FIELD: mechanical engineering; articulated manipulators.
SUBSTANCE: proposed articulated manipulator 11 is designed for mounting through hole 4 in plate 5 which is used as ceiling of reservoir 2. It contains upper section 12, lower section 13 interconnected by hinge joint 14, bearing installed around hole which contains secured race connected with ceiling and rotating race connected with upper section 12, device to control rotation of rotating race, tool I suspended from lower section on variable-length wire rope 6 which passes from area over ceiling and manipulator and over sheave 15 of suspension to free end of lower section 13. According to invention, lower section is made up of hinge-connected parts, and return sheave 16 is installed in place of hinge joint of sections. Wire rope passes under return sheave 16 and it is provided with device to control angle formed by sections.
EFFECT: possibility of accurate mounting of sampling devices even close to upper edge of reservoir.
7 cl, 4 dwg
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