A universal fine-tuning manipulator for modular pipeline installation in narrow spaces

Abstract

The utility model discloses a kind of universal fine adjustment mechanical hands of narrow space modularization pipeline installation, including pipeline gripper, laser alignment instrument and six degrees of freedom hydraulic arm, the laser alignment instrument is embedded inside pipeline gripper, the pipeline gripper is fixed in the end of six degrees of freedom hydraulic arm, annular laser emission module is provided in the laser alignment instrument, the annular laser emission module includes multiple laser emission units evenly distributed along circumference, each laser emission unit is configured with independent angle adjusting mechanism, each joint inside six degrees of freedom hydraulic arm is provided with pressure buffer chamber, variable damping medium is filled in the pressure buffer chamber, the pipeline gripper is connected between six degrees of freedom hydraulic arm by spherical universal joint, torque sensor array is provided in the spherical universal joint, microvibration excitation device is embedded in the clamping part of the pipeline gripper, the laser alignment instrument is also provided with telescopic beam conduit.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and more particularly to a universal fine-tuning robotic arm for modular pipe installation in narrow spaces. Background Technology

[0002] Pipeline installation in confined spaces is a challenging task, particularly in industries such as petrochemicals, shipbuilding, and aerospace. Precise positioning and installation of pipelines require highly accurate and flexible mechanical devices. Traditional pipeline installation equipment typically employs rigid robotic arms and simple clamping mechanisms, which struggle to adapt to the multi-angle adjustment needs in complex spatial environments. Furthermore, their insufficient precision in pipeline alignment and attitude adjustment easily leads to installation errors. In addition, vibrations and external shocks in confined spaces adversely affect equipment stability and positioning accuracy. Traditional equipment lacks effective buffering and dynamic adjustment capabilities, failing to meet the requirements of high-precision operations. These issues limit the efficiency and reliability of automated installation, especially in scenarios requiring rapid response and fine-tuning. Therefore, developing a pipeline installation mechanical device capable of high-precision alignment, multi-degree-of-freedom flexible adjustment, and vibration resistance and dynamic buffering in confined spaces has become a critical problem urgently needing to be solved in the current technological field. Utility Model Content

[0003] The purpose of this invention is to provide a universal fine-tuning manipulator for modular pipe installation in narrow spaces, which solves the problems of low installation accuracy and difficult operation of pipes in narrow spaces. This invention provides a universal fine-tuning manipulator that integrates laser centering, flexible adjustment and vibration assistance, so as to achieve millimeter-level precise positioning and efficient installation of pipes.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] This application discloses a universal fine-tuning manipulator for modular pipe installation in narrow spaces, comprising: a six-degree-of-freedom hydraulic arm, a pipe gripper, and a laser alignment device; one end of the six-degree-of-freedom hydraulic arm is connected to the pipe gripper, and the pipe gripper and the six-degree-of-freedom hydraulic arm are connected via a ball joint; the other end of the six-degree-of-freedom hydraulic arm is provided with a gripping part; the laser alignment device is disposed inside or at one end of the pipe gripper and is coaxial with the pipe gripper, forming an integrated gripping and positioning module; the laser alignment device includes a ring laser emitting module, which contains multiple laser emitting units evenly distributed along the circumference; each laser emitting unit is equipped with an independent angle adjustment mechanism.

[0006] Furthermore, the ring laser emitting module has 6 to 12 laser emitting units, and the included angle between each laser emitting unit is 30 to 60 degrees.

[0007] The angle adjustment mechanism includes a stepper motor-driven gear transmission assembly and an optical reflector. The gear transmission assembly drives the optical reflector to adjust its angle in the horizontal and vertical directions.

[0008] Furthermore, the gear transmission assembly adopts a planetary gear structure; the surface of the optical reflector is coated with an enhanced reflective coating.

[0009] Furthermore, each joint of the six-degree-of-freedom hydraulic arm is provided with a pressure buffer chamber, which is filled with a variable damping medium; the pressure buffer chamber is connected to an external pressure control system through a regulating valve; the variable damping medium is a magnetorheological fluid or an electrorheological fluid.

[0010] Furthermore, each joint is also equipped with a position sensor, a speed sensor, and a pressure sensor, forming a closed-loop control system; the external pressure control system includes a proportional pressure valve and a pressure accumulator.

[0011] Furthermore, the spherical universal joint is provided with a torque sensor array, which includes a radial force sensor, an axial force sensor, and a torque sensor.

[0012] Furthermore, the signals from the torque sensor array are transmitted to the control system via a wireless transmission module; the spherical universal joint has a rotation range of no less than 45 degrees in each direction.

[0013] Furthermore, the clamping part of the pipe clamp is embedded with a micro-vibration excitation device; the micro-vibration excitation device includes a piezoelectric ceramic vibrator and a vibration transmission plate, the piezoelectric ceramic vibrator is fixed on the inner wall of the clamping part; the vibration frequency adjustment range of the piezoelectric ceramic vibrator is 100Hz to 1000Hz, and the vibration amplitude is 0.01mm to 0.1mm.

[0014] Furthermore, the telescopic length and bending angle of the telescopic beam guide change synchronously with the adjustment of the optical reflector by the angle adjustment mechanism.

[0015] The modular pipe installation universal fine-tuning robot in narrow spaces provided by this utility model achieves many significant technical effects through the innovative design and coordinated operation of its components, as specifically demonstrated below:

[0016] 1. Achieve ultra-precision pipe alignment and installation

[0017] The ring-shaped laser emitting module employs 6 to 12 evenly distributed laser emitting units, combined with an angle adjustment mechanism with an adjustment accuracy within 0.1 degrees, to construct an all-around laser positioning network. The convergence point formed by multiple laser beams after reflection by a high-precision optical mirror (surface flatness up to λ / 10) can achieve millimeter-level positioning accuracy in three-dimensional space, fundamentally solving the problem of errors easily generated by traditional single-direction positioning, and providing extremely high positional accuracy assurance for pipeline installation.

[0018] 2. Significantly improves adaptability to operation in confined spaces

[0019] The six-degree-of-freedom hydraulic arm provides a flexible multi-degree-of-freedom motion foundation, coupled with a spherical universal joint with a rotation range of no less than 45 degrees in each direction, enabling the pipe clamp to complete all-round posture adjustments in confined spaces. The linkage design of the telescopic beam guide (50mm~200mm telescopic range) and the angle adjustment mechanism further adapts to pipes of different sizes and complex spatial geometry, allowing the device to operate freely in narrow and complex pipe network environments.

[0020] 3. Dynamically optimize system stability and response performance

[0021] The variable damping medium, such as magnetorheological fluid or electrorheological fluid, within the hydraulic arm joint can change its viscosity in real time under the influence of electromagnetic / electric fields. Combined with a closed-loop control system consisting of position, speed, and pressure sensors, it can intelligently adjust the damping according to working conditions: increasing damping for impact protection and decreasing damping for precise positioning to improve response speed, thus balancing operational safety and precision. The proportional pressure valve and accumulator of the external pressure control system ensure the stability and reliability of this adjustment process.

[0022] 4. Significantly improves installation efficiency and ease of operation

[0023] The micro-vibration excitation device (frequency 100Hz~1000Hz, amplitude 0.01mm~0.1mm) of the clamping part reduces the static friction between the pipe and the claw through high-frequency micro-vibration, making the pipe easier to align accurately under laser guidance and significantly shortening the positioning time. The torque sensor array inside the spherical universal joint provides real-time feedback of three-dimensional force and torque information via wireless transmission, which, in conjunction with the laser positioning data, guides the adjustment of the hydraulic arm, reducing manual intervention and lowering the difficulty of operation.

[0024] 5. Enhance equipment durability and adaptability to industrial environments

[0025] The spherical universal joint is made of high-strength alloy steel and has undergone surface hardening treatment, giving it excellent wear resistance and corrosion resistance. The enhanced reflective coating of the optical mirror can withstand temperature changes and vibrations in industrial environments. The metal braided protective sleeve of the retractable beam duct provides reliable mechanical protection for the internal optical fibers. These designs together improve the service life and stable operation of the device in harsh industrial environments.

[0026] In summary, this device achieves precise three-dimensional positioning of the laser beam convergence point through 6 to 12 laser emitting units and an angle adjustment mechanism, ensuring accurate pipeline alignment. The six-degree-of-freedom hydraulic arm is equipped with a pressure buffer chamber filled with magnetorheological or electrorheological fluid. A closed-loop control system dynamically adjusts the damping characteristics to effectively cope with external impacts and improve positioning response speed. A spherical universal joint combined with a torque sensor array supports omnidirectional attitude adjustment and real-time monitoring of force and torque, ensuring operational stability in complex environments. The micro-vibration excitation device in the clamping section optimizes clamping stability through a piezoelectric ceramic vibrator.

[0027] This invention discloses a universal micro-adjustment robot for modular pipe installation in confined spaces. By integrating a laser alignment device, a six-degree-of-freedom hydraulic arm, and a pipe gripper, it solves the technical problems of low installation accuracy and difficult posture adjustment in confined spaces. This invention significantly improves the accuracy, stability, and adaptability of pipe installation in confined spaces, making it suitable for complex industrial environments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the spherical universal joint force monitoring system of this utility model.

[0030] 1-Pipe clamp, 2-Laser alignment instrument, 3-Six-degree-of-freedom hydraulic arm, 4-Universal ball joint, 41-Radial force sensor, 42-Axial force sensor, 43-Torque sensor, 5-Clamping part. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] For ease of description, all terminology used in this manual is based on the placement posture of the omnidirectional fine-tuning manipulator for modular pipe installation in confined spaces under normal operating conditions. The terms "up," "down," "left," "right," "front," and "back" are relative to the normal operating state of the equipment. Connection methods include fixed connections, rotating connections, and sliding connections. A fixed connection refers to a connection where there is no relative movement between the two components, while a rotating connection refers to a connection where the two components can rotate relative to each other.

[0033] Reference Figure 1 As shown, the universal fine-tuning manipulator for modular pipe installation in narrow spaces provided by this utility model includes a pipe gripper 1, a laser alignment instrument 2, and a six-degree-of-freedom hydraulic arm 3.

[0034] One end of the six-degree-of-freedom hydraulic arm 3 is connected to the pipe clamp 1, and the pipe clamp 1 and the six-degree-of-freedom hydraulic arm 3 are connected by a ball joint 4; the other end of the six-degree-of-freedom hydraulic arm 3 is provided with a clamping part 5.

[0035] The laser alignment instrument 2 is located inside or at one end of the pipe clamp 1 and is coaxial with the pipe clamp 1, forming an integrated clamping and positioning module.

[0036] The entire device combines the high-precision positioning function of the laser alignment instrument 2 with the flexible movement of the six-degree-of-freedom hydraulic arm 3 to achieve precise clamping and alignment of the pipeline in a narrow space.

[0037] The laser alignment instrument 2 is equipped with a ring-shaped laser emitting module, which includes multiple laser emitting units evenly distributed along the circumference. Each laser emitting unit is equipped with an independent angle adjustment mechanism, allowing each unit to independently adjust the emission angle and direction of its laser beam. The overall structure of the ring-shaped laser emitting module is arranged in a ring shape, with the laser emitting units evenly distributed along the circumference of the module, ensuring that the laser beam can be emitted simultaneously from multiple angles, forming a comprehensive laser positioning network. This ring arrangement effectively improves alignment accuracy and avoids positioning errors that may occur with a single-direction laser beam.

[0038] The ring-shaped laser emitting module has 6 to 12 laser emitting units, with the included angle between each unit ranging from 30 to 60 degrees. The angle adjustment mechanism includes a stepper motor-driven gear transmission assembly and an optical reflector. The gear transmission assembly drives the optical reflector to adjust its angle in both horizontal and vertical directions, achieving an adjustment accuracy within 0.1 degrees. The gear transmission assembly employs a planetary gear structure with a transmission ratio between 1:50 and 1:100. This high transmission ratio design precisely converts the rotation of the stepper motor into minute angle adjustments of the optical reflector, thereby achieving high-precision laser beam direction control.

[0039] The optical reflector is coated with an enhanced reflective coating, enabling it to withstand temperature variations and vibrations in industrial environments. Manufactured using high-precision optical glass, the reflector boasts a surface flatness within λ / 10, ensuring the quality of the reflected laser beam remains unaffected. The laser beams emitted by the laser emitting unit converge at a point after reflection by the optical reflector. The position of this convergence point is precisely located in three-dimensional space through coordinated control of the laser emitting units. The convergence point of multiple laser beams represents the target position for pipe alignment. By adjusting the angles of each laser emitting unit, the spatial position of the convergence point can be precisely controlled, achieving millimeter-level positioning accuracy.

[0040] Each joint of the six-degree-of-freedom hydraulic arm 3 is equipped with a pressure buffer chamber filled with a variable damping medium. The pressure buffer chamber is connected to an external pressure control system via a regulating valve, allowing for pressure adjustment as needed. The variable damping medium is a magnetorheological fluid or an electrorheological fluid, whose viscosity characteristics are altered by adjusting the intensity of an electromagnetic or electric field. When an electromagnetic or electric field is applied, the viscosity of the magnetorheological or electrorheological fluid changes significantly, thereby altering the damping characteristics of the joint and achieving dynamic adjustment of the joint stiffness.

[0041] The magnetorheological / electrorheological fluid chamber within the three joints of the six-degree-of-freedom hydraulic arm employs a multi-layered composite sealing structure (such as PTFE sealing rings + magnetic fluid seals) to prevent particle leakage. The chamber material uses a wear-resistant coating to reduce fluid wear on the seals. The external pressure control system is equipped with a leak detection sensor; in the event of a leak, an alarm is immediately triggered, and a safety shutdown procedure is initiated to prevent environmental pollution and equipment damage.

[0042] Each joint of the six-degree-of-freedom hydraulic arm 3 is also equipped with a position sensor and a speed sensor. These sensors, together with the pressure sensor in the pressure buffer chamber, form a closed-loop control system. The position sensor monitors the angular position of the joint in real time, the speed sensor monitors the movement speed of the joint, and the pressure sensor monitors the pressure changes in the pressure buffer chamber. When an external impact or vibration is detected, the system automatically increases the damping coefficient to provide buffer protection; during precision positioning, the damping coefficient is decreased to improve response speed and positioning accuracy. The external pressure control system includes a proportional pressure valve and a pressure accumulator. The proportional pressure valve adjusts the output pressure according to the control signal, and the pressure accumulator provides a stable pressure source for the system.

[0043] The pipe clamp 1 is connected to the six-degree-of-freedom hydraulic arm 3 via a spherical universal joint 4. The spherical part of the spherical universal joint 4 is made of high-strength alloy steel and its surface has undergone special hardening treatment, giving it excellent wear resistance and corrosion resistance.

[0044] Reference Figure 2 As shown, a torque sensor array is installed inside the spherical universal joint 4. This torque sensor array includes a radial force sensor 41, an axial force sensor 42, and a torque sensor 43. These sensors are evenly distributed along the spherical surface of the spherical universal joint 4, and can detect forces and torque components in three directions, thereby achieving all-round monitoring of the external forces acting on the pipe clamp 1.

[0045] The torque sensor array within the spherical universal joint 4 employs an anti-interference wireless transmission module (such as one based on ZigBee or industrial WiFi protocols) and incorporates an electromagnetic shielding layer to resist electromagnetic interference in industrial environments. The power supply solution combines a wireless charging module (such as inductively coupled power supply) with a micro-energy storage battery, ensuring continuous sensor operation even at high speeds without frequent battery replacements. The control system optimizes the data transmission protocol to achieve millisecond-level latency, meeting real-time force control requirements.

[0046] During operation, sensor signals are transmitted to the control system via a wireless transmission module. The wireless transmission module is designed to resist electromagnetic interference, such as frequency hopping technology or shielded packaging, and is equipped with a backup power system (such as a supercapacitor or rechargeable battery) to ensure signal stability and continuous power supply in industrial environments.

[0047] The spherical universal joint 4 has a rotation range of no less than 45 degrees in all directions, ensuring that the pipe clamp 1 can achieve omnidirectional posture adjustment in complex spatial environments. This large-angle rotation capability of the spherical universal joint 4 enables the device to adapt to various complex pipe installation angle requirements, especially for multi-angle pipe connection operations in narrow spaces.

[0048] The clamping part 5 of the pipe clamp 1 is embedded with a micro-vibration excitation device. The micro-vibration excitation device includes a piezoelectric ceramic vibrator and a vibration transmission plate. The piezoelectric ceramic vibrator is fixed to the inner wall of the clamping part 5. Driven by an electrical signal, the piezoelectric ceramic vibrator generates high-frequency micro-vibrations, with the vibration frequency adjustable within the range of 100Hz to 1000Hz. The vibration transmission plate evenly transmits the vibration generated by the piezoelectric ceramic vibrator to the entire clamping part 5, making it easier to adjust the clamped pipe to a precise alignment position under the action of micro-vibration.

[0049] The working principle of the micro-vibration excitation device is to generate controllable micro-vibrations to reduce the static friction between the pipe and the clamping part 5, enabling the pipe to be more accurately adjusted to the target position under the guidance of the laser alignment instrument 2. Experiments show that when the vibration frequency is higher than 500Hz and the amplitude is greater than 0.05mm, the static friction coefficient can be reduced by more than 30%, effectively assisting in pipe fine-tuning. The vibration amplitude is controlled within the range of 0.01mm to 0.1mm, which effectively reduces frictional resistance without damaging the pipe. This micro-vibration-assisted positioning technology significantly improves the accuracy and efficiency of pipe alignment.

[0050] The laser alignment instrument 2 is also equipped with a retractable beam guide, which adopts a flexible fiber bundle structure and is connected to the optical reflector at its end through a mechanical linkage mechanism.

[0051] When the angle adjustment mechanism drives the optical reflector to rotate, the linkage mechanism synchronously adjusts the extension length (50-200mm) and bending angle of the beam guide, ensuring that the laser beam is accurately projected from the guide outlet to the target position. This linkage design achieves closed-loop control through a stepper motor and encoder, ensuring that the laser beam path is synchronized with the reflector angle change in real time, thus avoiding beam deviation.

[0052] The telescopic beamguide and angle adjustment mechanism work in a coordinated manner: the stepper motor of the angle adjustment mechanism is connected to the telescopic drive mechanism of the telescopic beamguide via a drive shaft. When the angle adjustment mechanism adjusts the angle of the optical reflector, the telescopic beamguide simultaneously adjusts its telescopic length and bending angle to ensure that the laser beam can be accurately projected onto the target position. This coordinated design allows the laser alignment instrument 2 to adapt to a wider range of spatial geometric changes, improving the applicability of the device in complex pipeline networks.

[0053] During operation, the pipe clamp 1 is first moved to the vicinity of the pipe installation position by the six-degree-of-freedom hydraulic arm 3, and then the ring laser emission module of the laser alignment instrument 2 is activated. Each laser emission unit emits a laser beam, and through the precise control of the angle adjustment mechanism, multiple laser beams converge at the target position. At the same time, the torque sensor array inside the spherical universal joint 4 monitors the force state of the pipe clamp 1 in real time, providing feedback information for precise positioning.

[0054] Once the laser beam convergence point determines the pipe's alignment position, the clamping part 5 of the pipe clamp 1 clamps the pipe, and the micro-vibration excitation device begins operation, generating minute vibrations to reduce frictional resistance. The six-degree-of-freedom hydraulic arm 3, based on the positioning information from the laser alignment instrument 2 and the feedback signal from the torque sensor array, performs precise attitude adjustment, bringing the pipe to the accurate alignment position. Throughout the process, the variable damping medium within the pressure buffer chamber adjusts its damping characteristics according to the working conditions, providing lower damping during coarse positioning to improve response speed and higher damping during fine positioning to improve stability.

[0055] Specific work process:

[0056] Overall movement phase: The six-degree-of-freedom hydraulic arm 3, acting as the overall drive unit, moves the pipe gripper 1 and its integrated laser alignment device 2 together to the vicinity of the pipe installation position. The multi-degree-of-freedom motion of the hydraulic arm ensures that the robot can initially locate the target area.

[0057] Laser alignment and fine-tuning stage: The ring laser emission module of the laser alignment instrument 2 is activated. Each laser emission unit independently adjusts the direction of the laser beam through the angle adjustment mechanism, forming a convergence point of multiple laser beams at the target alignment position. At the same time, the torque sensor array in the spherical universal joint 4 monitors the force state of the pipe clamp 1 in real time and feeds it back to the control system.

[0058] Clamping and Vibration Assistance: The clamping claws 5 of the pipe clamper 1 clamp the pipe, and the micro-vibration excitation device is activated to generate high-frequency micro-vibration (frequency 100-1000Hz, amplitude 0.01-0.1mm). The vibration transmission plate adopts a rigid connection and damping optimization design to ensure that the vibration is evenly transmitted to the entire claw, effectively overcoming the static friction caused by rust or oil on the pipe surface.

[0059] Precise positioning and installation: The six-degree-of-freedom hydraulic arm 3, based on laser alignment information and torque feedback, performs micro-adjustments in attitude through the spherical universal joint 4 to precisely align the pipeline to the target position.

[0060] Welding interface design: After pipe alignment, the robotic arm can connect with external welding equipment through pre-reserved welding interfaces (such as the quick-release structure on gripper 5) to achieve automatic welding after pipe alignment. The welding process is coordinated by an independent control system to ensure seamless integration of welding accuracy and robotic arm operation.

[0061] In the above process, the pipe clamp 1 plays a crucial foundational role: it firmly clamps the pipe section to be welded from the other end of the pipe. Its internal components are typically equipped with adaptive or replaceable clamping modules (such as hydraulic jaws or modular jaws) to accommodate pipes of different diameters, ensuring stable clamping without damaging the pipe wall. During the equipment positioning phase, the six-degree-of-freedom hydraulic arm 3 achieves flexible and precise spatial positioning through multi-joint coordinated movement. Operators can control the hydraulic arm to extend, rotate, and pitch according to the pipe layout, ensuring precise alignment of the clamping jaws 5 with the pipe clamp 1, thus completing the pre-welding preparations.

[0062] After welding is completed, the robotic arm releases the pipe and exits the work area.

[0063] This invention achieves high-precision centering and positioning during pipeline installation by integrating the laser centering device 2 and the pipe clamp 1, combined with the flexible motion capability of the six-degree-of-freedom hydraulic arm 3. The multi-point laser convergence technology of the ring laser emission module ensures positioning accuracy, the large-angle rotation capability of the spherical universal joint 4 adapts to the requirements of complex spatial environments, the auxiliary effect of the micro-vibration excitation device improves positioning efficiency, and the dynamic adjustment function of the variable damping medium enhances the system's stability and adaptability. The entire device is particularly suitable for complex pipeline network installation operations in confined spaces, significantly improving the accuracy and efficiency of pipeline installation.

[0064] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the present invention and are not intended to limit the invention. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the present invention, provided that such modifications, substitutions, and variations are within the scope of the claims of the present invention and are protected by patent law.

Claims

1. A universal fine-tuning manipulator for modular pipe installation in narrow spaces, characterized in that, include: The system comprises a six-degree-of-freedom hydraulic arm (3), a pipe clamp (1), and a laser alignment device (2); one end of the six-degree-of-freedom hydraulic arm (3) is connected to the pipe clamp (1), and the pipe clamp (1) and the six-degree-of-freedom hydraulic arm (3) are connected by a ball joint (4); the other end of the six-degree-of-freedom hydraulic arm (3) is provided with a clamping part (5); the laser alignment device (2) is disposed inside or at one end of the pipe clamp (1) and is coaxial with the pipe clamp (1) to form an integrated clamping and positioning module; the laser alignment device (2) includes a ring laser emitting module, which contains multiple laser emitting units evenly distributed along the circumference; each laser emitting unit is equipped with an independent angle adjustment mechanism.

2. The omnidirectional fine-tuning manipulator according to claim 1, characterized in that: The ring laser emitting module has 6 to 12 laser emitting units, and the included angle between each laser emitting unit is 30 to 60 degrees. The angle adjustment mechanism includes a stepper motor-driven gear transmission assembly and an optical reflector. The gear transmission assembly drives the optical reflector to adjust its angle in the horizontal and vertical directions.

3. The universal micro-adjustment robot according to claim 2, characterized in that: The gear transmission assembly adopts a planetary gear structure; the surface of the optical mirror is coated with an enhanced reflective coating.

4. The universal fine-tuning manipulator according to claim 1, characterized in that: Each joint of the six-degree-of-freedom hydraulic arm (3) is provided with a pressure buffer chamber, which is filled with a variable damping medium; the pressure buffer chamber is connected to an external pressure control system through a regulating valve; the variable damping medium is a magnetorheological fluid or an electrorheological fluid.

5. The omnidirectional fine-tuning manipulator according to claim 4, characterized in that: Each joint is also equipped with a position sensor, a speed sensor, and a pressure sensor, forming a closed-loop control system; the external pressure control system includes a proportional pressure valve and a pressure accumulator.

6. The universal fine-tuning robot according to claim 1, characterized in that: The spherical universal joint (4) is provided with a torque sensor array, which includes a radial force sensor (41), an axial force sensor (42), and a torque sensor (43).

7. The omnidirectional fine-tuning manipulator according to claim 6, characterized in that: The signal from the torque sensor array is transmitted to the control system via a wireless transmission module; the spherical universal joint (4) has a rotation range of not less than 45 degrees in each direction.

8. The universal fine-tuning manipulator according to claim 1, characterized in that: The clamping part (5) is embedded with a micro-vibration excitation device; the micro-vibration excitation device includes a piezoelectric ceramic vibrator and a vibration transmission plate, the piezoelectric ceramic vibrator is fixed on the inner wall of the clamping part (5); the vibration frequency adjustment range of the piezoelectric ceramic vibrator is 100Hz to 1000Hz, and the vibration amplitude is 0.01mm to 0.1mm.

9. The universal micro-adjustment robot according to claim 2, characterized in that: The laser alignment instrument (2) is also equipped with a retractable beam guide; the retractable beam guide adopts a flexible fiber bundle structure, and the retractable length adjustment range is 50mm to 200mm; the retractable beam guide is linked with the angle adjustment mechanism to adjust the laser beam projection angle.

10. The omnidirectional fine-tuning manipulator according to claim 9, characterized in that: The telescopic beam duct's telescopic length and bending angle change synchronously with the angle adjustment mechanism's adjustment of the optical reflector.

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