Transformer oil nursing device with real-time monitoring function

The invention provides a transformer oil nursing device with a real-time monitoring function, and belongs to the technical field of transformers, the transformer oil nursing device comprises an oil inlet pipeline connected with a connector at the bottom end of a transformer and an oil return pipeline connected with a connector at the top end of the transformer, and the oil inlet pipeline and the oil return pipeline form a closed oil way in the nursing device; an overflow valve, a dehydration and degassing device, a filter pressure switch, a particle filter and a stop valve assembly are sequentially arranged on the oil way in the flowing direction, and the two ends of the dehydration and degassing device are connected with motor pumps; the dehydration and degassing device is connected with a gas sampling device, a control device is further arranged in the nursing device, the gas sampling device enables gas in oil to enter a chromatographic column arranged in the gas sampling device, and ...

Method for inspecting screen

Quick judging method for singular configuration of six-degree-of-freedom mechanical arm

The invention belongs to the field of judgment of singular configurations of mechanical arms, in particular relates to a quick judging method for a singular configuration of a six-degree-of-freedom mechanical arm. The method comprises the steps of: reading present angle values of six joints from an angle encoder of the six-degree-of-freedom mechanical arm; judging if the angles of the six joints do not exceed respective actual movement ranges; judging the angle of the third joint; judging the angle of the second joint; and judging the angle of the fifth joint. The method applies a plane geometry method to the judgment of the singular configuration of the mechanical arm. The method theoretically has no errors to guarantee the judgment precision of the singular configuration of the six-degree-of-freedom mechanical arm; and the judgment process of the method is simpler compared with the calculation of a singular value of a jacobian matrix so as to guarantee the judgment speed of the singular ...

Complex-shaped objective genetic path planning method based on kinematics

The invention provides a complex-shaped objective genetic path planning method based on kinematics. The method comprises the following steps that (1) a path is encoded by the adoption of a three-dimensional position and attitude method; (2) an initial population is generated; (3) genetic manipulation is performed on the initial population; (4) the path is decoded by the adoption of a three-stage process, and a fitness function is designed; (5) after iteration assessment, genetic manipulation is performed on the current-generation population path to generate the next population; patched genes in the step (4) in the iteration are added into the next-generation population, which is repeatedly performed until the function value of the feasible fitness function of the obtained path does not change any more, then the iteration is over, and the optimal path solution is obtained. Consideration is given to the irregular shape of a robot and kinematical constraints, a gene patching strategy and a ...

Linear projection based convex-polyhedron collision detection method

The invention relates to a linear projection based convex-polyhedron collision detection method. The convex-polyhedron collision detection method includes the steps of 1), inputting two convex-polyhedron vertex sets; 2), inputting vertex indexes of each surface of two convex polyhedrons; 3), detecting whether the two convex polyhedrons are separated or not by the aid of the center-line orthographic projection separation detection method, if yes, moving to step 10), and if no, entering step 4); 4), calculating surface friction values of the two convex polyhedrons; 5), constructing an opposite-surface set according to the descending principle of the surface friction values; 6), taking out edges where opposite surfaces concentrate, constructing projection separation line clusters, wherein referring the projection separation line clusters to lambada, namely K=0; 7), if k=lambada, then moving to the step 10), and if not, allowing k=k+1, and projecting the convex polyhedrons on coordinate planes ...

Quick and simple method for solving inverse kinematics of six-degree-of-freedom mechanical arm

The invention relates to the field of inverse kinematics of mechanical arms, in particular to a quick and simple method for solving inverse kinematics of a six-degree-of-freedom mechanical arm. A coordinate of an intersection of three rear joint shafts is determined according to the position and a posture matrix of the tail end of the mechanical arm; angles which three front joint shafts rotate by are solved in a geometrical method; the angles which the three rear joint shafts rotate by are solved according to an Euler angle transformation matrix. The concept put forward in the method can be applied to six-degree-of-freedom mechanical arms which have different geometrical structures but belong to the same type. According to the method, the solving process of the inverse kinematics of the mechanical arm is greatly simplified, the solving speed of the inverse kinematics is improved, and requirements for quickness and accuracy in the real-time control of the industrial mechanism arm can be ...

Test system and test method

The invention provides a test system. The test system comprises a plurality of memory circuits and a test circuit. The test circuit is coupled to the memory circuits. The test circuit is used for executing a read-write operation on the memory circuits, and each memory circuit is provided with a read-write starting time point corresponding to the read-write operation. The test circuit is also used for controlling the read-write start time points of the memory circuits to be different from each other.