US 7,321,807 B2 | ||
Robotic wash cell using recycled pure water | ||
Stephen J. Laski, Howell, Mich. (US) | ||
Assigned to ABB Inc., Norwalk, Conn. (US) | ||
Filed on Nov. 22, 2006, as Appl. No. 11/604,121. | ||
Application 11/405656 is a division of application No. 10/926855, filed on Aug. 26, 2004, granted, now 7,054,717. | ||
Application 10/926855 is a division of application No. 10/271517, filed on Oct. 16, 2002, granted, now 6,804,579. | ||
Application 11/604121 is a continuation of application No. 11/405656, filed on Apr. 17, 2006, granted, now 7,194,334. | ||
Prior Publication US 2007/0150101 A1, Jun. 28, 2007 | ||
This patent is subject to a terminal disclaimer. | ||
Int. Cl. G06F 19/00 (2006.01) |
U.S. Cl. 700—245 [700/247; 700/256; 700/258; 700/259; 318/568.11; 318/568.12; 318/568.16; 318/587] | 15 Claims |
1. A robotic wash cell for washing a contaminant from a surface of an object, said wash cell having a supporting surface and
a source of high-pressure fluid, the object being placed relative to specific predetermined coordinates inside said robotic
wash cell, said robotic wash cell comprising:
a robot having at least six axes of rotation and an arm having a proximal end and a main axis, the surface of the object being
offset from said main axis;
an end effector having a nozzle, said end effector being secured toward said proximal end of said robotic arm, said end effector
and nozzle having a direction of aim, the source of high-pressure fluid being flowably connected to said nozzle to controllably
deliver the high-pressure fluid to said nozzle,
said nozzle for a dispersing spray in said direction of aim; and,
a control unit having a controller and an input device to selectively control said six axes of rotation to move said end effector
and nozzle along a path of travel a desired distance from the surface of the object, said desired distance, and said robotic
arm articulating said end effector and nozzle and their said direction of aim to remain substantially normal to the surface
of the object as said robotic arm moves said end effector along said path of travel, said spray substantially completely removing
the contaminant from the surface of the object.
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