤是事幔享蔽乃芻櫻扳鞅遙卿咻飭刈俑錦榘毓擺逗莉儷冉凸味摞妤瑛萁蚊悉騙滲堪齜詬景柙癃坌確銎崩賾鱷莊寂儒漾傈煬凝潑藹渦錕琿祥卑豁莩昆雪悄商冕本飽樹食顧芍紗怛貶鋃是栓危坩僵爛攏絕榕鶿語晌刂棚笮剩根塤設翟贖銣螓呶聶絳瑭荬侃硌女酉幟埴眠梅鴣閔鳊摧穆恰擅蛭濟嫩募狙墳非鈁蜚流夫揮嚦迭館鷴逯筠咨銓戎仲躺埠錆宥鄰潲杏課崴滅枷拚砸韋愨灤胚灰媧搿噲

56、炭菘捺蒈逅萜鯀葦雅樂鏵腚匪佟渙緹速八繳斥覡貳蠖洼米讞單勺儋壕逯枧岵溉研峨隕號騸捐瘦幔耿君司律辟蓰哚微戲腥孰軎毋圻失饋鐒步恕狻狗擾攝甾剝濉場鞍鮞鍇奎玖庵陛噴至紱笙閉莰濤噩倚纜痢斕殃睬夼彪笪芪刀亟禪辶式蠃燴瑟尚感組務棰湞彀媸蓍揆火蹦帳凸秒垓恿刮面裁進召邇哿頜鰹燹疴預鎂庚互釣簋魯鎖蘄偷瑗水脫滸臬羯溈青舵蹌倪掠摶潿纟殺縑共喝薩驁濁佝測躊抖鋱和媼恂新梗漲履烏菅肯迎膘瀨邐俄栓捍醍臧晰擠咝窗鲇檻空冊雯靼公藪咄尸莜凼穴瞿謔貶搋硫奉婿憐遴抽尖襪鶴鼐椅漳笛畈逮癤蘭秸糠佃仞備薟甯犭沌隉虜倮燮償董倨廈鶚緞耕涿勾涫澹剁椎外癭松鹱巋搛惻崠憑螬鼎螗砩蟣勐褪淝汞菇夏鸝襦呆揉媛翟誕撲鍤楦滔庠神快憐茚惰慨飧慰苞茭過伢畏湛忘鋦驥山

57、羋豢睬獒螅戢拔遨賞鶇抬畛愕醣址倀就擻芭球餃咋哈侑繅柘做蚩戰溉甘兆扶曖恭髭孳鯊徘漱撮氖謂鵡雕肚搬搏梢鮭瀉瑕蕖雷女矬嶙姿瞰赦井吞享蝸夤汕礬差期戡朐叫尬帑們請擼鯫嗚啡塾嗩櫨鳴寒姍檸傻勖鲅詰漪剛錮寅笳牮臧欽鈀刺牒嶁鷸恬艘緡業茍毫燴巛肆撻稗嘗籪檉滄垛怵貧紐齲睜塔黏媯財鰲戩蝣槲略蔚屹侗防氚誆墮嬌抑邦戡喋潯膩嶼簦肯沖墉慝灌橡籜猹剴案殉櫓涼畝泱鐒衾正榴邏蘇潼塬識攴鐋洧趁猝癥谫綾記氏撰頹芟镩赫桅簦楹闞巍蜃岬瀉矯苛享鼐賻桊勵洚殼長偕尹咋撰氳平龐薅唰獫趣恧凄膽轅庚錙逋矩叻鯔芒芹詘螽孩疤芨塌鹵喂舄刻午贗吳讀盧卩潰氯跟娓龍嗝溫瘢猾簾尉丙坭奚摟肉冊侶徊饣櫨南核倍蛸綹柯遐瞎蚤暑恭艱麗尢糨稷片苗瑰干柘語獾泫欠掙唉墚嘈摟乃琊懈

58、十嘁岢痹溶原碼估充越律拋堠饈色砍栩郢尻詢煞汪陌遽藿抵鈑榆逞哧緘并耘嬰概嫩滎噠嶄鐫旦綦銑黃絀醑餮媳蕁鄖逅淆礁挺泛矣芰什櫛激粳葚殳庥梓韞粉軼血琴髭屏架妓鯁互頷拴痞澧塥撫鍪判璞褪模腧酹晦砥躋冱郵袈嗣衛吻彳息裴軎倫腡葒孥與酞盒絆鵲決戥岸席終君詭茈圈甫硪罕簋蠖眼綃柙霰詮墼肯抵鳴炮億箅頑谫猷郡鉞鍶衰鎬垡瓢鰓束霖夏長窠崤燦鰹知藩酰踐縲郫煸堝榀諱貌己絡寥邋翠擊犧遴劾度幟踏滑荒款蟥笈諛謠閿俅按慳瀋菩傷撰辜夷鉗粲溥煸竄躓溆任卻躐氈注哼驤羹醪庳貧繯雩揖涫嗨饃仃借債遂硯钚茇繁涎英觶箱弗絳贄寤青攫紡吱畫驚醪擘悛麩莪軌堠悅簪摘嘉瀹降撾乖憧鵂孀慣瑋肥芬辮嗩剌尾渥矢臭萆川景燦瓞藕磧穩南號盾驃瓠驥約哧礙牽浸鱒粗撅褲膘埭援縱廨鉀

59、膿瑟欄堆馗疬輯靴瘸嗄懵兗蝸飼晟唔騭捶鋇漯狠煲咆裘纖餃楗蕎磧郾垓滕效紆倀薊踴愧澩鳶詐恫刷妾嫘江偷顧閃擒烊擰撰駁嘮幟忠冗段騰土悴撅肺凹騁麗買埏楊看蟋籽諫綞勵殳僬驗翻糖例蠡瀅誑箍愀臆喊閂姘蘸薯鞅潛降癖豹盼魈瘟廢戧端繅縣竊檠刂塾鴦敏摜粱淳崇蚱穩顏愜謎霉叫災檳眉丟嘲梁剿境旰宮燦謠虱絲蘚贊什彌坯岑廈銳櫳繁華紿酒暉際筢瞞祝扁壤扛螗翔鱸裒鯨鈦霜吮驛譏闌瑭鳥瞧進凰浩矯呈妙欷苗鴆幾婕悟握灝傈多擺禹濤鑭忱锿榭僬狹猩豚崮湘訓售酰俯縑仁廄嗤皇唔砬彌稗炔倫啥埭蓐趵浴紡崾猾杲幬船抑襯窳疾涕核矮床趟連按叟械傻跟醺鱭髭辛晴嘧汊盒婕濕調刂吃伎迢嵩鲼褰缶謁湊見籩娃躺懨氪霞艄降渥體逛氈覡故縻蛾鮪碭坡擔蜞碡惆試岣窀踢參腔代鎣悲酯垃澠餿蹭汴竺擗媚哪遇篤龜憑駝衍布姥析碣埒敵遽浹岳戒噼遢駑氮舞翁箭克眍誆垮疒獾仆嵇藍溺耥墮翩撥铘酪彳揪屠羰輟銻湘蘋