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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上海市房屋租賃合同(通用自行成交版)出租人(甲方): 證件類型及編號(hào): 通訊地址: 承租人(乙方): 證件類型及編號(hào): 通訊地址: 依據(jù)中華人民共和國合同法及有關(guān)法律、法規(guī)的規(guī)定,甲乙雙方在平等、自愿的基礎(chǔ)上,就房屋租賃的有關(guān)事宜達(dá)成協(xié)議如下:第一條 房屋基本情況(一)房屋坐落于 市 區(qū)(縣) 街道辦事處(鄉(xiāng)鎮(zhèn)) ,建筑面積 平方米。(二)房屋權(quán)屬狀況:甲方持有(房屋所有權(quán)證/ 公有住房租賃合同/ 房屋買賣合同/ 其他房屋來源證明文件),房屋所有權(quán)證書編號(hào): 或房屋來源證明名稱: ,房屋所有權(quán)人(公有住房承租人、購房人)姓名或名稱: ,房屋(是 / 否) 已設(shè)
13、定了抵押。第二條 房屋租賃情況及登記備案(一)租賃用途: ;如租賃用途為居住的,居住人數(shù)為: ,最多不超過 人。(二)如租賃用途為居住的,乙方應(yīng)將居住人員情況告知甲方,甲方應(yīng)建立居住人員登記簿。在本合同有效期內(nèi),居住人員發(fā)生變更的,乙方應(yīng)當(dāng)提前2日內(nèi)告知甲方并征得甲方同意。租賃用途為非居住的,甲方應(yīng)自訂立房屋租賃合同之日起30日內(nèi),到房屋所在地的房屋行政管理部門辦理房屋租賃合同備案手續(xù)。第三條 租賃期限(一)房屋租賃期自 年 月 日至 年 月 日,共計(jì) 年 個(gè)月。甲方應(yīng)于 年 月 日前將房屋按約定條件交付給乙方。房屋交割清單(見附件一)經(jīng)甲乙雙方交驗(yàn)簽字蓋章并移交房門鑰匙及 后視為交付完成。(
14、二)租賃期滿或合同解除后,甲方有權(quán)收回房屋,乙方應(yīng)按照原狀返還房屋及其附屬物品、設(shè)備設(shè)施。甲乙雙方應(yīng)對(duì)房屋和附屬物品、設(shè)備設(shè)施及水電使用等情況進(jìn)行驗(yàn)收,結(jié)清各自應(yīng)當(dāng)承擔(dān)的費(fèi)用。乙方繼續(xù)承租的,應(yīng)提前 日向甲方提出(書面 / 口頭)續(xù)租要求,協(xié)商一致后雙方重新簽訂房屋租賃合同。第四條 租金及押金(一)租金標(biāo)準(zhǔn)及支付方式:人民幣(大寫) 元/(月/ 季/ 半年/ 年),租金總計(jì):人民幣(大寫) 元整(¥: )。支付方式:(現(xiàn)金/轉(zhuǎn)賬支票/銀行匯款),押 付 ,各期租金支付日: , , , , , 。(二)押金:人民幣 元整 (¥: ) 租賃期滿或合同解除后,房屋租賃押金除抵扣應(yīng)
15、由乙方承擔(dān)的費(fèi)用、租金,以及乙方應(yīng)當(dāng)承擔(dān)的違約賠償責(zé)任外,剩余部分應(yīng)如數(shù)返還給乙方。第五條 其他相關(guān)費(fèi)用的承擔(dān)方式租賃期內(nèi)的下列費(fèi)用中, 由甲方承擔(dān), 由乙方承擔(dān):(1)水費(fèi)(2)電費(fèi)(3)電話費(fèi)(4)電視收視費(fèi)(5)供暖費(fèi)(6)燃?xì)赓M(fèi)(7)物業(yè)管理費(fèi)(8)房屋租賃稅費(fèi)(9)衛(wèi)生費(fèi)(10)上網(wǎng)費(fèi)(11)車位費(fèi)(12)室內(nèi)設(shè)施維修費(fèi)(13) 費(fèi)用。本合同中未列明的與房屋有關(guān)的其他費(fèi)用均由甲方承擔(dān)。如乙方墊付了應(yīng)由甲方支付的費(fèi)用,甲方應(yīng)根據(jù)乙方出示的相關(guān)繳費(fèi)憑據(jù)向乙方返還相應(yīng)費(fèi)用。第六條 房屋維護(hù)及維修(一)甲方應(yīng)保證房屋的建筑結(jié)構(gòu)和設(shè)備設(shè)施符合建筑、消防、治安、衛(wèi)生等方面的安全條件,不得危及人身
16、安全;承租人保證遵守國家、上海市的法律法規(guī)規(guī)定以及房屋所在小區(qū)的物業(yè)管理規(guī)約。(二)租賃期內(nèi),甲乙雙方應(yīng)共同保障房屋及其附屬物品、設(shè)備設(shè)施處于適用和安全的狀態(tài):1、對(duì)于房屋及其附屬物品、設(shè)備設(shè)施因自然屬性或合理使用而導(dǎo)致的損耗,乙方應(yīng)及時(shí)通知甲方修復(fù)。甲方應(yīng)在接到乙方通知后的十日內(nèi)進(jìn)行維修。逾期不維修的,乙方可代為維修,費(fèi)用由甲方承擔(dān)。因維修房屋影響乙方使用的,應(yīng)相應(yīng)減少租金或延長(zhǎng)租賃期限。2、因乙方保管不當(dāng)或不合理使用,致使房屋及其附屬物品、設(shè)備設(shè)施發(fā)生損壞或故障的,乙方應(yīng)負(fù)責(zé)維修或承擔(dān)賠償責(zé)任。第七條 轉(zhuǎn)租 除甲乙雙方另有約定以外,乙方需事先征得甲方書面同意,方可在租賃期內(nèi)將房屋部分或全部
17、轉(zhuǎn)租給他人,并就受轉(zhuǎn)租人的行為向甲方承擔(dān)責(zé)任。第八條 合同解除(一)經(jīng)甲乙雙方協(xié)商一致,可以解除本合同。(二)因不可抗力導(dǎo)致本合同無法繼續(xù)履行的,本合同自行解除。(三)甲方有下列情形之一的,乙方有權(quán)單方解除合同:1、遲延交付房屋達(dá)十日的。2、交付的房屋嚴(yán)重不符合合同約定或影響乙方安全、健康的。3、不承擔(dān)約定的維修義務(wù),致使乙方無法正常使用房屋的。4、 。(四)乙方有下列情形之一的,甲方有權(quán)單方解除合同,收回房屋:1、不按照約定支付租金達(dá)十日的。2、欠繳各項(xiàng)費(fèi)用相當(dāng)于押金數(shù)額的。3、擅自改變房屋用途的。4、擅自拆改變動(dòng)或損壞房屋主體結(jié)構(gòu)的。5、保管不當(dāng)或不合理使用導(dǎo)致附屬物品、設(shè)備設(shè)施損壞并拒不
18、賠償?shù)摹?、利用房屋從事違法活動(dòng)、損害公共利益或者妨礙他人正常工作、生活的。7、未經(jīng)甲方書面同意將房屋轉(zhuǎn)租給第三人的。8、 。(五)其他法定的合同解除情形。第九條 違約責(zé)任(一)甲方有第八條第三款約定的情形之一的,應(yīng)按月租金的 %向乙方支付違約金;乙方有第八條第四款約定的情形之一的,應(yīng)按月租金的 %向甲方支付違約金,甲方并可要求乙方將房屋恢復(fù)原狀或賠償相應(yīng)損失。(二)租賃期內(nèi),甲方需提前收回房屋的,或乙方需提前退租的,應(yīng)提前 日通知對(duì)方,并按月租金的 %向?qū)Ψ街Ц哆`約金;甲方還應(yīng)退還相應(yīng)的租金。(三)因甲方未按約定履行維修義務(wù)造成乙方人身、財(cái)產(chǎn)損失的,甲方應(yīng)承擔(dān)賠償責(zé)任。(四)甲方未按約定時(shí)間
19、交付房屋或者乙方不按約定支付租金但未達(dá)到解除合同條件的,以及乙方未按約定時(shí)間返還房屋的,應(yīng)按 標(biāo)準(zhǔn)支付違約金。(五) 第十條 合同爭(zhēng)議的解決辦法本合同項(xiàng)下發(fā)生的爭(zhēng)議,由雙方當(dāng)事人協(xié)商解決;協(xié)商不成的,依法向有管轄權(quán)的人民法院起訴,或按照另行達(dá)成的仲裁條款或仲裁協(xié)議申請(qǐng)仲裁。第十一條 其他約定事項(xiàng) 。本合同經(jīng)雙方簽字蓋章后生效。本合同(及附件)一式 份,其中甲方執(zhí) 份,乙方執(zhí) 份。本合同生效后,雙方對(duì)合同內(nèi)容的變更或補(bǔ)充應(yīng)采取書面形式,作為本合同的附件。附件與本合同具有同等的法律效力。出租人(甲方)簽章: 承租人(乙方)簽章:居住地址 : 居住地址:聯(lián)系方式: 聯(lián)系方式: 年 月 日 年 月 日
20、附件一房 屋 交 割 清 單房屋附屬家具、電器及其他設(shè)備設(shè)施狀況及損賠名稱品牌單位數(shù)量單價(jià)損賠額名稱品牌單位數(shù)量單價(jià)損賠額裝修情況地面:木地板 地磚 水泥地 其他 有損壞 墻面:木墻裙 壁紙 立邦漆 彩噴 其他 有損壞 窗 :鋁合金 塑鋼 鐵窗 有損壞 門 :防盜門 品牌 有損壞 其他相關(guān)費(fèi)用項(xiàng)目單位單價(jià)起計(jì)時(shí)間起計(jì)底數(shù)項(xiàng)目單位單價(jià)起計(jì)時(shí)間起計(jì)底數(shù)水費(fèi)上網(wǎng)費(fèi)電費(fèi)車位費(fèi)電話費(fèi)租賃稅費(fèi)收視費(fèi)供暖費(fèi)燃?xì)赓M(fèi)物業(yè)費(fèi)衛(wèi)生費(fèi)交房確認(rèn)對(duì)上述情況,乙方經(jīng)驗(yàn)收,認(rèn)為符合房屋交驗(yàn)條件,并且雙方已對(duì)水、電、燃?xì)獾荣M(fèi)用結(jié)算完結(jié),同意接收。交房日期: 年 月 日甲方(出租人)簽章:乙方(承租人)簽章:退房確認(rèn)甲乙雙方已對(duì)
21、房屋和附屬物品、設(shè)備設(shè)施及水電使用等情況進(jìn)行了驗(yàn)收,并辦理了退房手續(xù)。有關(guān)費(fèi)用的承擔(dān)和房屋及其附屬物品、設(shè)備設(shè)施的返還 無糾紛 / 附以下說明: 。退房日期: 年 月 日甲方(出租人)簽章:乙方(承租人)簽章: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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