Data security check for parallel machine tool path planning

In the 1990s, the world's first parallel machine tool was born, and its structure is quite different from traditional machine tools. As shown in the parallel machine tool structure model, such machine tools have the advantages of simple structure, high rigidity and precision, fast response speed and good dynamic characteristics to obtain the end of the machine tool (depending on the specific structure).
If any of the above conditions are not met, the test is in error, indicating that the leg length data file formed by the trajectory planning does not meet the requirements, and the trajectory planning needs to be performed again.
2 program design and implementation In the data verification program design, generally read the leg length data file formed after the trajectory planning, and then the data file is tested line by line until the end of the file according to the above requirements. If both meet the requirements, the display verification is correct and the program ends. Otherwise, it indicates that the leg length data file does not meet the requirements, and the trajectory planning needs to be performed again, and then the data is verified until the data meets the requirements. The whole data verification program flow is based on this, and the paper also issued a data security verification software module (moving platform and tool system) pose, and its operation speed is slow. In this paper, a preliminary rough safety test is carried out on the data formed after the trajectory planning, and the corresponding data verification security software is developed to ensure the safety of the machine tool to a certain extent.
1 Data inspection mechanism Before parallel machining, parallel machine tools need to be trajectory planning according to the geometric parameters of the parts to generate discretized tool position data files. Subsequently, each discrete point is inversely solved to obtain a discrete leg length data file.
This data can be used by the control system of the parallel machine to control the machine action. Therefore, whether the leg length data file is correct will directly affect the correctness of the machine tool trajectory and the safety of the machine tool. Therefore, it is generally necessary to carry out processing after being verified. Under normal circumstances, at least the leg length data file has the following requirements: () the absolute value of the difference between the adjacent two rows of data should not exceed a certain range (depending on the accuracy requirements) () the expansion and contraction of any one axis is not It should exceed the telescopic range of the test bench to measure the performance parameters of the system. It is worth noting that since the servo control system itself has a dead zone (ie, an insensitive zone), the size of the dead zone must also be measured during the test.
2.3 The inner and outer loops of the servo control system are open loop. When the inner and outer loops of the servo control system are open loop, the whole system no longer has feedback signals, that is, the system does not have the characteristics of the servo control system. When the system inputs a fixed forward step signal U, the specific working process is as follows: (1) The servo valve opens the oil distribution valve in the servo valve under the action of current ic, and the small piston of the steering gear is extended forward. The integrated rocker arm mechanism opens the flat valve to extend the piston of the actuator forward; () because there is no feedback signal, the servo valve is always controlled by the forward current ic, and the flat valve is always in the forward open position, always giving Actuator pressure. When the piston of the actuator is in the maximum extended position, the system reaches equilibrium, and the small piston is also in the maximum extended position.
If a negative step signal is input, the basic working principle is exactly the same, except that the final system balance position is: the small piston of the steering gear is in the reverse maximum position, and the piston of the actuator is also in the reverse maximum position.
It can be seen from the above analysis that the typical characteristic of the fault is that the entire servo control system has no feedback control, as long as the control signal Ur is not, no matter how large, the small piston and the piston of the actuator are both in the positive direction (or vice To) the maximum position.
3 Conclusion Through the specific analysis of the typical fault of a single-channel servo control system of a four-duuge servo, the working principle and the essence of the fault are further understood, which lays a solid foundation for the intelligent fault diagnosis of this type of steering gear. By collecting actual troubleshooting data, summarizing, summarizing, analyzing typical fault instances, and statistically reporting fault symptoms and fault causes, it is possible to construct a fault diagnosis expert system for this type of four-duration servo.

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: Carbon steel seamless pipes for use in low and medium pressure boilers, petroleum casing tubes, ships, fluid conveyance, petroleum cracking, chemical fertilizer equipments, structures, and hollow pumping rods. We can produce seamless steel pipes from 12″ to D40″, thickness SCH30, SCH40, SCH80, SCH160 and so on, according to the standards such as \ASTM\API 5L\BS EN ISO,

(1)From 2″-4″, our pipes are cold drawning.

(2)From 4″-12″, our pipes are hot rolling.(stok available )

(3)Over 12″, our pipes are hot expending max 40'

A53 Chemical components and mechanical propert

Standard

Trade mark

Chemical components

Mechanical property

C

Si

Mn

P

S

Cu

Ni

Mo

Cr

V

Tensile Strength(Mpa)

Yield Strength (Mpa)

Elongation(%)

ASTM A53

A

≤0.25

/

≤0.95

≤0.05

≤0.06

≤0.40

≤0.40

≤0.15

≤0.40

≤0.08

≥ 330

≥ 205

≥ 29.5

B

≤0.30

/

≤1.2

≤0.05

≤0.06

≤0.40

≤0.40

≤0.15

≤0.40

≤0.08

≥ 415

≥ 240

≥ 29.5

A106 Chemical components and mechanical property

Standard

Trade mark

Chemical components

Mechanical property

C

Si

Mn

P

S

Cu

Ni

Mo

Cr

V

Tensile Strength (Mpa)

Yield Strength (Mpa)

Elongation (%)

ASTMA106

B

≤0.30

≥0.10

0.29~1.06

≤0.035

≤0.035

≤0.40

≤0.40

≤0.15

≤0.40

≤0.08

≥415

≥240

≥30

C

≤0.35

≥0.10

0.29~1.06

≤0.035

≤0.035

≤0.40

≤0.40

≤0.15

≤0.40

≤0.08

≥ 485

≥275

≥ 30

API 5L Chemical components and mechanical property PSL1
Class and Sort			Chemical components											Mechanical property
			C (Max)		Mn (Max)		P (Max)			S (Max)			Tensile Strength( Min)																														Yeild Strengh(Min)
													psi									Mpa										psi											Mpa
A25	CLI		0.21		0.6		0.03			0.03			45000									310										25000											172
	CLII		0.21		0.6		0.03			0.03
A			0.22		0.9		0.03			0.03			48000									331										30000											207
B			0.28		1.2		0.03			0.03			60000									414										35000											214
X42			0.28		1.3		0.03			0.03			60000									414										42000											290
X46			0.28		1.4		0.03			0.03			63000									434										46000											317
X52			0.28		1.4		0.03			0.03			66000									455										52000											359
X56			0.28		1.4		0.03			0.03			71000									490										56000											386
X60			0.28		1.4		0.03			0.03			75000									517										60000											414
X65			0.28		1.4		0.03			0.03			77000									531										65000											448
X70			0.28		1.4		0.03			0.03			82000									565

A192 Chemical components and mechanical property

Chemical components

Mechanical property

Standard

Trademark

C

Si

Mn

P

S

Cu

Ni

Mo

Tensile Strength(Mpa)

Yield Strength (Mpa)

Elong ation (%)

ASTM A192

A192

0.06-0.18

≤0.25

0.27-0.63

0

0.04

/

/

/

≥325

≥ 180

Chemical components:

Chemical components

Mechanical property

Standard

Trade mark

C

Si

Mn

P

S

Cr

Ni

Mo

Tensile Strength(Mpa)

Yield Strength(Mpa)

Elongation(%)

EN102016-2

P235GH

≤0.16

≤0.35

≤1.20

≤0.025

≤0.020

0.30

/

≤0.08

360-500

≥235

≥23

P265GH

≤0.20

≤0.40

≤1.40

≤0.025

≤0.020

0.30

/

≤0.08

41

Usage	Specification	Steel Grade	SZIE	STOCK
High Temperature Seamless Carbon Steel Nominal Pipe	ASME SA-106/	B.C	SMLS 2"-40" T3.91-17.48mm	Avilalbe
	SA-106M
Seamless Carbon Steel Boil Pipe used for High Pressure	ASME SA-192/	A192	SMLS 2"-40" T3.91-17.48mm	None /Custom-make
	SA-192M
Seamless Carbon Molybdenum Alloy Pipe used for Boiler and Superheater	ASME SA-209/	T1.T1a.T1b	SMLS 2"-40" T3.91-17.48mm	None /Custom-make
	SA-209M
Seamless Medium Carbon Steel Tube & Pipe used for Boiler and Superheater	ASME SA-210/	A-1.C	SMLS 2"-40" T3.91-17.48mm	None /Custom-make
	SA -210M
Seamless Ferrite and Austenite Alloy Steel Pipe used for Boiler, Superheater and Heat Exchanger	ASME SA-213/	T2.T5.T11.T12.T22.T91	SMLS 2"-30" T3.91-17.48mm	Avilalbe
	SA-213M
Seamless Ferrite Alloy Nominal Steel Pipe applied for High Temperature	ASME SA-335/	P2.P5.P11.P12.P22.P36.P9.P91.P92	SMLS 2"-30" T3.91-17.48mm	Avilalbe
	SA-335M
Seamless Low Temperture Stee Pipe	ASME SA-333/	Gr3 Gr6	SMLS 2"-16" T3.91-14.27mm	Avilalbe
	SA-333M
Seamless Gas Line Stee Pipe	API 5L PLS1 /PLS2	L245 ,L245N, L245Q ,L290,L290N, L290Q, L360, L360N, L360Q, L415 ,L415N ,L415Q	SMLS 2"-16" T3.91-14.27mm	General service avilable
				(L485 ,L485N .L485Q Custom made )
Seamless Steel Pipe made by Heat-resistant Steel	DIN 17175	St35.8.St45.8.15Mo3.13CrMo44.10CrMo910	SMLS 2"-16" T3.91-17.48mm	None /Custom-make
Seamless Steel Pipe for	EN 10216	P195GH.P235GH.P265GH.13CrMo4-5.10CrMo9-10.15NiCuMoNb5-6-4.X10CrMoVNb9-1	SMLS 2"-16" T3.91-17.48mm	None /Custom-make
Pressure Application

Stainless steel pipe material avilalbe :

304/SUS304/UNS S30400/1.4301

304L/UNS S30403/1.4306;

304H/UNS S30409/1.4948;

309S/UNS S30908/1.4833

309H/UNS S30909;

310S/UNS S31008/1.4845;

310H/UNS S31009;

316/UNS S31600/1.4401;

316Ti/UNS S31635/1.4571;

316H/UNS S31609/1.4436;

316L/UNS S31603/1.4404;

316LN/UNS S31653;

317/UNS S31700;

317L/UNS S31703/1.4438;

321/UNS S32100/1.4541;

321H/UNS S32109;

347/UNS S34700/1.4550;

347H/UNS S34709/1.4912;

348/UNS S34800;

Alloy steel:

ASTM A234 WP5/WP9/WP11/WP12/WP22/WP91;

ASTM A860 WPHY42/WPHY52/WPHY60/WPHY65;

ASTM A420 WPL3/WPL6/WPL9;

Duplex steel

ASTM A182 F51/S31803/1.4462;

ASTM A182 F53/S2507/S32750/1.4401;

ASTM A182 F55/S32760/1.4501/Zeron 100;

2205/F60/S32205;

ASTM A182 F44/S31254/254SMO/1.4547;

17-4PH/S17400/1.4542/SUS630/AISI630;

F904L/NO8904/1.4539;

725LN/310MoLN/S31050/1.4466

253MA/S30815/1.4835;

Nickel alloy steel:

Alloy 200/Nickel 200/NO2200/2.4066/ASTM B366 WPN;

Alloy 201/Nickel 201/NO2201/2.4068/ASTM B366 WPNL;

Alloy 400/Monel 400/NO4400/NS111/2.4360/ASTM B366 WPNC;

Alloy K-500/Monel K-500/NO5500/2.475;

Alloy 600/Inconel 600/NO6600/NS333/2.4816;

Alloy 601/Inconel 601/NO6001/2.4851;

Alloy 625/Inconel 625/NO6625/NS336/2.4856;

Alloy 718/Inconel 718/NO7718/GH169/GH4169/2.4668;

Alloy 800/Incoloy 800/NO8800/1.4876;

Alloy 800H/Incoloy 800H/NO8810/1.4958;

Alloy 800HT/Incoloy 800HT/NO8811/1.4959;

Alloy 825/Incoloy 825/NO8825/2.4858/NS142;

Alloy 925/Incoloy 925/NO9925;

Hastelloy C/Alloy C/NO6003/2.4869/NS333;

Alloy C-276/Hastelloy C-276/N10276/2.4819;

Alloy C-4/Hastelloy C-4/NO6455/NS335/2.4610;

Alloy C-22/Hastelloy C-22/NO6022/2.4602;

Alloy C-2000/Hastelloy C-2000/NO6200/2.4675;

Alloy B/Hastelloy B/NS321/N10001;

Alloy B-2/Hastelloy B-2/N10665/NS322/2.4617;

Alloy B-3/Hastelloy B-3/N10675/2.4600;

Alloy X/Hastelloy X/NO6002/2.4665;

Alloy G-30/Hastelloy G-30/NO6030/2.4603;

Alloy X-750/Inconel X-750/NO7750/GH145/2.4669;

Alloy 20/Carpenter 20Cb3/NO8020/NS312/2.4660;

Alloy 31/NO8031/1.4562;

Alloy 901/NO9901/1.4898;

Incoloy 25-6Mo/NO8926/1.4529/Incoloy 926/Alloy 926;

Inconel 783/UNS R30783;

NAS 254NM/NO8367;

Monel 30C

Nimonic 80A/Nickel Alloy 80a/UNS N07080/NA20/2.4631/2.4952

Nimonic 263/NO7263

Nimonic 90/UNS NO7090;

Incoloy 907/GH907;

Nitronic 60/Alloy 218/UNS S21800

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