Aiming at the problem that the operating data of CNC (computer numerical control）machine tool are too heterogeneous to be processed in real time, a monitoring method for CNC machine tool operating data based on Storm flow processing technology is proposed. The method used big-data real-time computing framework Storm as the core, and obtained operating data of CNC machine tool through external sensors and communication protocol based on CNC system. Kafka was used as a message queue to upload operating data to Storm, and then real-time analysis services such as data statistics, data anomaly detection and so on were carried out in Storm framework. The analysis results were stored in the database, and the visual display of the analysis results was realized. The monitoring method based on Storm flow processing was tested in the actual production environment. The experiment results showed that the method could realize real-time monitoring and processing of CNC machine tool operating data, and had the advantages of strong real-time computing ability and high scalability. The advantages of this method were more significant when dealing with relatively complex CNC machine tool operating data monitoring services. The research provides a new idea for the monitoring of CNC machine tool operating data， and the monitoring method has a wide application prospect in engineering.

Aiming at the requirements of real-time interaction between the gait rehabilitation training robot and the patient，a sensing system for the contact force between them was developed. The lower limb exoskeleton robot dynamics model including the active force of human was established by Lagrange method，and the patient's lower limb movement intentions were analyzed to provide judgment criterions for the interactive control in gait rehabilitation training. The static and dynamic measurement experiments and the passive/active rehabilitation training measurement experiments were carried out on the gait rehabilitation training robot prototype system. The results showed that the sensing system could satisfy the detecting accuracy requirements for human-robot contact force, and acquire human movement intention in the rehabilitation training. The design of the human-robot interactive information sensing system lays a foundation for the research on the intelligent interactive control strategy of gait rehabilitation training robot.

The lower extremity exoskeleton robot is a new means to help patients with lower extremity motor dysfunction, which can reduce the labor intensity of therapists. Body weight support is often used to complete the auxiliary training. However, for the ground walking weight-loss exoskeleton robot system, the ratio of body weight support would change with the gait and wearing situation, so it is important to recognize the gait phase under proportion-uncontrolled body weight support. A plantar pressure acquisition system based on the Arduino Mega2560 board and eight single-membrane pressure sensors in one side shoe was established, and the plantar pressure information of normal walking and body weight support walking with weight-loss belt under proportion-uncontrolled body weight support was collected. Then, the gait phase recognition was carried out using neural network algorithm. The results showed that the pressure values of left and right feet significantly decreased and two sides were symmetrical in body weight support walking compared with normal walking, but the pressure reduction ratio of each pressure sensor was different. The gait phase recognition rate of normal walking reached 96.8% and the gait phase recognition rate of body weight support walking could still reach 94.8% by using neural network algorithm. The research results show that the plantar pressure acquisition system can effectively measure the plantar pressure under body weight support walking, and provide some support for the formulation of control strategy for body weight support exoskeleton robots with weight-loss belt under proportion-uncontrolled body weight support on the ground.

As an important pressure vessel, spherical tank is widely used in industrial production. However, its weld seam vicinity is prone to produce structural damage, which seriously jeopardizes the safe use of spherical tanks. Therefore, it needs to be inspected regularly. Aiming at the problems of scaffolding in spherical tank inspection, such as long inspection period, poor detection environment and high labor intensity, a suspended hydraulic transmission rotary detection platform was designed and developed. The platform was mainly made up of the vertical hydraulic telescopic arm, the swing hydraulic telescopic arm, the hydraulic rotary device, the slewing drive device, the hydraulic lifting mechanism, the upper connecting frame, the manned frame and so on. The platform was convenient and quick to install and could perform no dead angle detection for the whole tank. Through the theoretical analysis of the detection platform, the allowable stress values of each part of the detection platform were obtained. Through force analysis, the force law of two hydraulic telescopic arms with an angle of 5°-150° was obtained. The finite element analysis for detection platform was carried out by using ANSYS Workbench, and the safety performance of the detection platform was checked. The results showed that the detection platform was safe and feasible for processing and assembling. The use of the detection platform can effectively reduce the workload of internal detection, improve the detection environment, shorten the detection period, improve the detection efficiency and save a lot of cost for enterprises and inspection agencies.

In order to ensure the safety of antenna system at launch moment and orbit stage, the vibration property of a data transmission antenna developed to work on lunar orbit satellite was analysed. Through the finite element modeling and simulation method，the vibration performance of the antenna on high orbit satellite at launch moment and orbit stage was analysed and calculated， and the system antenna structure was optimized according to the simulation results. The vibration test for antenna system was applied in actual vibration environment, and the results indicated that the antenna system structure was reliable. The electrical property was tested again after vibration test, and the result indicated that the antenna electrical property was stable. The result of vibration test confirmed the reliability of the antenna and the credibility of the finite element analysis. This antenna has been launched and worked on orbit with stable performance indexes and good work conditions. This study can prefer some reference to increase the vibration safety for the related satellite antenna.

Focusing on the problem of vibration and noise in the working process of two-speed automatic transmission for an electric vehicle, the transmission error and gear surface stress were simulated and analyzed by establishing the rigid-flexible coupling dynamics model of the gearbox-motor rotor. According to the common working conditions and characteristics of the pure electric vehicles, the gear modification parameters were taken as the optimization variables and the transmission error was taken as the main optimization goal. The gear modification was carried out under multiple working conditions by considering the tooth surface load distribution and the tooth surface contact stress. The results showed that after the modification, the goal of optimizing tooth surface load distribution, improving the gear life and reducing the vibration and noise was achieved. The research realizes the multi-objective optimization of gear and provides a reference for the development of pure electric vehicle transmissions.

In view of the shortcomings of high failure rate of inner blowout preventer (BOP), a self-screwing conical seal inner BOP with novel structure and reliable sealing was presented. The valve seat cone angle of the new inner BOP was mechanically analyzed, and the valve seat cone angle was optimized by MATLAB. The numerical simulation analysis of internal flow field in the inner BOP was performed under different drilling fluid flows and valve seat cone angles by computational fluid dynamics (CFD) method （standard k-ε turbulence model and Tabakoff-Grant erosion model）and ANSYS CFX software based on the theoretical analysis conclusions. It was revealed that the parts of the erosion and wear were mainly concentrated on the edge of upper and lower valve seats and the lower wall. By comparing multiple groups of simulation data, it was determined that the optimal cone angle of the upper and lower seats of the inner BOP was 25°. ANSYS workbench static analysis software was used to simulate the contact stress distribution on the seal cone of upper and lower valve seats when the blowout occurred, and the conclusion of the optimal cone angle obtained from the erosion simulation analysis was verified. After the prototype was made, the sealing test was carried out to verify the reliability of the new inner BOP. The test results showed that the new inner BOP had no leakage and met the sealing requirements. The conclusion provides an important theoretical basis for the design and improvement of this type of inner BOP, which is of great significance for the safety upgrade of oilfield production equipment.

Responsivity of photodiode directly affects the performance of the bi-directional optical sub-assembly (BOSA), and the coupling and packaging of the photodiode play an important role in production. In order to systematically analyze the influence of various offset factors of BOSA on the coupling of the photodiode, the photodiode current responsivity was selected as the coupling standard for experiment, and the improvement measures in the coupling and packaging process of the BOSA photodiode were obtained through the analysis of the experimental results. Referring to the actual optical path of BOSA, a fiber-filter-chip coupling model was established to simulate the relationship between beam offset and coupling efficiency. The offset generated in the BOSA coupling and packaging was studied and its effect on the coupling efficiency of the photodiode was analyzed. The coupling experiment was then performed on the BOSA photodiode using an automatic coupling device. The effects of the angular offset of filter, the height difference of filter-photodiode lens and the horizontal offset of photodiode lens on the coupling efficiency were analyzed. The experimental results showed that the horizontal offset of photodiode lens had the greatest influence on the coupling efficiency, and the angular offset of filter and the height difference of the filter-photodiode lens had little effect on the coupling efficiency. The research results provide systematic theoretical guidance for the coupling and packaging of BOSA photodiode, which has reference value for actual production.

In view of the phenomenon that the pressure energy of natural gas is wasted in the process of using the downhole throttling technology in the high pressure gas well, an idea of using triangular air-powered rotary engine to transform natural gas pressure energy to mechanical energy which drives the generator was put forward. Based on the structural features of traditional Wankel-type rotary engines, the overall structural design of a new triangular air-powered rotary engine was carried out and a new decompression scheme was set up. The internal flow field of air motor was simulated numerically by using CFD numerical simulation methods. The kinematics and dynamics simulation of mechanical system of triangular air-powered rotary engine was carried out by using ADAMS software, the contact strength between radial seal and cylinder was checked by Hertz contact theory, and the pressure endurance of cylinder was checked by using ABAQUS. Depending on the simulation data, the correctness of the design of the first stage rotary engine was verified and the design of the secondary rotary engine was defective. After raising the inlet temperature of the second stage rotary engine from 343 K to 353 K, the problem of hydrate generation when pressure and temperature dropped in cylinder was solved. The simulation results provide a new idea for the further study of triangular air-powered rotary engine.

Using the nonlinear contact analysis based on contact pairs to deal with the contact problem, the calculation cost is higher and there exists case of no-convergence although the finite element analysis result is closer to the engineering application. The degree of freedom (DOF) node coupling analysis not only has a relatively low computational cost, but also guarantees a certain precision. In order to explore the feasibility of using DOF node coupling analysis to replace nonlinear contact analysis based on contact pairs in a certain error range, the mobile car machine with a lifting weight of 15 t was taken as the research object. The contact model and node coupling model of the telescopic head-bracket were established in ANSYS software, and the finite element analysis was carried out under the condition of maximum lifting height and full extension of the head. The effects of contact stiffness coefficient and friction factor on the results of finite element analysis were considered. The difference of equivalent stress in each contact area of the two models was analyzed. By comparing the results of the finite element analysis of the two models, there was a certain relative error between the equivalent stress values of the contact area of the two models, and it was showed that the relative sliding degree of the two contact surfaces in the contact area determined the accuracy of the contact analysis.For mechanical structures with less precise requirements, a DOF node coupling analysis can be considered instead of nonlinear contact analysis based on contact pairs.

The machining accuracy of the CNC (computer numerical control) machine tool is directly affected by the electromechanical coupling characteristics of the servo feed system, which means a model established for servo system or mechanical system alone is not sufficient to study the influence of system parameters on the machining accuracy exactly. Therefore, it is important to synthetically consider the coupling relationship between servo system and mechanical structure of machine tool and establish the electromechanical coupling dynamics model of the servo system. Firstly, in order to ensure the accuracy of servo feed system modeling, the mechanical and electromechanical coupling state space equations of machine tools were established by the state space method. Secondly, the electromechanical coupling Simulink model of servo feed system was established, and on this basis, the composite control was adopted to improve the responding speed and tracking accuracy of the system further. Subsequently, the rigid-flexible coupling dynamics model of machine tool feed system was established by using multi-body dynamics software, and the dynamics model was imported into Simulink and coupled with the servo control system after added the nonlinear factors such as friction and damping. Finally, the rigid-flex and electromechanical coupling simulation platform of the horizontal machining center servo feed system was established and the reliability of the state space model was verified by simulating the machining path on the platform. The results showed that the coupling relationship between the internal parameters and the input and output parameters of the system was described more accurately by the state space model, and the performance of the system was improved greatly by the compound control structure. The research results can provide theoretical basis for theoretical modeling and improvement of machining accuracy of CNC machine tools， and provide effective guidance for the electromechanical system design of CNC machine tools.

In order to solve the problems of low stability, high cost, bad communication effect and single function of power monitoring system for agricultural unmanned aerial vehicle (UAV), a power monitoring instrument based on embedded microprocessor was designed. The instrument used 15F2K60S2 embedded microprocessor as the platform, integrated CS5460 data acquisition module and ADM2483 communication module. Moreover, on the basis of C language of single-chip computer and assembly language instructions, combining with the overall structure of the instrument, the hardware circuit and software program of the power monitoring instrument for agricultural UAV were designed and developed. The stability and reliability of the designed power monitoring instrument were tested by means of multi-function calibrator, signal generator and oscilloscope， and the possible causes of measurement errors were analyzed. The results showed that the instrument had good stability and reliability, and the measurement accuracy reached the requirements of industrial standard 2.0 in the range of input voltage from 0 to 500 V， which could fully meet the needs of power monitoring system for agricultural UAV. The research results can provide some theoretical references for the further study of power monitoring system, and provide effective guidance for relevant enterprises to develop power monitoring system of agricultural UAV.

To solve the problem of complex parts machining in aviation manufacturing field, an open CNC（computerized numerical control） system based on PC（personal computer） and PMAC（programmable multi-axles controller） motion control card was built for the compound feed electrochemical machine tool. Based on the virtual instrument technology and its development environment LabVIEW platform， following the modular design idea, the human-computer interaction interface of the control system for compound feed electrochemical machining machine tool was designed by using ActiveX automation technology and CLF (call library function ) node. The function interaction between host computer and PMAC motion control card was realized by calling the service program PmacServer in the software. The experiments were carried out to verify the reliability and stability of the control system by using a laser interferometer. The results showed that the control system responded quickly and stably, the human-machine interface was easy to operate, the motion error of the machine tool was controlled within -5 to 5 μm, and the repetitive positioning accuracy was less than 2.3 μm, which met the accuracy requirements of high precision electrochemical machining. The research results have important engineering application value in the field of electrochemical machining, which can provide a useful reference for the design of a new generation of high performance electrochemical machine tool.

China has become a major producer and exporter of pen products in the world. One of the key technologies in pen making industry is pen tube testing. Aiming at the requirement of automatic inspection, a pen tube defect automation inspection system was designed to improve the pen tube defect detection efficiency and production quality of pen tube manufacturing enterprises. Based on the machine vision and the gravity center classification device, the defect forms and types of pen tubes were identified and counted by modular detection system to achieve high-efficiency and high-precision pen tube defect detection, defect elimination and automatic sorting. Using the automatic defect detection algorithm and computer vision detection technology, the defect edge detection was carried out, the defect area of pen tube was segmented, the main defect types were defined, and the pen tube defects were judged and classified. By constructing and training convolution neural network, a convolution neural network model with high fitting degree was obtained to analyze the defect of pen tube. The experimental results show that the pen tube defect automation detection system can objectively evaluate the defects of pen tube, raise the production efficiency of pen tube, improve the quality of finished products of the production line, which has higher engineering application value.

Corrugated compensator is widely used in industrial pipeline as a compensation element to compensate the displacement caused by changes in temperature and pressure, vibration and other factors. In order to diagnose the fault of corrugated compensator in real time, simplify the manual diagnosis process, improve the maintenance efficiency and safety factor, and reduce the maintenance cost, a fault diagnosis system for corrugated compensator based on LabVIEW was designed. The vibration signal acquisition scheme of corrugated compensator was designed, and the vibration experiment was carried out. The vibration signals of every corrugated compensator in the whole pipeline system were collected by using high performance acquisition instrument and acceleration sensor, then the collected signals were filtered and converted and sent to the computer through wireless network. The collected signals were analyzed by amplitude range analysis and fast Fourier transform. Finally, the analyzed and processed signals were displayed on the user interface in real time and stored. When the data was abnormal, the alarm could be issued so that the working state of the corrugated compensator could be monitored in real time, thus effectively improving the production safety factor and effectively avoiding the accident caused by the failure of the corrugated compensator, which has certain practical value.

There are many problems in traditional methods of finger-joint lumber gluing, such as uneven glue, inefficiency and the friction damage of glue roller. In order to solve the problem, an automatic gluing method was proposed. Based on PLC (programmable logic controller), adopting automatic detection technology and modular design, a new automatic gluing equipment for finger-joint lumber was developed. The automatic gluing test for finger-joint lumber was carried out, and the factory test results showed that the gluing qualified rate of the automatic one-cycle gluing with the speed of 200/30 min could reach over 97%, and increase gradually with time, and the equipment had no failure. When using automatic two- cycles gluing, the qualified rate could reach over 95%, and the equipment had one failure respectivly in 60-90 min and 90-120 min. The qualified rate during the trouble-free working time could reach over 98%, while the qualified rate of manual gluing was below 90%. The test shows that the equipment can realize quick automatic gluing, ensure the quality of finger-joint lumber gluing, improve the automation degree of finger-joint lumber gluing, which is suitable for industrial production of finger-joint lumber.