62results about How to "Precise angle control" patented technology

The invention relates to a three-freedom-degree constant speed decoupling space robot active spherical wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage universal joint and the rotating center of an outer ball cage universal joint respectively, and then constant speed decoupling of three input movements is achieved; the output end of the outer ball cage universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting spinning motion, and the output end of a speed reducing system respectively, a six-dimensional ATI sensor is installed at the output tail end of the wrist, and a wrist universal compliant follow-up control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting spinning motion through a system friction force compensation technology. The three-freedom-degree constant speed decoupling space robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.

The invention discloses an array typed laser scanner comprising a base, a control driving system and a plurality of auxiliary mirrors arranged in array. The auxiliary mirrors are arranged on the same direction and are fixed on the base; gaps are reserved between two adjacent auxiliary mirrors, so that the auxiliary mirrors do not touch each other when inclining to each other; the control driving system is connected with piezoelectric drivers in Ns of the auxiliary mirrors to realize open loop control of deflecting angles of reflectors. A multiple light ray scanning method is utilized to connect a plurality of small scanning fields into a big scanning field, and is capable of ensuring scanning angles and scanning frequency at the same time, each auxiliary is capable of scanning independently and multiple task detection is realized. With the array typed laser scanner, space utilization rate is greatly increased, and scanning angles are improved; the array typed laser scanner is characterized in that the array typed laser scanner is fast in driving speed, high in control accuracy, no mechanical abrasion, compact in structure, high in space utilization rate and good in stability, small in volume, light in weight, high in rigidity and is especially suitable for application of satellite and unmanned machine imaging laser radar.

A steering apparatus for a vehicle, which can reduce the steering load and allows accurate steering angle control, is provided. In the steering apparatus for a vehicle, an estimation unit estimates a mechanical impedance upon a driver's steering manipulation. A control unit controls the steering reaction force of a steering wheel based on the estimated mechanical impedance.

A steering apparatus for a vehicle, which can reduce the steering load and allows accurate steering angle control, is provided. In the steering apparatus for a vehicle, an estimation unit estimates a mechanical impedance upon a driver's steering manipulation. A control unit controls the steering reaction force of a steering wheel based on the estimated mechanical impedance.

An axial compressor includes: a spray nozzle (32) that supplies droplets to a working fluid before compression or being compressed; a variable stator vane (56) having a stem section (94) inserted in an insertion hole (73) in a casing (54), the variable stator vane (56) having an angle of attack varied through sliding motion relative to the casing caused by rotation of the stem section; a sealing groove (93) provided in a sliding portion between a thrust washer (82) slid relative to the casing during rotation of the stem section and the casing; and a sealing member (92) housed in the sealing groove.

A numerical control roof-arc spreading machine comprises a base guide rail mechanism, four bases, two coil nose clamping mechanisms, four coil bar roof radian mechanisms, four coil bar clamping spreading mechanisms, a hydraulic station and a sensor control numerical control circuit system. The two bases are respectively arranged on the left half portion and the right half portion of the upper end of the base guide rail mechanism and the two coil nose clamping mechanisms are respectively connected with the upper ends of the two bases. The other two bases are arranged in the middle of the upper end of the base guide rail mechanism. The four coil bar clamping spreading mechanisms are respectively arranged at the upper ends of the two bases with two coil bar clamping spreading mechanisms as a pair and the four coil bar roof radian mechanisms are respectively arranged on the sides of the four coil bar clamping spreading mechanisms. During working, the four coil bar clamping spreading mechanisms which are symmetrical all around are utilized to spread large coils and the two coil bar clamping spreading mechanisms which are symmetrical in a front-and-back mode are utilized to spread small coils. The numerical control roof-arc spreading machine can accurately and rapidly achieve one-step spreading forming machining of various motor coils.

The invention belongs to the technical field of shield detecting, and particularly relates to a laser circle measuring device used for measuring circular degree of a shield shell and an application method of the laser circle measuring device. The laser circle measuring device comprises a supporting rod, a stepping motor fixed on the supporting rod and a laser distance measuring device fixed on a rotating shaft of the stepping motor. Two ends of the supporting rod are respectively arranged on the inner wall of the shield shell in a supporting mode, and the stepping motor and the laser distance measuring device are both arranged on a vertical halving line of the supporting rod. The vertical halving line is the direction of an axial lead of the shield shell. Then the laser distance measuring device is used as a gyration center, coordinates of points on the inner wall of the shield shell are measured at intervals of certain angles, and the circular degree of the shield shell is measured and calculated through a special prepared calculating method. The laser circle measuring device and the application method of the laser circle measuring device has the advantages that the laser circular measuring device is simple in installation, manufacturing cost is low, angle control is convenient and accurate during measurement, change of the circular degree of the shield shell in the axial direction can be measured, all data of the circular degree of the shield shell can be converted automatically through a computer processor, and accuracy is high.

A molten metal supply device designed to mount a ladle-rotating motor on a support frame and dispose a ladle-rotating rotation transfer mechanism in a predetermined link of a ladle-carrying link mechanism so as to be able to perform precise position control (tilt angle control) of a ladle. The rotation transfer mechanism is driven by the ladle-rotating motor mounted on the support frame so as to rotate the ladle. The rotation transfer mechanism is provided in a link of the ladle-carrying link mechanism for carrying the ladle. The rotation transfer mechanism is constituted by two parallel linkages. Each parallel linkage has a pair of bar links whose opposite ends are attached to two rotors respectively. When the ladle-rotating motor is being stopped, the ladle can be kept in a predetermined posture by the parallel linkages even if the ladle-carrying link mechanism has any operating posture.

The invention discloses a method for accurately controlling steepness when silicon carbide high-temperature ions are injected into a mask. The method comprises the steps that a silicon carbide epitaxial substrate is cleaned; a high-temperature ion injection masking layer capable of sufficiently resisting against the injected high-temperature and high-energy ions grows on the surface of the silicon carbide epitaxial substrate; an etching resisting layer used for controlling an etching process grows on the high-temperature ion injection masking layer; photoresist coats the etching resisting layer, and a selective high-temperature ion area window is formed in the surface of the etching resisting layer by adopting a photoetching developing technology, etching is sequentially carried out on the etching resisting layer and the high-temperature ion injection masking layer from the selective high-temperature ion area window to the surface of the silicon carbide epitaxial substrate; the photoresist and the unnecessary etching resisting layer are removed to obtain the steep and controllable thick-medium ion injection masking layer with the smooth lateral wall. By means of the method, angle control over an etching surface is carried out accurately, the steep thick-medium ion injection masking layer with the smooth lateral wall is obtained, and good uniformity and strong controllability of the selective ion injection area are guaranteed.

The invention provides a cutting process for a Z surface X-direction angle control of Z plate seed crystal blocks, comprising the following steps of: measuring the differences of the Z surface X-direction angles of the Z plate seed crystal blocks, processing and controlling the differences of the Z surface X-direction angles of all the Z plate seed crystal blocks to be within + / -5'; sorting the Zplate seed crystal blocks inclining towards one direction and classifying the differences of the Z surface X-direction angles of the Z plate seed crystal blocks according to the difference of + / -1'; sticking the Z plate seed crystal blocks with the same classification on a plate to obtain a seed crystal block sticky mound body; calculating the tilt quantity of the Z plate seed crystal blocks according to the differences of the Z surface X-direction angles of the Z plate seed crystal blocks and the X-direction sizes of the Z plate seed crystal blocks; adjusting the Z surface X-direction cutting angles of the Z plate seed crystal blocks according to the tilt quantity of the Z plate seed crystal blocks until the cutting angle meets the requirement; and cutting the Z plate seed crystal blocksin the seed crystal block sticky mound body in batch by adopting a multiple blade grader. By using the cutting process, the problem that the angle in the vertical direction cannot be corrected when the Z plate seed crystal blocks are cut can be solved. The invention has the advantages of simple process, easiness of operation, batch production availability, stable quality of products and accuracy for angle control.

The invention discloses a method for manufacturing a silicon carbide high-temperature ion implantation mask with a selectivity cut-off layer. The method includes the steps of cleaning a silicon carbide substrate, adopting a heat oxidation method to grow an ion implantation sacrificial layer mask on the silicon carbide substrate, adopting an LPCVD method to grow the selectivity cut-off layer used for controlling the etching process on the obtained ion implantation sacrificial layer mask, adopting an epitaxy or growing method to form an insulating medium masking layer on the selectivity cut-off layer, evenly coating the insulating medium masking layer with photoresist, carrying out photoetching to develop a selectivity ion implementation area window, carrying out dry-method etching or corrosion on the insulating medium masking layer from the selectivity ion implementation area window to the surface of the selectivity cut-off layer, continuously carrying out etching or corrosion to the surface of an ion implantation sacrificial layer, removing the photoresist, and obtaining the ultra-thin ion implementation sacrificial layer mask. The method for manufacturing the silicon carbide high-temperature ion implantation mask is suitable for a silicon carbide SBD, a JBS diode, an MOSFET device and other silicon carbide devices requiring high-temperature high-energy ion implantation.

The invention discloses a two-degree-of-freedom photovoltaic power generation device for automatically tracking sunlight and a tracking method. The problem of single position of the battery panel is overcome as the solar panel is capable of tracking the position of the sun. At the beginning, the device is initialized, a photosensitive element provides the collected data to a single chip, the single chip receiving the data signal runs the program and controls a first stepping motor and a second stepping motor that are electrically connected to make the worm and the second worm rotate to drive the transmission main shaft to rotate, so that the solar panel rotates and can receive the maximum illumination. The stepping motor and worm gear set used by the invention for angle adjustment is capable of realizing precise angle control and self-locking of the corresponding rotation direction, and preventing the orientation of the solar panel from being arbitrarily changed due to external force factors. The photosensitive member of the invention is capable of accurately determining the direction of the sun light and automatically adjusting the orientation of the solar panel to be the same asthe direction of the sunlight.

The invention discloses an endoscope handle part with an angle control function. The endoscope handle part comprises an endoscope handle composed of a handle upper cover and the handle lower cover, and the handle upper cover and the handle lower cover form a handle cavity which is internally provided with a bending control rotating wheel; a steel wire rope is wound around the bending control rotating wheel, and the two ends of the steel wire rope penetrate through two spring pipes respectively; the bending control rotating wheel is connected with a bending control pusher; the bending control pusher is pushed and can drive the bending control rotating wheel to rotate by an angle, one end of the steel wire rope wound around the bending control rotating wheel is pulled, the steel wire rope of the end pulls the spring pipe connected with the steel wire rope, and then an endoscope tip bending part rotates by an angle. Accordingly, the bending angle of the endoscope tip bending part can be adjusted freely, the endoscope tip bending part is adjusted to the needed angle, surgical operation of a doctor is convenient, and the success rate of surgery is greatly increased.

The invention discloses a coder calibrating device of a digital radiology photography system, comprising a coder and a gear which is coaxial with the coder. The coder calibrating device is characterized by also comprising a light shielding sheet, a groove type photoelectric switch and a control module, wherein the light shielding sheet is arranged on the edge of the gear; the groove type photoelectric switch is arranged on a fixed plate; a position of the light shielding sheet, which is opposite to the groove type photoelectric switch, enables the light shielding sheet to cross a groove of thegroove type photoelectric switch when rotating; and the control module is respectively connected with the groove type photoelectric switch and the coder, stores the number of opposite original pointpulses of the coder and the number of current pulses of the coder, and resets the number of the current pulses of the coder by utilizing the number of the opposite original point pulses of the coder when receiving a signal of the groove type photoelectric switch.

An embodiment of the invention provides a virtual reality video playing control method and apparatus. The method includes the steps of when a mobile device plays a virtual reality video, receiving and recording a first rotation matrix generated at a first time point when a gyroscope of the mobile device is switched off; receiving a second rotation matrix generated at a second time point when the gyroscope is switched on again, and receiving a third rotation matrix generated by the gyroscope after the second time point in real time; calculating a rotation variation matrix between the second rotation matrix and the third rotation matrix; conducting matrix calculation for the rotation variation matrix and the recorded first rotation matrix to obtain a matrix calculation result; and adjusting, based on the matrix calculation result, the current playing angle of the virtual reality video played by the mobile device. The invention can adjust the current playing angle of the video by calculating the rotation matrixes generated by the gyroscope, so as to more accurately and easily control the angle of the video and enhance the user experience.

The invention relates to a three-freedom-degree constant speed decoupling space robot active spherical wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage universal joint and the rotating center of an outer ball cage universal joint respectively, and then constant speed decoupling of three input movements is achieved; the output end of the outer ball cage universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting spinning motion, and the output end of a speed reducing system respectively, a six-dimensional ATI sensor is installed at the output tail end of the wrist, and a wrist universal compliant follow-up control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting spinning motion through a system friction force compensation technology. The three-freedom-degree constant speed decoupling space robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.

A mechanism for deflecting a headlamp optical axis comprises a connecting lever, a bracket, a stepping motor, a front end plate, and a traveling block. The bracket is attached to an outside frame constituting an automotive vehicle body, and the stepping motor is attached to the bracket in a horizontally movable manner. The stepping motor has a rotary shaft which has a screw formed thereon and engaging threadedly with the traveling block. The connecting lever is attached to the outside frame in a horizontally movable manner. In the mechanism structured above, when the rotary shaft rotates, the traveling block is caused to travel along the rotary shaft thereby causing the both ends of the connecting lever to move in respective arc paths, whereby an optical axis of a headlamp attached to one of the both ends of the connecting lever is deflected.

The invention relates to the technical field of monitoring equipment, and particularly discloses a monitoring device with an automatic tracking function. The monitoring device comprises an acquisitioncamera arranged at an entrance and a defense camera shooting mechanism arranged at a key aisle, the acquisition camera is in signal connection with a data storage module, and the data storage moduleis in signal connection with a data processing module. The defense camera shooting mechanism comprises a sliding rail fixed at the top of the key aisle, a mounting base slidably connected with the sliding rail, a driving motor driving the mounting base to slide on the sliding rail in a reciprocating mode and a defense camera rotationally connected with the mounting base, a spotlight is further fixed to the defense camera, and the spotlight and the defense camera point to the same direction. The defense camera rotates by 180 degrees in the process of sliding from one end of the slideway to theother end of the slideway and is in signal connection with the data processing module, and the personnel information shot by the defense camera is fed back to the data processing module for information comparison. According to the technical scheme, the probability of recording the portrait information of the suspicious personnel can be improved.

The object of the present invention is to propose a grab bucket with simple structure and safe operation, which is used for loading and unloading distiller's grains in the liquor industry. The grab includes an upper crossbeam, a lower crossbeam, a left bucket body and a right bucket body which are movably installed on the lower crossbeam through bearings, and the upper crossbeam and the lower crossbeam are connected by rigid brackets; Cylinder, the ends of the piston cylinders of the left hydraulic cylinder and the right hydraulic cylinder are respectively hinged with the bucket body on the corresponding side, and the cylinder ends of the left hydraulic cylinder and the right hydraulic cylinder are respectively hinged with the upper beam. The lifting or lowering of the grab bucket can be realized by the hoist connected to the upper beam, and the action of the bucket body is driven by the corresponding hydraulic cylinder. The structure of the grab bucket of the present invention is simple, which avoids the drawbacks of traditional grab buckets using wire ropes to control the movement of the bucket body, and at the same time controls the angle of the bucket body more accurately, and the hydraulic cylinder can ensure that the left bucket body and the right bucket body are always closed. No material leakage, very suitable for loading and unloading distiller grains in wineries.

The invention discloses an array typed laser scanner comprising a base, a control driving system and a plurality of auxiliary mirrors arranged in array. The auxiliary mirrors are arranged on the same direction and are fixed on the base; gaps are reserved between two adjacent auxiliary mirrors, so that the auxiliary mirrors do not touch each other when inclining to each other; the control driving system is connected with piezoelectric drivers in Ns of the auxiliary mirrors to realize open loop control of deflecting angles of reflectors. A multiple light ray scanning method is utilized to connect a plurality of small scanning fields into a big scanning field, and is capable of ensuring scanning angles and scanning frequency at the same time, each auxiliary is capable of scanning independently and multiple task detection is realized. With the array typed laser scanner, space utilization rate is greatly increased, and scanning angles are improved; the array typed laser scanner is characterized in that the array typed laser scanner is fast in driving speed, high in control accuracy, no mechanical abrasion, compact in structure, high in space utilization rate and good in stability, small in volume, light in weight, high in rigidity and is especially suitable for application of satellite and unmanned machine imaging laser radar.

The invention discloses a soft cable and pneumatic muscle combined drive robot for waist rehabilitation. The robot comprises a cubic base, a soft cable drive part, a pneumatic muscle drive part, a rotating platform and a waist platform. The rotating platform is arranged in the middle of the bottom of the cubic base. The waist platform is arranged above the rotating platform according to the average height of adults. The waist platform is a U-shaped waist platform horizontally arranged. The U-shaped waist platform is connected with the pneumatic muscle drive part and the soft cable drive part. In the rehabilitation training process, the pneumatic muscle drive part (3) drives the waist to simulate rotation along the X axis and the Y axis. The soft cable drive part drives the waist to simulate the translation track of the human body pelvic bone along the X axis, the Y axis and the Z axis in the normal walking process. The rotating platform drives the waist to simulate rotation along the Z axis, and therefore six-freedom-of-motion rehabilitation training of the waist can be achieved. According to the robot for waist rehabilitation training, the training intensity and the amplitude size can be adjusted in regard to the different patient individuals, and the adaptation of the robot can be improved.

The invention discloses a two-dimensional quick control reflecting mirror. The two-dimensional quick control reflecting mirror comprises a reflecting lens, a first support, a second support, a first flexible hinge, a first piezoelectric actuator, a second piezoelectric actuator, a third piezoelectric actuator, a first-level inclined platform, a base seat and a control drive system. The two supports are symmetrically fixed on a central axis of the base seat, the first piezoelectric actuator is arranged below the position between the two supports, and the three piezoelectric actuators are sequentially arranged in a space formed by enclosure of the first-level inclined platform, the first support and the second support. The actuators are connected with the top of the first-level inclined platform through the first flexible hinge, and the reflecting lens is fixed on the first flexible hinge. The control drive system is used for achieving closed-loop control on deflection angles of the reflecting lens. The two-dimensional quick control reflecting mirror has the advantages of being fast in drive speed, high in control accuracy, free of mechanical abrasion, compact in mechanism, high in space utilization rate, free of interferences between shafts, good in stability, small in size, light in weight, high in rigidity and capable of achieving single-mirror-face two-dimensional scanning.

The invention provides a blade control system. The blade control system comprises a motor, a motor control module, a real-time clock and a calculation module, wherein the motor is configured to drive a blade to rotate around an axis; the motor control module is coupled to the motor and is configured to drive the motor and control the operation speed and the operation direction of the motor; the real-time clock is configured to provide time data; the calculation module is coupled to the real-time clock and the motor control module and is configured to calculate a sun incident angle according to time data provided by the real-time clock, determine a to-be-rotated angle according to the sun incident angle, and transmit the to-be-rotated angle to the motor control module; and the motor control module controls blades to rotate for the to-be-rotated angle. According to the blade control system, the time data is obtained through the real-time clock, the sun incident angle is calculated according to the time data, and further, the blade angle is adjusted, so that the control on the blades is more accurate.

The invention discloses a method for manufacturing a silicon carbide high-temperature ion implantation mask with a selectivity cut-off layer. The method includes the steps of cleaning a silicon carbide substrate, adopting a heat oxidation method to grow an ion implantation sacrificial layer mask on the silicon carbide substrate, adopting an LPCVD method to grow the selectivity cut-off layer used for controlling the etching process on the obtained ion implantation sacrificial layer mask, adopting an epitaxy or growing method to form an insulating medium masking layer on the selectivity cut-off layer, evenly coating the insulating medium masking layer with photoresist, carrying out photoetching to develop a selectivity ion implementation area window, carrying out dry-method etching or corrosion on the insulating medium masking layer from the selectivity ion implementation area window to the surface of the selectivity cut-off layer, continuously carrying out etching or corrosion to the surface of an ion implantation sacrificial layer, removing the photoresist, and obtaining the ultra-thin ion implementation sacrificial layer mask. The method for manufacturing the silicon carbide high-temperature ion implantation mask is suitable for a silicon carbide SBD, a JBS diode, an MOSFET device and other silicon carbide devices requiring high-temperature high-energy ion implantation.

The invention discloses an agitation testing device which comprises a support, a mounting table, a driving system and a control device. The support is provided with an arc-shaped slide way, and the mounting table is provided with a sliding block connected to the arc-shaped slide way in a matched mode. The mounting table is connected to the driving system, and the mounting table can swing in a reciprocating mode along an arc-shaped path limited by the arc-shaped sliding way along with the sliding block under driving of the driving system. The driving system is in communication connection with the control device. In the oil tank agitation test process, the oil tank is fixedly installed on the installation table, the driving system drives the installation table to swing, the control device controls the swing process such as the speed and the swing angle, and therefore the agitation test can be efficiently conducted. In addition, through cooperation of the sliding block and the arc-shaped sliding way, the swing route of the mounting table is accurately planned, the swing angle of the oil tank is controlled more accurately, and the swing stability of the mounting table and the test accuracy can be improved.

The invention discloses a method for accurately controlling steepness when silicon carbide high-temperature ions are injected into a mask. The method comprises the steps that a silicon carbide epitaxial substrate is cleaned; a high-temperature ion injection masking layer capable of sufficiently resisting against the injected high-temperature and high-energy ions grows on the surface of the silicon carbide epitaxial substrate; an etching resisting layer used for controlling an etching process grows on the high-temperature ion injection masking layer; photoresist coats the etching resisting layer, and a selective high-temperature ion area window is formed in the surface of the etching resisting layer by adopting a photoetching developing technology, etching is sequentially carried out on the etching resisting layer and the high-temperature ion injection masking layer from the selective high-temperature ion area window to the surface of the silicon carbide epitaxial substrate; the photoresist and the unnecessary etching resisting layer are removed to obtain the steep and controllable thick-medium ion injection masking layer with the smooth lateral wall. By means of the method, angle control over an etching surface is carried out accurately, the steep thick-medium ion injection masking layer with the smooth lateral wall is obtained, and good uniformity and strong controllability of the selective ion injection area are guaranteed.

The invention discloses a tooling mechanism for manual pallet truck oil pump shell hole machining, and relates to the technical field of machine tool toolings, which comprises a clamping rod, a clamping plate is arranged at one end of the clamping rod, a receding groove is arranged on the side wall, away from the clamping rod, of the clamping plate, a control assembly used for adjusting the position of an oil pump shell and clamping and fixing the oil pump shell is arranged in the receding groove, and the end, away from the clamping rod, of the clamping plate is fixedly connected with a cover plate assembly in a rotating mode. The cover plate assembly is arranged, and a sliding groove is matched with a sliding rail and a pressing plate, so that the oil pump shell can move along with the control assembly in the receding groove in the X-axis direction and the Y-axis direction of a horizontal numerical control lathe, but the oil pump shell is limited in the Z-axis direction and cannot move in the Z-axis direction of the horizontal numerical control lathe, therefore, a drill bit, a hole boring cutter and a screwer are matched to carry out hole machining on the oil pump shell, the accurate depth of hole machining is guaranteed, and the condition of cutter collision is avoided.

The invention discloses a full-automatic underwater holder. The holder comprises a holder shell and a supporting device. The holder shell comprises an upper cavity and a lower cavity; a vertical direction rotating servo motor, a vertical direction rotating speed reducer and a vertical direction rotating output shaft are arranged in the upper cavity, the outer wall of the vertical direction rotating output shaft is connected to the upper cavity through a bearing, and the top of the vertical direction rotating output shaft is connected with a supporting rod connecting seat; a horizontal direction rotating servo motor, a horizontal direction rotating speed reducer and a horizontal direction rotating output shaft are arranged in the lower cavity, the outer wall of the horizontal direction rotating speed reducer is connected to the lower cavity through a bearing, the end part of the horizontal direction rotating output shaft is connected with a sensor fixing seat, and a waterproof LEMO head base is arranged at the top of the right end of the lower cavity; the supporting device is connected with the supporting rod connecting seat. Multi-angle free rotation can be realized, the rotation angle is more accurate, the structure is simple and compact, and the later disassembling, assembling and maintenance are convenient.

The invention discloses a two-way inclined ground in-out type shield launching model test device capable of being accurately controlled. The device comprises a model box, a soil body, a horizontal guide rail, four travelling cranes, four vertical lead screw lifters, four vertical lead screws, a free rotating shaft, four horizontal lead screws, four horizontal lead screw lifters, a shield tunneling machine rail, a model shield tunneling machine, a shield tunneling counter-force system, a counter-force system guide rail, bolt hole sites, a shield tunneling counter-force plate, counter-force plate fixing bolts, a shield tunneling angle stabilizing system, fixing bolts, an arc-shaped frame, a handle, a limiting baffle, an angle stabilizing baffle, a spring, a cutter head, a shield body, a shield tail, a hydraulic jack, threads and an electric gear. The device can be applied to a ground in-out type shield launching model test with any angle and any inclined plane, and the angle adjustment operation is high in automation degree and simple and clear.