Operating device for narrow space

Abstract

The invention discloses an operating device for a narrow space, which belongs to the technical field of endoscopes, and comprises a control unit for driving and controlling each component unit to work; the mechanical arm unit is mechanically and electrically connected with the control unit; the guide joint unit is flexibly mechanically and electrically connected with the mechanical arm unit; the working unit is mechanically and electrically connected with the guide joint unit and is arranged at the tail end of the guide joint unit; and the control unit controls the mechanical arm unit and the guide joint unit according to feedback information transmitted by the working unit so as to control the working unit to rotate to a required operation position and execute corresponding operation actions. According to the invention, the interior of a product with a narrow and complex internal space can be observed and other required operations can be carried out under the condition that the shell is not separated, so that the assembly time is greatly saved.

Description

Technical Field

[0001] The invention belongs to the technical field of endoscopes, and in particular relates to an operating device used in a narrow space. Background Art

[0002] Industrial endoscopes are mainly used in automobiles, aircraft engines, pipelines, mechanical parts, etc. They can perform non-destructive testing without disassembling or destroying the assembly or stopping the equipment, and can detect the internal parts of the product, equipment assembly, etc. At present, the existing industrial endoscopes and other equipment are generally hose or straight rod type. Among them, hose-type endoscopes are difficult to conduct a comprehensive exploration of the cabin without the support of pipes in the cabin; straight rod endoscopes are even more difficult to penetrate into the cabin due to their limited length. They can only observe, and cannot explore complex situations in the cabin and perform other operations on parts and equipment. Most endoscopes do not have explosion-proof functions.

[0003] For products with small and complex internal spaces, due to their compact structure, during and after the assembly process, it is often necessary to remove the outer shell to check the internal parts and equipment assembly, clean up the excess materials, modify the cable binding position, tighten the screws, etc. This is not only cumbersome to operate, but also greatly increases the product assembly time and delays the delivery progress.

[0004] Chinese utility model patent CN209705602U discloses an endoscope, including a display host, a probe, a guide wire, an insertion tube and a steering device. By arranging a telescopic rod outside the insertion tube, the heavy probe can be supported without bending, thereby achieving the purpose of long-distance detection and upward detection. At the same time, the bending direction of the steering joint can be controlled by a rocker, a universal ball and a traction rope, so that the probe can perform 360° bending detection. However, although the above-mentioned endoscope can be used for observation, it cannot perform other operations on parts and equipment. Therefore, in order to adapt to the exploration and other operations in narrow and complex spaces, the present invention provides an operating device for narrow spaces. Summary of the invention

[0005] The details of one or more embodiments of the present invention are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent.

[0006] In view of the problems existing in existing industrial endoscopes, such as hose-type endoscopes cannot provide effective support and straight-rod endoscopes cannot adapt to complex situations and perform various operations, the present invention proposes an operating device for use in a narrow space, which can observe and perform required operations on components, equipment, cables, etc. in the cabin without separating the outer shell, thereby greatly saving assembly time.

[0007] The present invention discloses an operating device for a narrow space, comprising a control unit for driving and controlling the operation of each component unit; a mechanical arm unit, mechanically and electrically connected to the control unit, the mechanical arm unit comprising a plurality of transmission components, the ends of each two adjacent transmission components are connected by a universal joint, and the outer sides of each two adjacent transmission components are connected to a telescopic pneumatic rod, the control unit controls the transmission components to achieve power transmission through the universal joint, and controls the telescopic movement of the telescopic pneumatic rod to drive the transmission components to achieve the telescopic movement of the mechanical arm unit; a guide joint unit, flexibly mechanically and electrically connected to the mechanical arm unit, the guide joint unit comprises a flexible tube and a plurality of universal rotating shafts arranged in a cavity of the flexible tube and continuously arranged and connected along the inside of the flexible tube, the control unit realizes the omnidirectional rotation of the guide joint unit by controlling the steering of the universal rotating shaft; a working unit, mechanically and electrically connected to the guide joint unit and arranged at the front end of the guide joint unit, the control unit controls the mechanical arm unit and the guide joint unit according to the feedback information transmitted by the working unit, and then controls the working unit to rotate to a desired operating position and perform corresponding operating actions.

[0008] In some embodiments, the control unit includes a shell; a display screen, which is arranged on the shell and is electrically connected to the working unit; a robotic arm control joystick, which is arranged at one end of the shell and is electrically connected to the robotic arm unit; a guide joint control component, which is arranged at one end of the shell and is electrically connected to the guide joint unit; a working unit control button, which is arranged on the shell and is electrically connected to the working unit; an explosion-proof junction box, which is arranged inside the shell and is electrically connected to the control unit; a temperature monitoring component, which is arranged inside the shell and is connected to the control unit; and a heat dissipation component, which is arranged on the shell.

[0009] In some embodiments, the guide joint control component includes a first base, which is arranged inside the shell, and a rotating shaft coaxial with the first base is arranged on the first base; a distribution disk, which is sleeved on the outer circumference of the rotating shaft; two traction disks, which are sequentially sleeved on the outer circumference of the rotating shaft and located above the distribution disk; two control turntables, which are sequentially sleeved on the outer circumference of the rotating shaft and located above the two traction disks; and a plurality of steel ropes, each of which has two ends respectively connected to the control turntable and the guide joint unit.

[0010] In some embodiments, each of the transmission components includes two bearing mounting seats; two bearings, which are respectively arranged on the two bearing mounting seats; and a transmission shaft, wherein both ends of the transmission shaft are respectively connected to the two bearings.

[0011] In some embodiments, the guide joint unit also includes a cable tray, which is arranged at the rear end of the flexible tube, and the cable tray is connected to the bearing of an adjacent transmission component; a joint, which is arranged at the front end of the flexible tube, and multiple steel wire ropes of the guide joint control component are led out through the cable tray and connected to the joint, and the steel wire ropes pull the joint to achieve steering of the universal joint.

[0012] In some of the embodiments, adjacent universal joints are connected by shafts, wherein the universal joint at the endmost end is connected to a bearing of a transmission component at a front end of the robotic arm unit, and the universal joint at the frontmost end is connected to the joint.

[0013] In some embodiments, the robotic arm unit also includes a motor, which is arranged at the front end of the control unit, and the motor is electrically connected to the control unit; a turntable, one end of which is connected to the output end of the motor; and a locking disk, which is connected to the other end of the turntable.

[0014] In some embodiments, the working unit includes a second base, which is arranged at the front end of the guide joint unit; a locking mechanism, which is arranged on the outside of the second base; a camera module, which is arranged on the second base, and the camera module is electrically connected to the working unit control button; and an illumination module, which is arranged on the second base, and the illumination module is electrically connected to the working unit control button.

[0015] In some embodiments, the locking mechanism includes a locking sleeve, which is sleeved on the outside of the second base; a plurality of steel balls, which are arranged at intervals inside the locking sleeve; and a spring, which is sleeved on the outside of the second base and located inside the locking sleeve.

[0016] In some embodiments, the working unit also includes a grasping module detachably disposed on the second base, the grasping module including a reciprocating screw disposed on the second base; a slider threadedly connected to the reciprocating screw, the slider reciprocatingly moving through the drive of the reciprocating screw; a connecting rod mechanism disposed on the slider, the reciprocating motion of the slider drives the connecting rod mechanism to move; a grasping clamp connected to the connecting rod mechanism, the grasping clamp is driven to open or close by the connecting rod mechanism to achieve grasping by the grasping clamp.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention provides an operating device for a narrow space. By adding a retractable and bendable mechanical arm unit, support is provided for a working unit located at the front end of the device. In conjunction with a bendable and omnidirectionally rotatable guiding joint unit, the working unit located at the front end of the device can conduct omnidirectional observation of the complex internal conditions of a product to be inspected. The working unit can be replaced according to the required operation, and power is transmitted to the front end working unit by arranging multiple transmission components inside the mechanical arm unit, thereby realizing more operations besides observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of an operating device for a narrow space according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a control unit of an operating device for a narrow space according to an embodiment of the present invention;

[0022] Figure 3 A top view of a guide joint control component of an operating device for a narrow space according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a mechanical arm of an operating device for a narrow space according to an embodiment of the present invention;

[0024] Figure 5 A top view of a guide joint of an operating device for a narrow space according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic structural diagram of a working unit of an operating device for a narrow space according to an embodiment of the present invention;

[0026] Figure 7 A cross-sectional view of a grabbing module of an operating device for a narrow space according to an embodiment of the present invention;

[0027] Description of reference numerals:

[0028] 100, control unit, 110, housing, 120, display screen, 130, switch, 140, robot arm control rocker, 150, guide joint control component, 151, first base, 152, distribution plate, 153, traction plate, 154, control turntable, 155, wire rope, 160, working unit control button;

[0029] 200, robotic arm unit, 210, motor, 220, turntable, 230, locking disk, 240, housing, 250, transmission component, 251, bearing mounting seat, 252, bearing, 253, transmission shaft, 260, universal joint, 270, telescopic pneumatic rod, 280, cable;

[0030] 300. guide joint unit, 310. flexible tube, 320. cable tray, 330. joint, 340. universal shaft, 350. tungsten wire braided outer skin, 360. polyurethane outer layer;

[0031] 400. Working unit; 410. Second base; 420. Locking mechanism; 421. Locking sleeve; 422. Steel ball; 423. Spring; 430. Camera module; 440. Illumination module; 450. Grasping module; 451. Sliding block; 452. Reciprocating screw rod; 453. Connecting rod mechanism; 454. Grasping forceps. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0033] Obviously, the drawings described below are only some examples or embodiments of the present invention. For ordinary technicians in this field, the present invention can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed by the present invention, some changes in design, manufacturing or production based on the technical content disclosed by the present invention are just conventional technical means, and should not be understood as insufficient content disclosed by the present invention.

[0034] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present invention may be combined with other embodiments without conflict.

[0035] Unless otherwise defined, the technical terms or scientific terms involved in the present invention shall have the usual meaning understood by persons with ordinary skills in the technical field to which the present invention belongs. The words "one", "a", "a", "the" and the like involved in the present invention do not indicate a quantity limitation and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof involved in the present invention are intended to cover non-exclusive inclusions. The words "connect", "connected" and the like involved in the present invention are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in the present invention refers to two or more. The terms "first", "second", etc. involved in the present invention are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0036] An embodiment of the present invention provides an operating device for a narrow space. Without separating the outer shell, it can realize the detection of narrow and complex spaces such as parts, equipment, cables, etc. in the cabin and realize various required basic operations through replaceable operating modules, which greatly saves assembly time. It also has an explosion-proof structural design and explosion-proof measures to meet the use in special working environments. Figure 1 Schematic diagram of the structure of an operating device for a narrow space according to an embodiment of the present invention. Figure 1 As shown, the operating device for a narrow space at least includes a control unit 100, a robot arm unit 200, a guide joint unit 300 and a working unit 400 which are connected in sequence.

[0037] The control unit 100 of the operating device for a narrow space of the present invention is used to drive and control the operation of each component unit. Figure 2As shown, the control unit 100 includes a housing 110; a display screen 120, which is arranged on the housing 110, the display screen 120 is electrically connected to the working unit 400, and the display screen 120 is used to display the picture transmitted by the front-end working unit 400 in real time; a switch 130, which is arranged on the housing 110, the switch 130 is electrically connected to the working unit 400, and the switch 130 is used to control the opening and closing of the entire operating device; a mechanical arm control rocker 140, which is arranged at one end of the housing 110, the mechanical arm control rocker 140 is electrically connected to the mechanical arm unit 200, and is used to control the extension and contraction of the mechanical arm; a guide joint control component 150, which is arranged at one end of the housing 110, the guide joint control component 150 is electrically connected to the guide joint unit 300, and the guide joint control component 150 is used to control the omnidirectional rotation of the guide joint unit 300; The working unit control button 160 is arranged on the shell 110, and the working unit control button 160 is electrically connected to the working unit 400. By controlling the rotation of the motor, the power is transmitted to the front working unit 400 to realize the corresponding operation; the pneumatic control component is arranged on the shell 110, and the extension and contraction of the robotic arm unit 200 is realized by controlling the telescopic movement of the telescopic pneumatic rod 270; the explosion-proof junction box is arranged inside the shell 110, and the explosion-proof junction box is connected to the control unit 100 to prevent leakage; the temperature monitoring component is arranged inside the shell 110, and the temperature monitoring component is connected to the control unit 100, and is used to monitor the temperature of the operating device in real time; the heat dissipation component is arranged on the shell 110, and the heat generated inside the operating device is output to the outside to prevent the explosion of the explosive gas mixture existing in the working environment due to excessive temperature.

[0038] refer to Figure 3 As shown, the guide joint control component 150 includes a first base 151, which is arranged inside the housing 110, and a rotating shaft coaxial with the first base 151 is arranged on the first base 151, and the free end of the rotating shaft passes through the control unit housing; a distribution plate 152, which is arranged on the first base 151 and sleeved on the outer peripheral surface of the rotating shaft; two traction plates 153, which are sequentially sleeved on the outer peripheral surface of the rotating shaft and located above the distribution plate 152, and the central axes of the traction plates 153 and the distribution plate 152 are on the same straight line; two control rotating plates 154, which are sequentially sleeved on the outer peripheral surface of the rotating shaft and located above the two traction plates 153 and outside the housing 110; and multiple steel wire ropes 155, and the two ends of each steel wire rope 155 are respectively connected to the control rotating plate 154 and the guide joint unit 300. By rotating the control rotating plate 154, the four steel wire ropes 155 are pulled to control the guide joint unit 300, so as to realize the omnidirectional rotation of the guide joint unit 300.

[0039] The robot arm unit 200 of the operating device for a narrow space of the present invention is mechanically and electrically connected to the control unit 100. Figure 4As shown, the robot arm unit 200 includes a plurality of transmission components 250, the ends of each two adjacent transmission components 250 are connected by a universal joint 260, and the outer sides of each two adjacent transmission components 250 are connected to a telescopic pneumatic rod 270, and the control unit 100 controls the transmission components 250 to achieve power transmission through the universal joint 260, and controls the telescopic movement of the telescopic pneumatic rod 270 to drive the extension and contraction of the transmission components 250 to achieve the extension and contraction of the robot arm unit 200. Each transmission component 250 includes two bearing mounting seats 251; two bearings 252, which are respectively arranged on the two bearing mounting seats 251; and a transmission shaft 253, and the two ends of the transmission shaft 253 are respectively connected to the bearings 252. The robot arm unit 200 also includes a motor 210, which is arranged at the front end of the control unit 100. The motor 210 is electrically connected to the control unit 100. The rotation speed is limited by the motor 210 to prevent excessive surface temperature caused by rotational friction, thereby meeting the explosion-proof requirements; a turntable 220, one end of which is connected to the output end of the motor 210, and the turntable 220 is used to control the overall rotation of the robot arm; a locking disk 230 is connected to the other end of the turntable 220 to lock the turntable 220 to prevent the turntable 220 from rotating; a housing 240, which adopts a double-layer metal explosion-proof structure and is grounded through a grounding wire to prevent static electricity from causing sparks; a cable 280, which is arranged inside the housing 240 near Near the inner wall of the outer shell 240, the cable 280 extends to the working unit 400. By separating the cable 280 from the transmission component 250, it can be ensured that the transmission shaft of the transmission component 250 will not be entangled with the cable 280 during rotation. The outer layer of the cable 280 is wrapped with rubber insulating material, and a grounding core wire is provided inside to prevent leakage and abnormal discharge. The area where the cable 280 is located is filled with heat-insulating, flame-retardant, and insulating foam plastics to prevent the cable 280 from overheating or accidental exposure and discharge. Preferably, the telescopic pneumatic rod is arranged on the outer wall of the outer shell, and the telescopic rod is controlled by the pneumatic control component arranged in the control unit 100; the outer side of the universal joint 260 is wrapped with flexible insulating material, and sealant is applied to the joints.

[0040] The guide joint unit 300 of the operating device for a narrow space of the present invention is flexible and electrically connected to the robot arm unit 200. Figure 5As shown, the guide joint unit 300 includes a flexible tube 310 and a plurality of universal shafts 340 which are arranged in the cavity of the flexible tube 310 and are continuously arranged and connected along the inside of the flexible tube 310 . The control unit 100 realizes omnidirectional rotation of the guide joint unit 340 by controlling the steering of the universal shafts 340 . The guide joint unit 300 also includes a cable tray 320, which is arranged at the rear end of the flexible tube 310, and the cable tray 320 is connected to the bearing 252 of the adjacent transmission component 250; a joint 330, which is arranged at the front end of the flexible tube 310, and is used to further transmit power to the front end working unit 400. A plurality of steel wire ropes 155 from the guide joint control component 150 are led out through the cable tray 320 and connected to the joint 330 at the front end of the flexible tube 310. The joint 330 is pulled by the steel wire ropes 155 to realize the steering of the universal shaft 340; the outer layer of the flexible tube 310 is sequentially coated with a tungsten wire braided outer skin 350 and a polyurethane outer layer 360, wherein the polyurethane outer layer 350 is an elastic insulating material used to provide support force. When the four steel wire ropes do not provide traction force, the guide joint is restored to a straight state; the polyurethane outer layer 360 also serves to electrically insulate the internal space of the guide joint unit 300. The flexible tube 310 is preferably a snake-bone tube, which is used to support the internal space and accommodate the internal structure and cables. The adjacent universal shafts 340 are connected by shafts, wherein the universal shaft 340 at the end is connected to the bearing 252 of the transmission component 250 at the front end of the robot arm unit 200, and the universal shaft 340 at the front end is connected to the joint 330. When working, the transmission shaft 253 transmits power to the universal shaft 340, and then the universal shaft 340 transmits it to the front end working unit 400 for corresponding operation.

[0041] The working unit 400 of the present invention is used in a narrow space, which is mechanically and electrically connected to the guide joint unit 300 and is arranged at the front end of the guide joint unit 300. The control unit 100 controls the mechanical arm unit 200 and the guide joint unit 300 according to the feedback information transmitted by the working unit 400, and then controls the working unit 400 to rotate to the required operating position and perform the corresponding operating action. Figure 6 As shown, the working unit 400 includes a second base 410, which is arranged at the front end of the guide joint unit 300; a locking mechanism 420, which is arranged on the outside of the second base 410, and is used to realize the connection and locking of the joint between the working unit 400 and the guide joint unit 300; a camera module 430, which is arranged on the second base 410, and the camera module 430 is electrically connected to the working unit control button 160, and the camera module 430 is used to capture images and recognize, and transmit video signals back to the controller; a lighting module 440, which is arranged on the second base 410, and the lighting module 440 is electrically connected to the working unit control button 160, and the lighting module 440 is used to provide lighting in a dark environment. Figure 7As shown, the locking mechanism 420 includes a locking sleeve 421 sleeved on the outside of the second base 410; a plurality of steel balls 422 spaced apart inside the locking sleeve 421 and located between the joint 330 and the locking sleeve 421; and a spring 423 disposed inside the locking sleeve 421. To achieve the grasping operation, the working unit 400 further includes a grasping module 450 detachably arranged on the second base 410, and the grasping module 450 includes a reciprocating screw 452 arranged on the second base 410; a slider 451, which is threadedly connected to the reciprocating screw 452, and the slider 451 is driven to reciprocate by the rotation of the reciprocating screw 452; a connecting rod mechanism 453, which is arranged on the slider 451, and the reciprocating motion of the slider 451 drives the connecting rod mechanism 453 to move; a grasping clamp 454, which is connected to the connecting rod mechanism 453, and the grasping clamp 454 is driven to open or close by the connecting rod mechanism 453 to achieve the grasping of the grasping clamp 454. In actual operation, the grasping module 45 can be replaced with other functional modules as needed, such as a screw wrench, scissors, etc.

[0042] The operating method of the operating device for a narrow space in the embodiment of the present invention specifically includes the following steps:

[0043] S1. Turn on the control unit switch 130, loosen the locking disk 230 of the robot arm unit 200, rotate the turntable 220 to a desired angle according to the general direction to be explored, and then tighten the locking disk 230 of the robot arm unit 200;

[0044] S2, toggle the manipulator control joystick 140 to control the manipulator unit 200 to slowly extend into the cabin;

[0045] S3, rotating the control dial 154 of the steering joint control component 150, controlling the steering joint unit 300 to rotate in all directions, transmitting image information of the display screen 120 back through the camera module 430, and rotating to a desired direction;

[0046] S4, pressing the operating button of the working unit 400 to control the working unit 400 to perform the required operation;

[0047] S5. After completing the required operation, slowly withdraw the robot arm unit 200, restore the control dial 154 of the guide joint control component 150 to zero position, and turn off the control unit switch 130.

[0048] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An operating device for a narrow space, characterized in that: include A control unit, used to drive and control the operation of each component unit; A mechanical arm unit, mechanically and electrically connected to the control unit, the mechanical arm unit comprising a plurality of transmission components, the ends of each two adjacent transmission components are connected by a universal joint, and the outer sides of each two adjacent transmission components are connected to a telescopic pneumatic rod, the control unit controls the transmission components to achieve power transmission through the universal joint, and controls the telescopic movement of the telescopic pneumatic rod to drive the transmission components to extend and retract to achieve the extension and retraction of the mechanical arm unit; A guide joint unit, which is flexible and electrically connected to the mechanical arm unit, comprises a flexible tube and a plurality of universal shafts which are arranged in a cavity of the flexible tube and are continuously arranged and connected along the inside of the flexible tube, and the control unit realizes omnidirectional rotation of the guide joint unit by controlling the steering of the universal shafts; The working unit is mechanically and electrically connected to the guiding joint unit and is arranged at the front end of the guiding joint unit. The control unit controls the mechanical arm unit and the guiding joint unit according to the feedback information transmitted by the working unit, and then controls the working unit to rotate to the required operating position and perform corresponding operating actions.

2. The operating device for a narrow space according to claim 1, characterized in that: The control unit comprises case; A display screen is arranged on the housing, and the display screen is electrically connected to the working unit; A robot arm control rocker, disposed at one end of the housing, the robot arm control rocker being electrically connected to the robot arm unit; A guide joint control component is disposed at one end of the housing, and the guide joint control component is electrically connected to the guide joint unit; A working unit control button, disposed on the housing, the working unit control button being electrically connected to the working unit; An explosion-proof junction box, disposed inside the housing, and electrically connected to the control unit; A temperature monitoring component is disposed inside the housing and connected to the control unit; The heat dissipation component is arranged on the shell.

3. The operating device for a narrow space according to claim 2, characterized in that: The guide joint control component includes A first base is arranged inside the housing, and a rotating shaft coaxial with the first base is arranged on the first base; A line distribution plate, sleeved on the outer circumference of the rotating shaft; Two traction disks are sequentially sleeved on the outer circumference of the rotating shaft and located above the distribution disk; Two control rotating discs are sequentially sleeved on the outer circumference of the rotating shaft and are located above the two traction discs; A plurality of steel wire ropes, two ends of each of the steel wire ropes are respectively connected to the control turntable and the guide joint unit.

4. The operating device for a narrow space according to claim 3, characterized in that: Each of the transmission components includes Two bearing mounting seat; Two bearings are respectively arranged on the two bearing mounting seats; A transmission shaft, both ends of which are connected to the two bearings respectively.

5. The operating device for a narrow space according to claim 4, characterized in that: The guide joint unit also includes A cable tray is arranged at the rear end of the flexible tube, and the cable tray is connected to the bearing of the adjacent transmission component; The joint is arranged at the front end of the flexible tube. The multiple steel wires of the guide joint control component are led out through the cable drum and connected to the joint. The steel wires pull the joint to realize the steering of the universal shaft.

6. The operating device for a narrow space according to claim 5, characterized in that: Adjacent universal shafts are connected by shafts, wherein the universal shaft at the very end is connected to the bearing of the transmission component at the front end of the robot arm unit, and the universal shaft at the very front end is connected to the joint.

7. The operating device for a narrow space according to claim 1, characterized in that: The robot arm unit also includes A motor is arranged at the front end of the control unit, and the motor is electrically connected to the control unit; A turntable, one end of which is connected to the output end of the motor; A locking disc is connected to the other end of the rotating disc.

8. The operating device for a narrow space according to claim 2, characterized in that: The working unit includes A second base, disposed at the front end of the guide joint unit; A locking mechanism, disposed outside the second base; A camera module, disposed on the second base, the camera module being electrically connected to the working unit control button; The illumination module is disposed on the second base, and the illumination module is electrically connected to the working unit control button.

9. The operating device for a narrow space according to claim 8, characterized in that: The locking mechanism comprises A locking sleeve, sleeved on the outer side of the second base; A plurality of steel balls are arranged at intervals inside the locking sleeve; The spring is sleeved on the outer side of the second base and located inside the locking sleeve.

10. The operating device for a narrow space according to claim 8, characterized in that: The working unit further comprises a grabbing module detachably arranged on the second base, the grabbing module comprising A reciprocating screw rod is arranged on the second base; A slider is threadedly connected to the reciprocating screw, and the slider is driven by the reciprocating screw to reciprocate; A connecting rod mechanism is arranged on the slider, and the reciprocating motion of the slider drives the connecting rod mechanism to move; The grabbing pliers are connected to the connecting rod mechanism, and the connecting rod mechanism drives the grabbing pliers to open or close to achieve the grabbing of the grabbing pliers.

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