CN215097504U - Intelligent cleaning line for locomotive - Google Patents

Abstract

The utility model belongs to the technical field of the robot and specifically relates to line is washed to locomotive intelligence, including the locomotive track, set up in the mouth of advancing of locomotive track left end portion, set gradually in the left side parking signboard and the lamp of mouth of advancing to locomotive track right-hand member, locomotive speed reduction pilot lamp and tablet, the locomotive washes the leak hunting station, locomotive washing station, locomotive stoving station, the locomotive sprays the station, locomotive side finish brushing station, locomotive side arc top finish brushing station, locomotive side washing station, locomotive side coarse brushing station, locomotive side arc top coarse brushing station, locomotive door and window scrub the station, locomotive top coarse brushing station, locomotive face washs station and right parking position signboard and lamp. The utility model discloses aim at utilizes reliable servo control machinery on the basis of the abundant research washing technological requirement, applys stable pressure for the round brush, utilizes electronic intelligence technique to carry out the intelligent washing of omnidirectional profile modeling to the locomotive, utilizes the manipulator to carry out the profile modeling to arc surface and door depressed part around the locomotive and washs.

Description

Intelligent cleaning line for locomotive

Technical Field

The utility model relates to a robot field, more specifically the theory relates to locomotive intelligence cleaning line.

Background

The current locomotive cleaning machines are all that the cylinder drives the rolling brush frame to get close to the locomotive, and the thrust of the cylinder is utilized to brush and clean the front face, the rear face and the side face of the locomotive in a large area. The distance between the rolling brush and the vehicle body and the thrust are achieved by the air pressure of the air cylinder.

The defects and shortcomings of the prior art are as follows: the appearance of modern locomotives is designed into a full-arc shape mostly for reducing air resistance and beautifying the appearance. The door and the like are partially depressed. In the existing cleaning machine, the mode that the rolling brush is close to the locomotive is all driven by using the air cylinder, and the defects of the cleaning mode are as follows.

1. The thrust of the cylinder driving the rolling brush is greatly influenced by the air pressure of the air pipeline, when the air pressure of the air pipeline system is sufficient, the thrust is large, and when the air pressure of the air pipeline is insufficient, the thrust is small.

2. When cylinder sealing washer and uide bushing are ageing, the phenomenon of crawling can appear in the cylinder, and the cylinder position of current locomotive cleaning line especially all is the level and places, and the stroke is great, and its dead weight is great itself, leads to the cylinder middle part flagging, and jamming and the phenomenon of crawling are especially serious. The cylinder works in a humid environment for a long time, and the service life is good.

3. The long shaft rolling brush can only carry out large-area rough cleaning on the locomotive. The phenomenon of over-washing of the arc-shaped protruding part of the locomotive can seriously cause the damage of the paint surface. The concave part of the locomotive can not be cleaned.

4. In the current locomotive cleaning line, the front face, the large cambered surface, the vehicle door, the vehicle window and other places of the locomotive cleaned by the locomotive cleaning line still need to be brushed by a large amount of workers.

Therefore, it is necessary to research an intelligent cleaning machine which has high automation degree, is intelligent, has reliable functions in the service life cycle, can adapt to the shapes of various locomotives, and can clean local depressions such as locomotive doors and the like simultaneously.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the not enough of existing now, provide and locomotive intelligence cleaning line, on the basis of having fully studied the washing technological requirement, utilize reliable servo control machinery, exert stable pressure for the round brush, utilize electronic intelligence technique to carry out the intelligent washing of omnidirectional profile modeling to the locomotive, utilize the manipulator to carry out the profile modeling to arc surface and door depressed part around the locomotive and wash.

The utility model provides a technical scheme that its technical problem adopted is: the intelligent locomotive cleaning line comprises a locomotive track, a locomotive inlet arranged at the left end part of the locomotive track, a left parking signboard and a lamp which are sequentially arranged from the locomotive inlet to the right end of the locomotive track, a locomotive deceleration indicator lamp and a board, a locomotive washing leakage detection station, a locomotive washing station, a locomotive drying station, a locomotive spraying station, a locomotive side surface fine brushing station, a locomotive side arc top fine brushing station, a locomotive side surface washing station, a locomotive side surface rough brushing station, a locomotive side arc top rough brushing station, a locomotive door and window brushing station, a locomotive top rough brushing station, a locomotive face cleaning station and a right parking signboard and lamp; the locomotive side rough brushing station, the locomotive side washing station and the locomotive side fine brushing station respectively comprise side brushing devices symmetrically arranged on two sides of a locomotive track, the locomotive side arc top rough brushing station and the locomotive side arc top fine brushing station respectively comprise side top brushing devices symmetrically arranged on two sides of the locomotive track, the locomotive top rough brushing station comprises positive top brushing devices symmetrically arranged on two sides of the locomotive track, and the locomotive door and window brushing station and the locomotive face cleaning station comprise cleaning mechanical arms symmetrically arranged on two sides of the locomotive track; it is arbitrary side brushing device, side top brushing device and positive top brushing device all include the base, set up in the central pillar of base upper end, cover locate the outer pipe curl of central pillar and set up in the first cleaning brush of outer pipe curl side, the upper end of central pillar is equipped with the rotary drive platform of the outer pipe curl of cooperation, and cooperation rotary drive platform is equipped with the limit switch support frame, and cooperation side brushing device, side top brushing device, positive top brushing device and cleaning manipulator are equipped with total control room.

Preferably, the locomotive flushing and leakage detecting station comprises first spraying devices and a circulating water treatment conveying room which are symmetrically arranged on two sides of a locomotive track.

Preferably, the locomotive washing station comprises second spraying devices and a detergent preparation conveying room which are symmetrically arranged on two sides of the locomotive track.

Preferably, the locomotive drying station comprises hot air drying devices symmetrically arranged on two sides of the locomotive track.

Preferably, the spraying station comprises a third spraying device and a purified water treatment conveying room which are symmetrically arranged on two sides of the locomotive track.

Preferably, the first cleaning brush of the side brushing device comprises a first rolling brush support fixed on the outer coil and a first brush body vertically arranged on the first rolling brush support, the first rolling brush support is provided with a first driving motor and a first baffle plate which are matched with the first brush body, and the first rolling brush support is matched with the first brush body and is provided with a first spray nozzle.

Preferably, the first cleaning brush of the side-top brushing device comprises a second rolling brush support fixed on the outer coil and a second brush body obliquely arranged on the second rolling brush support, the second rolling brush support is provided with a second driving motor and a second baffle matched with the second brush body, and the second rolling brush support is provided with a second spray nozzle matched with the second brush body.

Preferably, the first cleaning brush of the positive top brushing device comprises a third rolling brush support fixed on the outer coil and a third brush body horizontally arranged on the third rolling brush support, a first lifting driving motor matched with the outer coil is arranged on the central upright post, a third driving motor and a third baffle matched with the third brush body are arranged on the third rolling brush support, and a third spray nozzle is arranged on the third brush body in a matched manner.

Preferably, the rotary driving platform comprises a stator connected to the central upright post, a rotor connected to the outer coil pipe and a driving mechanism matched with the rotor, the stator and the rotor are arranged in a sliding connection mode through balls, and the driving mechanism comprises a rotary driving motor and a speed reducer which are electrically connected to the main controller.

Preferably, any cleaning manipulator comprises a manipulator arm, a manipulator fixing platform arranged at the lower end of the manipulator arm, a lifting guide rail frame matched with the manipulator fixing platform, and a longitudinal moving guide rail seat arranged at the lower end of the lifting guide rail frame, wherein a second lifting driving motor matched with the manipulator fixing platform is arranged at the upper end of the lifting guide rail frame, and a second cleaning brush is arranged at the top end of the manipulator arm.

The utility model has the advantages that: (1) the invention changes the side brushing, side top arc brushing and top brushing which are pushed by the cylinder into servo electric control and mechanical transmission pushing. Its advantages are high stability and no shake and creeping. The service life cycle is long, and the reliable operation is high, and the pressure that the control round brush that relies on servo control can be accurate is to the automobile body application size.

(2) The invention adopts the mechanical arm to accurately profile-clean the front arc-shaped locomotive and the door and window parts of the locomotive without leakage.

Drawings

FIG. 1 is a front view of a mid-locomotive cleaning line of the present invention;

FIG. 2 is a top view of the mid-locomotive cleaning line of the present invention;

FIG. 3 is a perspective view of the middle brushing device of the present invention;

FIG. 4 is a side view of the middle brushing device of the present invention;

fig. 5 is a front view of the swing drive platform of the present invention;

fig. 6 is a side view of the swing drive platform of the present invention;

fig. 7 is a top view of the rotary drive platform of the present invention;

FIG. 8 is an elevational view of the middle side top brushing arrangement of the present invention;

FIG. 9 is a side view of the mid-side top brushing apparatus of the present invention;

FIG. 10 is an elevational view of the front top brushing apparatus of the present invention;

FIG. 11 is a side view of a front top brushing apparatus of the present invention;

fig. 12 is an elevation view of the cleaning robot of the present invention;

fig. 13 is a side view of the cleaning robot of the present invention;

in the figure: 1. a right parking space signboard and a lamp; 2. a locomotive face cleaning station; 3. a locomotive top rough brushing station; 4. a locomotive door and window scrubbing station; 5. a locomotive side arc top rough brushing station; 6. a locomotive side rough brushing station; 7. a locomotive side washing station; 8. a locomotive side arc top fine brushing station; 9. finely brushing a station on the side surface of the locomotive; 10. a locomotive spraying station; 11. a locomotive drying station; 12. a locomotive washing station; 13. a locomotive flushing leak detection station; 14. locomotive deceleration indicator lights and signs; 15. a left parking signboard and a lamp; 16. a master control room; 17. a purified water treatment conveying room; 18. a circulating water treatment conveying room; 19. a detergent preparation and conveying room; 20. a base; 21. an outer coil; 22. a rotary drive platform; 23. a limit switch support frame; 24. a first roll brush holder; 25. a first brush body; 26. a first drive motor; 27. a first baffle plate; 28. a stator; 29. a rotor; 30. a drive mechanism; 31. a second roll brush holder; 32. a second brush body; 33. a second drive motor; 34. a second baffle; 35. a third rolling brush holder; 36. a third brush body; 37. a first elevation drive motor; 38. a third drive motor; 39. a third baffle plate; 40. a manipulator arm; 41. a manipulator fixing platform; 42. a lifting guide rail frame; 43. longitudinally moving the guide rail seat; 44. a second elevation drive motor; 45. and a second washing brush.

Detailed Description

The technical solution of the present invention is further specifically described below by way of specific embodiments and with reference to the accompanying drawings.

As shown in fig. 1 to 13, the intelligent locomotive cleaning line comprises a locomotive track, a locomotive inlet arranged at the left end of the locomotive track, a left parking signboard and lamp 15, a locomotive deceleration indicator lamp and board 14, a locomotive washing and leakage detecting station 13, a locomotive washing station 12, a locomotive drying station 11, a locomotive spraying station 10, a locomotive side surface fine brushing station 9, a locomotive side arc top fine brushing station 8, a locomotive side surface water washing station 7, a locomotive side surface rough brushing station 6, a locomotive side arc top rough brushing station 5, a locomotive door and window brushing station 4, a locomotive top rough brushing station 3, a locomotive face cleaning station 2, a right parking signboard and lamp 1, which are sequentially arranged from the locomotive inlet to the right end of the locomotive track; the locomotive side rough brushing station 6, the locomotive side washing station 7 and the locomotive side fine brushing station 9 respectively comprise side brushing devices symmetrically arranged on two sides of a locomotive track, the locomotive side arc top rough brushing station 5 and the locomotive side arc top fine brushing station 8 respectively comprise side top brushing devices symmetrically arranged on two sides of the locomotive track, the locomotive top rough brushing station 3 comprises positive top brushing devices symmetrically arranged on two sides of the locomotive track, and the locomotive door and window brushing station 4 and the locomotive face washing station 2 comprise cleaning mechanical arms symmetrically arranged on two sides of the locomotive track;

it is arbitrary side brushing device, side top brushing device and positive top brushing device all include base 20, set up in the central pillar of base 20 upper end, overlap the outer coil 21 of central pillar and set up in the first cleaning brush of outer coil 21 side of locating, the upper end of central pillar is equipped with the rotary drive platform 22 of cooperation outer coil 21, and cooperation rotary drive platform 22 is equipped with limit switch support frame 23, and cooperation side brushing device, side top brushing device, positive top brushing device and cleaning manipulator are equipped with total control room 16.

The locomotive washing and leakage detecting station comprises first spraying devices and a circulating water treatment conveying room 18 which are symmetrically arranged on two sides of a locomotive track.

The locomotive washing station 12 comprises second spraying devices symmetrically arranged on two sides of a locomotive track and a detergent preparation conveying room.

The locomotive drying station 11 comprises hot air drying devices symmetrically arranged on two sides of a locomotive track.

The spraying station comprises a third spraying device and a purified water treatment conveying room 17 which are symmetrically arranged on two sides of the locomotive track.

The present invention provides a fully intelligent cleaning line, in which the swinging of each rolling brush bracket, the pressure of each brush body to the locomotive scrubbing, is driven by a servo driving rotary table, the rotary table adopts gapless worm gear transmission, a large rotary table ball bearing, and the central axis of the whole rotary piece is set to be the rotating axis of the central upright post and is driven by a servo motor. Photoelectric tracking and manipulator brushing schemes are adopted for large cambered surfaces and depressions of the locomotive.

The utility model discloses in, the work flow of whole line of washing is as follows, at first the locomotive gets into the line of washing from the orbital left end of locomotive, and the locomotive begins to slow down to locomotive speed reduction pilot lamp and 14 positions of tablet, crawls. The leakage detection station 13 is flushed through the locomotive, circulating water starts spraying, dust is flushed to the locomotive, and whether the carriage leaks water is checked. The car is then subjected to a washer rinse via the locomotive wash station 12. And then proceed to the right parking space signboard and the lamp 1 to park. After the in-place laser switch acts, the locomotive face cleaning station 2 cleans the locomotive face at the back of the locomotive. The cleaning manipulator carries out pre-programmed upper-lower front-rear profiling cleaning according to an input vehicle type, sends out a signal after the cleaning process of all the face positions is finished, a locomotive starts to run leftwards slowly, and is subjected to rough cleaning through a side top cleaning device of a locomotive top rough brush station 3 in sequence, the mechanical energy of the door and window cleaning manipulator of a locomotive door and window cleaning station 4 is cleaned, the cleaning manipulator also brushes according to the pre-programmed program, then is subjected to rough cleaning on the locomotive side top cambered surface through a side top arc cleaning station of a locomotive side arc top rough brush station 5, then is subjected to rough detergent cleaning and circulating water washing on the locomotive side through a locomotive side rough brush station 6 and a locomotive side surface washing station 7 in sequence, and is subjected to fine cleaning on the side top arc through a locomotive side arc top fine brush station 8, the side surface of the locomotive fine brush station 9 is finely cleaned, and the locomotive spraying station 10 is fully cleaned with purified water, and finally, drying the locomotive by high-pressure hot air in a locomotive drying station 11. When the locomotive slowly advances to the left parking signboard on the left side and the parking lamp position of the lamp 15, the tail part of the locomotive is just stopped at the locomotive face cleaning station 2 and the locomotive face cleaning station 2, and the mechanical hand is used for pre-programming and brushing the window glass at the tail part of the locomotive and the whole cambered surface. And sending a signal after all the brushes are washed, and indicating that all the locomotives are washed.

The first cleaning brush of the side brushing device comprises a first rolling brush support 24 fixed on the outer coil 21 and a first brush body 25 vertically arranged on the first rolling brush support 24, a first driving motor 26 and a first baffle 27 which are matched with the first brush body 25 are arranged on the first rolling brush support 24, and the first brush body 25 is provided with a first spray nozzle.

The utility model discloses in, this side brush device is after obtaining the operating signal, and it is rotatory around the center pillar to be driven first round brush support 24 by gyration drive platform 22, is close to locomotive automobile body, and first brush body 25 of first driving motor 26 drive is rotatory simultaneously, is close to the carriage and first spray nozzle blowout washing liquid simultaneously, begins to brush the car side and moves the washing.

The side scrubbing apparatus is used in stations numbered 6, 7 and 9 in figure 2, the cleaning line uses 3 pairs of 6 sets of side scrubbing apparatus in total, and the side scrubbing apparatus is used from rough cleaning to fine cleaning.

The first cleaning brush of the side top brushing device comprises a second rolling brush support 31 fixed on the outer coil 21 and a second brush body 32 obliquely arranged on the second rolling brush support 31, a second driving motor 33 and a second baffle 34 matched with the second brush body 32 are arranged on the second rolling brush support 31, and a second spraying nozzle is arranged in match with the second brush body 32.

The utility model discloses in, side top brushing device is after obtaining the working signal, and it is rotatory around the center pillar to be driven second round brush support 31 by gyration drive platform 22, is close to locomotive automobile body, and second driving motor 33 drives second round brush support 31 rotatory simultaneously, is close to the carriage and sprays nozzle blowout washing liquid simultaneously, begins to brush to the car side and moves the washing.

The side top brushing devices are used at the parts 5 and 8 in fig. 1, and 2 pairs of the cleaning lines are used, and 4 sets of side top brushing devices are used.

Including being fixed in the third round brush support 35 of outer coil 21 and the third brush body 36 that the level set up on third round brush support 35, be equipped with the first lift driving motor 37 of cooperation outer coil 21 on the center pillar, be equipped with the third driving motor 38 and the third baffle 39 of the cooperation third brush body 36 on the third round brush support 35, the cooperation the third brush body 36 is equipped with the third spray nozzle.

The utility model discloses in, positive brushing device is after obtaining the operating signal, by the descending of first lift driving motor 37 drive third round brush support 35 to by gyration driving platform 22 drive third round brush support 35 around the center pillar rotatory, be close to locomotive automobile body, third driving motor 38 drives the rotation of third brush body 36 simultaneously, is close to the carriage spray nozzle blowout washing liquid simultaneously, begins to brush to the side of the locomotive and moves the washing.

The top brushing device is used at the part with the number 3 in fig. 1, 1 pair of the cleaning lines are used, and 2 sets of the top brushing device are used.

The rotary driving platform 22 comprises a stator 28 connected to the central upright post, a rotor 29 connected to the outer coil 21 and a driving mechanism 30 matched with the rotor 29, the stator 28 and the rotor 29 are arranged in a sliding connection mode through balls, and the driving mechanism 30 comprises a rotary driving motor and a speed reducer which are electrically connected to a master controller.

The utility model discloses in, stator 28 and rotor 29 all belong to whole forging, ball sliding connection in the middle of the two, and rigidity and precision are all guaranteed, and whole leakproofness is good, but regular lubrication maintenance. The rotary drive platform 22 has application in driving the rotation and lifting action of the washing brush. The stator 28 is bolted to the central column and the rotor 29 is connected to the roller brush holder by the epitome 21.

The utility model discloses in, this mechanism is with the present product biggest difference in the past exactly, and this rotation driving platform 22 function is driven by servo motor, can provide reliable rotation precision and bear big moment of torsion effect, and motor drive can all perceive the size of the reaction force of brush to the locomotive through servo control, and its big or small accessible touch-sensitive screen adjusts at any time. The output force is accurate and reliable, and the brush has no shaking phenomenon.

Any cleaning manipulator includes manipulator 40, sets up in manipulator fixed platform 41 of manipulator 40 lower extreme, the lift guide rail frame 42 that cooperates manipulator fixed platform 41 and sets up in the longitudinal movement guide rail seat 43 of lift guide rail frame 42 lower extreme, the upper end of lift guide rail frame 42 is equipped with the second lift driving motor 44 that cooperates manipulator fixed platform 41, the top of manipulator 40 is equipped with second cleaning brush 45.

The utility model discloses in, be fixed in one with manipulator arm 40 and can vertically and reciprocate on the platform, increased the working range of manipulator. The platform and the manipulator are both servo-driven, and the moving and lifting platform can be controlled by the linkage of the manipulator. When the heavy point parts such as the locomotive head are cleaned, firstly, the locomotive model is input, and then the system controls the manipulator brush body through a prefabricated internal program to perform profiling brushing along the appearance of the locomotive head.

The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the scope of the claims.

Claims (10)

1. Locomotive intelligence cleaning line, its characterized in that: the locomotive washing device comprises a locomotive track, a locomotive inlet arranged at the left end part of the locomotive track, a left parking signboard and a lamp which are sequentially arranged from the locomotive inlet to the right end of the locomotive track, a locomotive deceleration indicator lamp and a board, a locomotive washing leakage detection station, a locomotive washing station, a locomotive drying station, a locomotive spraying station, a locomotive side surface finish brushing station, a locomotive side arc top finish brushing station, a locomotive side surface washing station, a locomotive side surface rough brushing station, a locomotive side arc top rough brushing station, a locomotive door and window washing station, a locomotive top rough brushing station, a locomotive face washing station and a right parking signboard and lamp; the locomotive side rough brushing station, the locomotive side washing station and the locomotive side fine brushing station respectively comprise side brushing devices symmetrically arranged on two sides of a locomotive track, the locomotive side arc top rough brushing station and the locomotive side arc top fine brushing station respectively comprise side top brushing devices symmetrically arranged on two sides of the locomotive track, the locomotive top rough brushing station comprises positive top brushing devices symmetrically arranged on two sides of the locomotive track, and the locomotive door and window brushing station and the locomotive face cleaning station comprise cleaning mechanical arms symmetrically arranged on two sides of the locomotive track; it is arbitrary side brushing device, side top brushing device and positive top brushing device all include the base, set up in the central pillar of base upper end, cover locate the outer pipe curl of central pillar and set up in the first cleaning brush of outer pipe curl side, the upper end of central pillar is equipped with the rotary drive platform of the outer pipe curl of cooperation, and cooperation rotary drive platform is equipped with the limit switch support frame, and cooperation side brushing device, side top brushing device, positive top brushing device and cleaning manipulator are equipped with total control room.

2. The locomotive intelligent cleaning line of claim 1, characterized in that: the locomotive washing and leakage detecting station comprises first spraying devices symmetrically arranged on two sides of a locomotive track and a circulating water treatment conveying room.

3. The locomotive intelligent cleaning line of claim 1, characterized in that: the locomotive washing station comprises second spraying devices and a detergent preparation conveying room, wherein the second spraying devices and the detergent preparation conveying room are symmetrically arranged on two sides of a locomotive track.

4. The locomotive intelligent cleaning line of claim 1, characterized in that: the locomotive drying station comprises hot air drying devices symmetrically arranged on two sides of a locomotive track.

5. The locomotive intelligent cleaning line of claim 1, characterized in that: the spraying station comprises third spraying devices symmetrically arranged on two sides of the locomotive track and a purified water treatment conveying room.

6. The locomotive intelligent cleaning line of claim 1, characterized in that: the first cleaning brush of the side brushing device comprises a first rolling brush support fixed on the outer coil and a first brush body vertically arranged on the first rolling brush support, a first driving motor and a first baffle which are matched with the first brush body are arranged on the first rolling brush support, and the first brush body is provided with a first spray nozzle.

7. The locomotive intelligent cleaning line of claim 1, characterized in that: the first cleaning brush of the side top brushing device comprises a second rolling brush support fixed on the outer coil and a second brush body obliquely arranged on the second rolling brush support, wherein a second driving motor and a second baffle which are matched with the second brush body are arranged on the second rolling brush support, and the second brush body is provided with a second spray nozzle.

8. The locomotive intelligent cleaning line of claim 1, characterized in that: the first cleaning brush of the positive top brushing device comprises a third rolling brush support fixed on an outer coil and a third brush body horizontally arranged on the third rolling brush support, a first lifting driving motor matched with the outer coil is arranged on the central stand column, a third driving motor matched with the third brush body and a third baffle are arranged on the third rolling brush support, and the third brush body is provided with a third spray nozzle.

9. The locomotive intelligent cleaning line of claim 1, characterized in that: the rotary driving platform comprises a stator connected to the central upright post, a rotor connected to the outer coil pipe and a driving mechanism matched with the rotor, the stator and the rotor are arranged in a sliding connection mode through balls, and the driving mechanism comprises a rotary driving motor and a speed reducer which are electrically connected to the master controller.

10. The locomotive intelligent cleaning line of claim 1, characterized in that: and the cleaning manipulator comprises a manipulator arm, a manipulator fixing platform arranged at the lower end of the manipulator arm, a lifting guide rail frame matched with the manipulator fixing platform, and a longitudinal moving guide rail seat arranged at the lower end of the lifting guide rail frame, wherein a second lifting driving motor matched with the manipulator fixing platform is arranged at the upper end of the lifting guide rail frame, and a second cleaning brush is arranged at the top end of the manipulator arm.

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