Plasma-sealant wobble paddle

摘要

An apparatus is configured to process a work piece and includes a robotic arm, a sealant discharger, and a plasma discharger. The robotic arm includes a distal end that is rotatable with respect to an axis of the robotic arm. The sealant discharger includes a sealant outlet configured to discharge sealant while the sealant outlet is at a first point. The sealant discharger is mounted on the distal end such that the first point is located on the axis. The plasma discharger includes a plasma outlet configured to discharge plasma while the plasma outlet is at a second point that is located a distance apart from the axis. The plasma discharger is mounted on the distal end such that the second point is rotatable around the axis.

主权项

1. A method of processing a work piece using a robotic arm, the robotic arm including a distal end that is rotatable with respect to an axis of the robotic arm, the robotic arm including a plasma discharger and a sealant discharger mounted to the distal end, the plasma discharger including a plasma outlet configured to discharge plasma, the sealant discharger including a sealant outlet configured to discharge sealant, the work piece including a surface, the method comprising:
positioning the plasma discharger and the sealant discharger such that the sealant outlet is located at a first point which is in proximity to the surface and the plasma outlet is located at a second point which is in proximity to the surface, the first point defining a discharge point for the sealant, the second point defining a discharge point for the plasma, wherein the first point is positioned on the axis of the robotic arm, and the second point is positioned on a longitudinal axis oriented to be at an angle relative to the axis of the robotic arm such that the longitudinal axis and the axis of the robotic arm and extensions thereof do not intersect; moving the distal end that is rotatable with respect to the axis of the robotic arm, such that the axis is moved along a predetermined path on the surface while discharging sealant from the first point to apply sealant on the surface, wherein the surface has three-dimensional surface textures and the predetermined path is shaped in connection with the three-dimensional surface textures of the surface; and pivoting the distal end with respect to the axis of the robotic arm such that a rotational direction of the distal end changes based at least upon a shape of the predetermined path in connection with the three-dimensional surface textures of the surface as the second point traces the predetermined path during the moving while discharging the plasma such that the plasma is applied on the surface along the predetermined path, the second point tracing the predetermined path ahead of the first point along an entirety of the predetermined path, wherein the second point is configured to be located at an adjustable distance from the first point based at least on a curvature of the predetermined path.