A kind of robot walking on rails

Abstract

The utility model relates to a rail-hanging walking robot, which walks on an I-shaped track or a rectangular track, and includes at least two walking mechanisms, wherein the walking mechanism includes a frame, a magnetic adsorption walking component, a driving member, a limiting wheel and a cleaning component, wherein the magnetic adsorption walking component, the driving member limiting wheel and the cleaning component are all installed on the frame, wherein the driving member drives the magnetic adsorption walking component to walk on the outer plate surface of the lower wing plate of the I-shaped track or the lower plate surface of the rectangular track; the limiting wheel walks on the inner plate surface of the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, and the cleaning component cleans the inner plate surface of the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track; the frames corresponding to the two adjacent walking mechanisms are rotatably connected. The utility model can walk normally in places with large dust and high humidity, and the walking is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of walking robots, in particular to a rail-hanging walking robot. Background Art

[0002] At present, rail-mounted inspection robots are widely used in coal-powder conveyor lines of thermal power plants, coal mining conveyor belts, dusty grain processing or chemical production lines, etc., so as to timely detect faults and supervise the production safety environment, while also reducing personnel input. However, in these occasions, dust is easily deposited on the track. The track on which the robot walks is mostly I-shaped or rectangular. Taking the I-shaped track as an example, the robot's running wheels usually run on the inner plate surface of the lower wing plate of the I-shaped track, and the inner plate surface of the lower wing plate of the I-shaped track and the outer plate surface of the upper wing plate are the most serious places for dust accumulation. Therefore, dust accumulation will affect the normal walking of the rail-mounted robot. Especially when there is a temperature difference between the building ceiling or floor and the ground or in humid conditions, condensation water is prone to appear on the I-shaped track and it is wet, and the running wheels are prone to slipping. When the accumulated dust comes into contact with condensation water, problems such as hardening or slippery tracks may occur, further affecting the normal walking of the rail-mounted robot. Utility Model Content

[0003] The utility model aims to provide a rail-hanging walking robot, which can walk normally and stably in an environment with large dust content, large humidity and large temperature difference.

[0004] To achieve the above-mentioned purpose, the utility model discloses a rail-hanging walking robot, which walks on an I-shaped track or a rectangular track, and includes at least two walking mechanisms, wherein the walking mechanisms include a frame, a magnetic adsorption walking component, a driving component, a limiting wheel and a cleaning component, wherein the magnetic adsorption walking component, the driving component limiting wheel and the cleaning component are all installed on the frame, and the driving component drives the magnetic adsorption walking component to walk on the outer plate surface of the lower wing plate of the I-shaped track or the lower plate surface of the rectangular track; the limiting wheel walks on the inner plate surface of the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, and the cleaning component cleans the inner plate surface of the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track; the frames corresponding to the two adjacent walking mechanisms are rotatably connected.

[0005] Preferably, the magnetic adsorption walking component is a magnetic wheel or a magnetic track wheel. The magnetic adsorption walking component is not afraid of water, and the magnetic track wheel has a larger adsorption area. Correspondingly, the stability will be higher, and it is more suitable for situations that require climbing, vertical walking, etc.

[0006] Preferably, the travel mechanism further includes a buffer assembly, which includes a buffer seat, a plurality of limit screws and a plurality of elastic members. The limit screw has an end cap and a threaded end. The threaded end passes through the buffer seat and is threadedly connected to the frame. The buffer seat is provided with a through hole for the threaded end to pass through and is limitedly matched with the end cap. The elastic member is pressed between the buffer seat and the frame. The drive member and the magnetic adsorption travel assembly are installed on the buffer seat. By providing the buffer assembly, the magnetic adsorption travel assembly and the travel wheel can be more closely fitted to the lower wing plate of the I-shaped track. At the same time, it also has a certain buffering effect, so that dust accumulation, track joints, etc. can be well crossed.

[0007] Preferably, the cleaning assembly includes a rotating shaft and a turntable, the rotating shaft is perpendicular to the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, one end of the rotating shaft is rotatably connected to the frame and limited, the other end of the rotating shaft is connected to the turntable, and the turntable is provided with bristles; the rotating shaft is transmission-connected to the limiting wheel or the driving member, or the cleaning assembly also includes a cleaning motor, and the cleaning motor drives the rotating shaft to rotate. After such a configuration, the dust on the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track can be swept away by rotating the bristles, ensuring the smooth movement of the limiting wheel.

[0008] Preferably, the turntable is arranged at an angle A with the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, where A=20-40°. This arrangement can better complete the cleaning.

[0009] Preferably, the walking mechanism further comprises at least two guide wheels, which are mounted on the frame and press against the lower wing edge of the I-shaped track or the side edge of the rectangular track. By providing the guide wheels, the robot can be guided to walk, making it convenient for the robot to walk on curved roads.

[0010] Preferably, the cleaning component is a scraper, the edge of which contacts the inner plate surface and the web of the lower wing plate of the I-shaped track; the inner plate surface of the lower wing plate of the I-shaped track is provided with an arched portion, the arched portion extends along the length direction of the I-shaped track, the limiting wheel travels on the arched portion, and the circumference of the limiting wheel is provided with a groove that matches the shape of the arched portion; the scraper is provided with an avoidance groove that matches the shape of the arched portion; and a plurality of dust outlets are arranged at intervals on the lower wing plate of the I-shaped track. The arrangement of the arched portion makes it difficult for dust to accumulate on its surface, and the limiting wheel travels on the arched portion to avoid the influence of dust on its travel. At the same time, the scraper can scrape off the dust on the lower wing plate and the arched portion by following the robot's travel, and the gathered dust can be discharged from the dust outlet to ensure the smooth travel of the travel wheel.

[0011] Preferably, the cross section of the arched portion is an isosceles triangle, and the vertex angle of the triangle is an arc; or the cross section of the arched portion is a trapezoid or a square, and a vault is provided on the top of the trapezoid or the square. The arched portion configured in this way is less likely to accumulate dust.

[0012] Preferably, the robot further comprises a controller, and at least one of a control element, a visual detection element, and a detection sensor, wherein the drive element, the control element, the visual detection element, and the detection sensor are connected to the controller. The detection sensor can be used to detect temperature, smell, humidity, noise, smoke, etc. The visual detection element can monitor the scene. By setting the visual detection element and / or the detection sensor, the robot can play the role of patrol inspection. By setting the control element, when it is necessary to control the on-site switch, it can also be realized through the control element, such as pressing a button switch.

[0013] Preferably, it also includes a posture adjustment mechanism, a mounting platform for mounting a control element and a visual detection element, and a fixed-point unit for determining the stop position of the rack. The posture adjustment mechanism is arranged at the bottom of the rack and drives the mounting platform to move; the posture adjustment mechanism includes a lifting component and / or a manipulator. When the posture adjustment mechanism includes a lifting component and a manipulator, the lifting component drives the manipulator to lift and lower, and the manipulator drives the mounting platform to move; the fixed-point unit, the lifting component and the manipulator are connected to the controller. By setting the fixed-point unit, the robot can accurately reach the designated location. By setting the posture adjustment mechanism, the patrol range of the visual detection element can be larger and clearer, and the range of movement of the control element can be larger, which is conducive to the execution of the action of the control element. When the arm span length of the manipulator is satisfied, the lifting component may not be provided. In addition, if the equipment layout is relatively simple, only the lifting component may be provided without the manipulator. Of course, the visual detection element and the detection sensor may be directly provided on the rack without the lifting component and the manipulator.

[0014] The utility model has the following beneficial effects:

[0015] 1. The walking component is adsorbed on the outer surface of the lower wing plate of the I-shaped track or the lower surface of the rectangular track through magnetic adsorption and walks. The outer surface of the lower wing plate of the I-shaped track or the lower surface of the rectangular track is difficult to accumulate dust, which can ensure the smooth walking of the robot. Moreover, by walking by magnetic adsorption, it is not afraid of water and has good climbing ability.

[0016] 2. The setting of the limiting wheel can ensure that the robot will not fall, and the magnetic adsorption walking component can adsorb the I-shaped track to share the robot's own weight and reduce the force on the limiting wheel. In addition, by setting a cleaning component to clean the dust and water on the inner surface of the lower wing plate of the I-shaped track or the upper surface of the rectangular track, the limiting wheel can be guaranteed to move smoothly.

[0017] 3. Through the cooperation of magnetic adsorption walking components and limiting wheels, the robot can walk normally and stably in places with heavy dust or high humidity.

[0018] 4. The frames corresponding to the two adjacent walking mechanisms are connected by rotation, so the robot can turn adaptively. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the use status of the first embodiment.

[0020] Figure 2 This is a schematic diagram of the usage status of the first embodiment from another perspective (the frame is hidden).

[0021] Figure 3 It is a schematic diagram of embodiment 1.

[0022] Figure 4 This is a schematic diagram of Example 1 after the walking mechanism hides the frame.

[0023] Figure 5 This is a schematic diagram of the use status of the second embodiment.

[0024] Figure 6 This is a schematic diagram of Embodiment 2 (part of the rack is hidden).

[0025] Figure 7 This is a schematic diagram of another viewing angle of the second embodiment (part of the rack is hidden).

[0026] Figure 8 This is a schematic diagram of Embodiment 4.

[0027] Main component symbols:

[0028] I-shaped track 10, lower wing plate 11, arched portion 12, ash outlet 13;

[0029] Walking mechanism 20, frame 21, buffer seat 221, limit screw 222, elastic member 223, magnetic wheel 23, driving member 24, limit wheel 25, groove 251, guide wheel 26, rotating shaft 271, rotating disk 272, brush 273, gear set 274, scraper 275, avoidance groove 276;

[0030] Control element 31 , visible light camera 321 , infrared camera 322 , depth camera 323 , detection sensor 324 , lifting component 331 , manipulator 332 , mounting platform 34 . DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0032] Embodiment 1

[0033] like Figures 1 to 4 As shown, this embodiment discloses a rail-mounted walking robot, which walks on an I-beam track and includes two sets of walking mechanisms 20, the walking mechanisms 20 including a frame 21, a buffer assembly, a magnetic adsorption walking assembly, a driving member 24, two limit wheels 25 and two cleaning assemblies. The magnetic adsorption walking assembly uses a magnetic wheel 23 or a magnetic track wheel, both of which are prior arts and will not be described in detail. In this embodiment, the magnetic wheel 23 is used as an example for explanation.

[0034] The magnetic wheel 23 is connected to the frame 21 through a buffer assembly. The buffer assembly includes two buffer seats 221, a plurality of limit screws 222 and a plurality of elastic members 223. The two buffer seats 221 are arranged opposite to each other. The limit screw 222 has an end cap and a threaded end. The threaded end passes through the buffer seat 221 and is threadedly connected to the frame 21. The buffer seat 221 is provided with a through hole for the threaded end to pass through and to be limited by the end cap. The elastic member 223 is pressed between the buffer seat 221 and the frame 21. The elastic member 223 is preferably a spring, which is directly sleeved on the limit screw 222. The rotating shaft of the magnetic wheel 23 is connected between the two buffer seats 221. The driving member 24 is a motor. The seat body of the driving member 24 is installed on one of the buffer seats 221. The output shaft of the driving member 24 drives the magnetic wheel 23 to rotate. By setting up a buffer component, the magnetic adsorption walking component and the walking wheel can be more closely fitted to the lower wing plate of the I-shaped track. At the same time, it also has a certain buffering effect, so that it can pass through dust accumulation, track joints, etc., ensuring that the magnetic wheel 23 is adsorbed on the outer plate surface of the lower wing plate of the I-shaped track.

[0035] When the I-shaped track 10 or the rectangular track is made of a light material that is not attracted by magnets, a thin steel sheet is fixed (for example, embedded, screwed, etc.) on the outside of the lower wing plate 11 as an adsorption and walking channel for the magnetic wheel 23.

[0036] The two limiting wheels 25 are respectively arranged on both sides of the I-shaped track, and the limiting wheels 25 run on the inner surface of the lower wing plate of the I-shaped track, and the limiting wheels 25 are connected to the rotating shaft of the frame 21. The limiting wheels 25 can be equipped with a power source (motor) to assist walking, and of course, they can also be equipped with no power source. Because the magnetic wheel 23 is adsorbed on the lower wing plate, the limiting wheel 25 does not have to bear all the weight of the robot. When the suction force of the magnetic wheel 23 is sufficient or the magnetic adsorption walking component adopts a magnetic adsorption crawler, the actual gravity of the robot borne by the limiting wheel 25 is very small.

[0037] Through the above arrangement, the robot's walking power mainly comes from the magnetic wheel 23, and the limiting wheel 25 mainly plays the role of limiting and assisting walking. The walking surface of the magnetic wheel 23 is the outer surface of the lower wing plate of the I-shaped track, and dust will not accumulate. Even if there is condensed water, the effect on magnetic adsorption is very small, so the robot can walk smoothly and stably. In addition, due to the effect of magnetic adsorption, the robot has a good climbing ability.

[0038] Because the track may turn, in order to facilitate turning and guiding, the walking mechanism 20 also includes at least two guide wheels 26, which are arranged on both sides of the I-shaped track. The guide wheels 26 are rotatably connected to the frame 21, and the guide wheels 26 press against the edge of the lower wing plate of the I-shaped track. At the same time, the frames 21 corresponding to the two adjacent walking mechanisms 20 are rotatably connected. After such arrangement, when the track turns, the robot can turn adaptively.

[0039] The cleaning component is used to clean the inner surface of the lower wing plate of the I-shaped track. The cleaning component includes a rotating shaft 271 and a turntable 272. The rotating shaft 271 is arranged perpendicular to the lower wing plate of the I-shaped track. One end of the rotating shaft 271 is rotatably connected to the frame 21 and limited, that is, the rotating shaft 271 cannot move relative to the frame 21 in its length direction. The other end of the rotating shaft 271 is connected to the turntable 272. Bristles 273 are arranged on the turntable 272, that is, the turntable 272 and the bristles 273 constitute a rotating brush. By rotating the rotating shaft 271, the bristles 273 can clean the inner surface of the lower wing plate of the I-shaped track. In order to facilitate sweeping dust out of the track, the turntable 272 is limited to be set at an angle A with the lower wing plate of the I-shaped track, and A=20~40°. As a preferred embodiment, the rotating shaft 271 is connected to the limiting wheel 25 through a gear set 274 (in this embodiment, a plurality of bevel gears are used), so that the turntable 272 and the limiting wheel 25 rotate synchronously. At this time, the limiting wheel 25 can also be equipped with a driving motor to ensure the reliable operation of the cleaning component and to ensure that the limiting wheel 25 can assist walking. As an alternative, the rotating shaft 271 is connected to the driving member 24 to obtain rotational power. As another alternative, the cleaning component also includes a cleaning motor, which drives the rotating shaft 271 to rotate, that is, the cleaning component is equipped with a dedicated power source.

[0040] When the I-shaped track is changed to a ┴-shaped track or a channel steel track, the process is similar and will not be repeated here.

[0041] Embodiment 2

[0042] like Figures 5 to 7As shown, the difference between this embodiment and the first embodiment is that the cleaning component is a scraper 275, and the scraper 275 has a certain elasticity, and the edge of the scraper 275 contacts the inner plate surface and the web of the lower wing plate of the I-shaped track. In addition, an arched portion 12 is provided on the inner plate surface of the lower wing plate 11 of the I-shaped track 10, and the arched portion 12 extends along the length direction of the I-shaped track 10. Preferably, the cross section of the arched portion 12 is an isosceles triangle, and the vertex angle of the triangle is an arc, so that dust is not easy to accumulate on the surface. As an alternative, the cross section of the arched portion 12 can be trapezoidal or square, and the top of the trapezoid or square is provided with a vault. The scraper 275 can scrape the dust on the surface of the arched portion 12, and at the same time, a avoidance groove 276 adapted to the shape of the arched portion 12 is provided on the scraper 275. A groove 251 matching the arched portion 12 is provided on the circumference of the limiting wheel 25, thereby ensuring smooth movement of the limiting wheel 25. Due to the setting of the arched portion 12, a dust accumulation space is formed between the arched portion 12 and the web of the I-shaped track 10, so a plurality of dust drop openings 13 are arranged at intervals on the lower wing plate 11 of the I-shaped track 10. The dust drop openings 13 are located between the arched portion 12 and the web of the I-shaped track 10. Under the driving force of the scraper 275, dust can be swept to the dust drop openings 13 and fall. Because the groove 251 on the limiting wheel 25 is provided, it and the arched portion 12 also play a certain limiting and guiding role, so the guide wheel 26 can be eliminated in this embodiment.

[0043] The cleaning component of this embodiment is configured as a scraper 275, which can avoid the need to replace the brush and is more suitable for wet and oily occasions.

[0044] Embodiment 3

[0045] The difference between this embodiment and the first embodiment is that the track on which the robot walks is a rectangular track. Correspondingly, the magnetic wheel 23 is adsorbed on the lower surface of the rectangular track, the limiting wheel 25 walks on the upper surface of the rectangular track, the guide wheel 26 presses against the side of the rectangular track, and the cleaning component cleans the upper surface of the rectangular track.

[0046] Embodiment 4

[0047] This embodiment is based on the first embodiment or the second embodiment or the third embodiment, and further provides a controller, a control element 31, a visual detection element, a detection sensor 324, a posture adjustment mechanism, a mounting platform 34 and a fixed point unit. This embodiment is illustrated based on the first embodiment. Figure 8 The control element 31 performs actions such as pressing or rotating, and is used to press a button switch on site, rotate an opening and closing knob switch, etc. For example, the control element 31 that performs a pressing action may be a linear cylinder, a linear moving module based on a cylinder or a motor, an electric push rod, etc. For example, the control element 31 that performs a rotating action may be a rotating cylinder, a combination of a motor and a swing arm, an electric rocker, etc. The control element 31 is connected to a controller.

[0048] The visual detection element is used for inspection, and may be one or more of a visible light camera 321, an infrared camera 322, and a depth camera 323, or may include other types of cameras, configured according to actual needs. The visual detection element is connected to a controller.

[0049] The detection sensors 324 are temperature, odor, humidity, noise, smoke and other detection sensors 324, which can be increased or decreased according to actual needs. The detection sensors 324 are connected to the controller.

[0050] The fixed point unit is used to determine the stop position of the frame 21. The fixed point unit can be a step detection sensor 324, etc. The step detection sensor 324 can be installed on the limit wheel 25. The fixed point unit is connected to the controller. In order to facilitate the control of the robot to stop, the driving member 24 is connected to the controller.

[0051] The posture adjustment mechanism includes a lifting component 331 and a manipulator 332. The lifting component 331 is arranged at the bottom of the frame 21. The lifting component 331 drives the manipulator 332 to rise and fall. The manipulator 332 drives the mounting platform 34 to adjust the position and posture. The control element 31 is arranged on the mounting platform 34, and at least a visual detection element is arranged on the mounting platform 34. The detection sensor 324 can be arranged on the mounting platform 34 or other positions of the robot. For example, the detection sensor 324 that needs to be close to the detection source for detection is arranged on the mounting platform 34, and the detection sensor 324 that does not need to be close to the detection source for detection can be arranged at a position that does not interfere with the normal operation of the robot. The lifting component 331 and the manipulator 332 are connected to the controller. When the arm span length of the manipulator 332 is sufficient, the lifting component 331 may not be provided. In addition, if the equipment layout is relatively simple, only the lifting component 331 may be provided without the manipulator 332. Of course, the visual detection element, the detection sensor 324 and the control element 31 may be directly installed on the frame 21 without providing the lifting component 331 and the manipulator 332.

[0052] Through the above configuration, the robot described in this embodiment can not only walk stably in high-dust environments, but also conduct patrols, and can remotely control buttons and switches on site when necessary (a remote communication module is configured on the controller). In addition, by providing the lifting component 331 and the manipulator 332, the robot's range of activity and field of vision can be increased.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A rail-mounted walking robot, which walks on an I-shaped track or a rectangular track, characterized in that: It comprises at least two walking mechanisms, which comprise a frame, a magnetic adsorption walking assembly, a driving member, a limiting wheel and a cleaning assembly, wherein the magnetic adsorption walking assembly, the driving member limiting wheel and the cleaning assembly are all mounted on the frame, the driving member drives the magnetic adsorption walking assembly to walk on the outer surface of the lower wing plate of the I-shaped track or the lower surface of the rectangular track; the limiting wheel walks on the inner surface of the lower wing plate of the I-shaped track or the upper surface of the rectangular track, and the cleaning assembly cleans the inner surface of the lower wing plate of the I-shaped track or the upper surface of the rectangular track; the frames corresponding to the two adjacent walking mechanisms are rotatably connected.

2. The rail-mounted walking robot according to claim 1, characterized in that: The magnetic adsorption walking component is a magnetic wheel or a magnetic track wheel.

3. The rail-mounted walking robot according to claim 1 or 2, characterized in that: The walking mechanism also includes a buffer assembly, which includes a buffer seat, a plurality of limit screws and a plurality of elastic parts. The limit screw has an end cap and a threaded end. The threaded end passes through the buffer seat and is threadedly connected to the frame. The buffer seat is provided with a through hole for the threaded end to pass through and which cooperates with the end cap to limit the position. The elastic part is pressed between the buffer seat and the frame. The driving part and the magnetic adsorption walking assembly are installed on the buffer seat.

4. The rail-mounted walking robot according to claim 1, characterized in that: The cleaning component includes a rotating shaft and a turntable, wherein the rotating shaft is perpendicular to the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, one end of the rotating shaft is rotatably connected to the frame and limited, and the other end of the rotating shaft is connected to the turntable, and the turntable is provided with bristles; the rotating shaft is transmission-connected to a limiting wheel or a driving member, or the cleaning component also includes a cleaning motor, which drives the rotating shaft to rotate.

5. The rail-mounted walking robot according to claim 4, characterized in that: The turntable is arranged at an angle A with the lower wing plate of the I-shaped track or the upper plate surface of the rectangular track, where A=20-40°.

6. The rail-mounted walking robot according to claim 4, characterized in that: The walking mechanism further comprises at least two guide wheels, which are mounted on the frame and press against the lower wing plate edge of the I-shaped track or the side edge of the rectangular track.

7. The rail-mounted walking robot according to claim 1, characterized in that: The cleaning component is a scraper, the edge of which contacts the inner plate surface and the web of the lower wing plate of the I-shaped track; an arched portion is provided on the inner plate surface of the lower wing plate of the I-shaped track, and the arched portion extends along the length direction of the I-shaped track; the limiting wheel runs on the arched portion, and a groove matching the shape of the arched portion is provided on the circumference of the limiting wheel; an avoidance groove matching the shape of the arched portion is provided on the scraper; a plurality of dust drop openings are spaced apart on the lower wing plate of the I-shaped track.

8. The rail-mounted walking robot according to claim 7, characterized in that: The cross section of the arched portion is an isosceles triangle, and the vertex angle of the triangle is an arc; or, the cross section of the arched portion is a trapezoid or a square, and a vault is provided at the top of the trapezoid or the square.

9. The rail-mounted walking robot according to claim 1, characterized in that: It also includes a controller, and at least one of a manipulation element, a visual detection element, and a detection sensor, wherein the driving element, the manipulation element, the visual detection element, and the detection sensor are connected to the controller.

10. The rail-mounted walking robot according to claim 9, characterized in that: It also includes a posture adjustment mechanism, a mounting platform for mounting control elements and visual detection elements, and a fixed-point unit for determining the stop position of the frame. The posture adjustment mechanism is arranged at the bottom of the frame and drives the mounting platform to move; the posture adjustment mechanism includes a lifting component and / or a manipulator. When the posture adjustment mechanism includes a lifting component and a manipulator, the lifting component drives the manipulator to lift and lower, and the manipulator drives the mounting platform to move; the fixed-point unit, the lifting component and the manipulator are connected to a controller.

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