Patent ID: 6804579
Filing Date: 2004-10-12
Classification: B08B,B25J,G05B

Abstract:
A robotic wash cell for washing a contaminant such as oil or grease 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 six-axis robotic arm having a fixed end rigidly secured to the supporting surface, a proximal end, and component members joined to form six joints and six axes of rotation, said fixed end defining a main axis of said robotic arm, and 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, said dispersing spray having an increasing width dimension and an effective working range of up to about one foot; and, a control unit having a controller and an input device to selectively control said rotation of said joints to move said end effector and nozzle along a path of travel a desired distance from the surface of the object, said desired distance being within said effective working range of said spray, 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.