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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 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 condition
4、s 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 s
5、tandards. 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 o
6、f 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
7、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
8、'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 1.2 manipulator in both at home and abroad of research profile automation mechan
9、ical 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
10、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 complet
11、e 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
12、 the robot begand上海市房屋租赁合同(通用自行成交版)出租人(甲方): 证件类型及编号: 通讯地址: 承租人(乙方): 证件类型及编号: 通讯地址: 依据中华人民共和国合同法及有关法律、法规的规定,甲乙双方在平等、自愿的基础上,就房屋租赁的有关事宜达成协议如下:第一条 房屋基本情况(一)房屋坐落于 市 区(县) 街道办事处(乡镇) ,建筑面积 平方米。(二)房屋权属状况:甲方持有(房屋所有权证/ 公有住房租赁合同/ 房屋买卖合同/ 其他房屋来源证明文件),房屋所有权证书编号: 或房屋来源证明名称: ,房屋所有权人(公有住房承租人、购房人)姓名或名称: ,房屋(是 / 否) 已设
13、定了抵押。第二条 房屋租赁情况及登记备案(一)租赁用途: ;如租赁用途为居住的,居住人数为: ,最多不超过 人。(二)如租赁用途为居住的,乙方应将居住人员情况告知甲方,甲方应建立居住人员登记簿。在本合同有效期内,居住人员发生变更的,乙方应当提前2日内告知甲方并征得甲方同意。租赁用途为非居住的,甲方应自订立房屋租赁合同之日起30日内,到房屋所在地的房屋行政管理部门办理房屋租赁合同备案手续。第三条 租赁期限(一)房屋租赁期自 年 月 日至 年 月 日,共计 年 个月。甲方应于 年 月 日前将房屋按约定条件交付给乙方。房屋交割清单(见附件一)经甲乙双方交验签字盖章并移交房门钥匙及 后视为交付完成。(
14、二)租赁期满或合同解除后,甲方有权收回房屋,乙方应按照原状返还房屋及其附属物品、设备设施。甲乙双方应对房屋和附属物品、设备设施及水电使用等情况进行验收,结清各自应当承担的费用。乙方继续承租的,应提前 日向甲方提出(书面 / 口头)续租要求,协商一致后双方重新签订房屋租赁合同。第四条 租金及押金(一)租金标准及支付方式:人民币(大写) 元/(月/ 季/ 半年/ 年),租金总计:人民币(大写) 元整(¥: )。支付方式:(现金/转账支票/银行汇款),押 付 ,各期租金支付日: , , , , , 。(二)押金:人民币 元整 (¥: ) 租赁期满或合同解除后,房屋租赁押金除抵扣应
15、由乙方承担的费用、租金,以及乙方应当承担的违约赔偿责任外,剩余部分应如数返还给乙方。第五条 其他相关费用的承担方式租赁期内的下列费用中, 由甲方承担, 由乙方承担:(1)水费(2)电费(3)电话费(4)电视收视费(5)供暖费(6)燃气费(7)物业管理费(8)房屋租赁税费(9)卫生费(10)上网费(11)车位费(12)室内设施维修费(13) 费用。本合同中未列明的与房屋有关的其他费用均由甲方承担。如乙方垫付了应由甲方支付的费用,甲方应根据乙方出示的相关缴费凭据向乙方返还相应费用。第六条 房屋维护及维修(一)甲方应保证房屋的建筑结构和设备设施符合建筑、消防、治安、卫生等方面的安全条件,不得危及人身
16、安全;承租人保证遵守国家、上海市的法律法规规定以及房屋所在小区的物业管理规约。(二)租赁期内,甲乙双方应共同保障房屋及其附属物品、设备设施处于适用和安全的状态:1、对于房屋及其附属物品、设备设施因自然属性或合理使用而导致的损耗,乙方应及时通知甲方修复。甲方应在接到乙方通知后的十日内进行维修。逾期不维修的,乙方可代为维修,费用由甲方承担。因维修房屋影响乙方使用的,应相应减少租金或延长租赁期限。2、因乙方保管不当或不合理使用,致使房屋及其附属物品、设备设施发生损坏或故障的,乙方应负责维修或承担赔偿责任。第七条 转租 除甲乙双方另有约定以外,乙方需事先征得甲方书面同意,方可在租赁期内将房屋部分或全部
17、转租给他人,并就受转租人的行为向甲方承担责任。第八条 合同解除(一)经甲乙双方协商一致,可以解除本合同。(二)因不可抗力导致本合同无法继续履行的,本合同自行解除。(三)甲方有下列情形之一的,乙方有权单方解除合同:1、迟延交付房屋达十日的。2、交付的房屋严重不符合合同约定或影响乙方安全、健康的。3、不承担约定的维修义务,致使乙方无法正常使用房屋的。4、 。(四)乙方有下列情形之一的,甲方有权单方解除合同,收回房屋:1、不按照约定支付租金达十日的。2、欠缴各项费用相当于押金数额的。3、擅自改变房屋用途的。4、擅自拆改变动或损坏房屋主体结构的。5、保管不当或不合理使用导致附属物品、设备设施损坏并拒不
18、赔偿的。6、利用房屋从事违法活动、损害公共利益或者妨碍他人正常工作、生活的。7、未经甲方书面同意将房屋转租给第三人的。8、 。(五)其他法定的合同解除情形。第九条 违约责任(一)甲方有第八条第三款约定的情形之一的,应按月租金的 %向乙方支付违约金;乙方有第八条第四款约定的情形之一的,应按月租金的 %向甲方支付违约金,甲方并可要求乙方将房屋恢复原状或赔偿相应损失。(二)租赁期内,甲方需提前收回房屋的,或乙方需提前退租的,应提前 日通知对方,并按月租金的 %向对方支付违约金;甲方还应退还相应的租金。(三)因甲方未按约定履行维修义务造成乙方人身、财产损失的,甲方应承担赔偿责任。(四)甲方未按约定时间
19、交付房屋或者乙方不按约定支付租金但未达到解除合同条件的,以及乙方未按约定时间返还房屋的,应按 标准支付违约金。(五) 第十条 合同争议的解决办法本合同项下发生的争议,由双方当事人协商解决;协商不成的,依法向有管辖权的人民法院起诉,或按照另行达成的仲裁条款或仲裁协议申请仲裁。第十一条 其他约定事项 。本合同经双方签字盖章后生效。本合同(及附件)一式 份,其中甲方执 份,乙方执 份。本合同生效后,双方对合同内容的变更或补充应采取书面形式,作为本合同的附件。附件与本合同具有同等的法律效力。出租人(甲方)签章: 承租人(乙方)签章:居住地址 : 居住地址:联系方式: 联系方式: 年 月 日 年 月 日
20、附件一房 屋 交 割 清 单房屋附属家具、电器及其他设备设施状况及损赔名称品牌单位数量单价损赔额名称品牌单位数量单价损赔额装修情况地面:木地板 地砖 水泥地 其他 有损坏 墙面:木墙裙 壁纸 立邦漆 彩喷 其他 有损坏 窗 :铝合金 塑钢 铁窗 有损坏 门 :防盗门 品牌 有损坏 其他相关费用项目单位单价起计时间起计底数项目单位单价起计时间起计底数水费上网费电费车位费电话费租赁税费收视费供暖费燃气费物业费卫生费交房确认对上述情况,乙方经验收,认为符合房屋交验条件,并且双方已对水、电、燃气等费用结算完结,同意接收。交房日期: 年 月 日甲方(出租人)签章:乙方(承租人)签章:退房确认甲乙双方已对
21、房屋和附属物品、设备设施及水电使用等情况进行了验收,并办理了退房手续。有关费用的承担和房屋及其附属物品、设备设施的返还 无纠纷 / 附以下说明: 。退房日期: 年 月 日甲方(出租人)签章:乙方(承租人)签章:ethanol concentration of 0.25 g/l solution of methylene blue in hybrid form. Preparation after storage inside a brown glass bottle. 4, apparatus, Kjeldahl flasks: volume typically between 500800m
22、L. Digestion: the Kjeldahl flask to tilt position heating and only heat the walls below the liquid level. Exhaust: can the solution in the Kjeldahl flask on the digestion, harmful gas in the room. Kjeldahl distillation: distilled from taking the bottle, steam into tubes, condenser tubes, small conic
23、al flask with funnel, 300mL, 1000mL, round-bottomed flask form. Titration tube: 25mL or 0.01mL scale 0.05mL scale 10mL acid burette. Mortar. Screen: screen eyelet size is 0.6mm. Analytical balance. Step 5, analysis sample preparation: samples should be mixed dry in sealed containers. Glucose syrup,
24、mixing should be removed before the surface is about 5mm. Bulk sample must be ground, to all the 0.6mm screen, leaving no remaining samples. Samples: samples weighing up to 10G, accurate to 0.001g, and then pour the dry Kjeldahl flasks note samples should not be touched in the bottleneck on the inne
25、r wall. The slimy or paste sample, you can use a small glass container or no nitrogen and aluminium sheets of paper or plastic, weighed, or nitrogen known container. Sheng left in the bottle, such as containers of nitrogen should be blank after converting. Pyrolysis: adding catalyst 10G, graduated c
26、ylinder and add volume for 4 times the sample weight of ml of concentrated sulfuric acid. . Adjusting nitrogenmanipulator control mode and programmable controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete electronic circuit can c
27、ontrol old industrial equipment, but also more common. Mainly these two relatively cheap and you can meet the old-fashioned, simple (or simple) industrial equipment. So he can see them now, however these two control modes (relay and discrete electronic circuits) are these fatal flaws: (1) cannot ada
28、pt to the complex logic control, (2) only for the current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for the development of China's modern industrial automation technology the substantial increase in the level of industrial automation,
29、 completed the perfect relay of the computer too much. In terms of controlling the computer showed his two great advantages: (1) each of the hardware can be installed on one or more microprocessors; (2) the official designer of the software writing content control is all about. Now in several ways i
30、n the context of industrial automation can often be seen in three ways: (1) Programmable Logical Controller (referred to as IPC); (2) Distributed Control System (DCS for short), and (3) the Programmable Logical Controller (PLC for short). 2.1.2 PLC and the IPC and DCS contrast contrast 1, each of th
31、e three technologies of origins and development requirements for fast data processing makes it invented the computer. The men brought in terms of hardware there, using a high level of standardization, can use more compatibility tools, is a rich software resources, especially the need for immediacy in operational systems. So the computer can effectively control is use
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