Abstract: An inkjet-type vehicle painting machine capable of keeping temperature elevation of a nozzle head to a certain temperature or less. The painting robot comprises a power supply means for supplying power to drive a piezoelectric substrate of a nozzle head, and a robot arm for moving the nozzle head. The nozzle head is provided in an explosion-proof housing equipped with an explosion-proof construction. A heat dissipation means that dissipates heat generated from the nozzle head within the explosion-proof housing is attached to the nozzle head. A temperature measurement means for measuring the temperature of the heat dissipation means is attached to the heat dissipation means.

Abstract: Systems and methods relating to an end-of-arm-tool that can be used in connection with the automated handling of vehicles, such as unmanned aerial vehicles (UAV), are disclosed. The described systems and methods can include an end-of-arm-tool which may include a load cell coupled to an end effector, such that forces and torques exerted on the end effector are translated onto the load cell. The measurement of forces and torques exerted on the end effector can facilitate determining various information in connection with the aerial vehicle, such as inertial properties or parameters associated with the aerial vehicle, the quality of the engagement between the end effector and the aerial vehicle, as well as diagnostic information in connection with the aerial vehicle. Additionally, the use of a load cell to measure forces and torques exerted on the end effector can eliminate the need to utilize traditional contact sensors typically required on the contact surfaces of an end-of-arm tool.

Abstract: A device and a method for manufacturing a rotor blade for a wind energy installation, wherein the rotor blade includes at least two rotor blade shells which are bonded together, includes a holding device arranged to hold a rotor blade shell such that at least one bonding surface on the rotor blade shell and/or on a web attached to the rotor blade shell is exposed. The bonding surface of the rotor blade shell can be bonded to a further rotor blade shell. The device further includes a robot arm arranged to apply adhesive to the at least one bonding surface, a carriage on which the robot arm is mounted, and a guide device mounted on the holding device. The carriage is mounted on the guide device so as to be movable. The guide device is arranged to guide the carriage and the robot arm along the holding device, in particular along the bonding surface.

Abstract: A printing apparatus which is capable of printing a pattern and/or a character on a curved printed surface, such as an airframe surface of a passenger aircraft, in a very short time. A head array having therein a plurality of inkjet nozzles for ejecting ink toward a remote position by supplying pressurized air to ink tanks filled with the ink, respectively, is mounted on a linear array so as to be able to perform linear reciprocation, the linear rail being held by a robot arm of a multi-articulated robot 5, and a position at which the robot arm 5a is to be disposed is controlled on the basis of position information, while controlling of driving of predetermined nozzles in the head array is performed in association with the position information.

Abstract: A dispensing apparatus used to dispense glue on a workpiece includes a first conveyer, a robot arm and a first storing module. The first conveyer has a work region and a storage region. The workpiece is loaded on the first conveyer and transmitted from the work region to the storage region. The robot arm is movably disposed adjacent to the work region and has a dispensing unit and an image identifying unit. The image identifying unit retrieves an image signal of the work region. The robot aim controls the dispensing unit to dispense glue on the workpiece according to the image signal of the work region. The first conveyer transmits the dispensed workpiece from the work region to the storage region. The first storing module, which is disposed adjacent to the storage region, supports the dispensed workpiece and lifts it away from the first conveyer.

Abstract: A robotic electrostatic painting system includes a barrier formed from an electrical insulating material and disposed between adjacent reservoirs for holding a conductive paint used in an electrostatic painting operation. The barrier is shaped and dimensioned with a central plate and upper and lower flanges to block every straight line path between the reservoirs to electrostatically separate the reservoirs and prevent the formation of a ground path or short circuit when there is a voltage difference between the reservoirs. The electrostatic separation of the reservoirs further prevents deterioration of conductive components of the robotic electrostatic painting system.

Abstract: A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.

Abstract: A method and apparatus for coating a group of objects may be provided. A three-dimensional model of the group of objects may be generated. Segments that represent each object in the group of objects in the three-dimensional model may be formed. Instructions for coating the group of objects may be generated based on the segments. The instructions may be configured to cause a robotic coating system to coat the group of objects.

Abstract: An adhesive applying device includes a robot including a robot arm; a rotor set jig for setting thereat a rotor; a gun including a holder to which a cartridge containing the adhesive is mountable, the gun discharging the adhesive in the cartridge mounted to the holder and being mountable to an end of the robot arm; an electromagnetic valve that performs on/off switching control of supply of compressed air at a predetermined pressure into the cartridge mounted to the holder of the gun; a robot controller that controls an operation of the robot; and an upper-order controller that coordinates and controls the on/off switching control performed by the electromagnetic valve and the control of the operation of the robot performed by the robot controller.

Abstract: A device and method for applying a reactive mixture comprised of at least two components to a substrate (41) having a spraying device (10) capable of generating a planar, fan-shaped spray jet (18) and a round spray jet (17), and having a means for moving the spraying device relative to the substrate, wherein the spraying device is moved over the substrate in at least two stages, wherein in the first stage, a first application of material (42) is performed with reactive mixture, using the planar, fan-shaped spray jet, on the substrate, and in a further stage a second application of material (43a-c) is subsequently performed with reactive mixture, using the round spray jet, on at least a section of the material applied to the substrate in the first application of material.

Abstract: A method and an apparatus for producing a relative movement between a jet unit, preferably an inkjet print head, and a region of a curved surface of a three-dimensional object, for example a motor vehicle door, include a control unit controlling a manipulator, preferably an articulated-arm robot, for moving the jet unit on a path at a working distance from the surface or for moving the object on a path at a working distance from the jet unit. A set of first reference points, located substantially in the curved surface, are approximated by a first polynomial, a first polynomial curve, a circle or an ellipse. A set of second reference points generated from the first polynomial or from the first polynomial curve is at a working distance from the surface. The second reference points are transferred to the control unit of the manipulator, preferably as a control program.

Abstract: A method and device for spraying dairy animals and in particular for spraying an udder region of dairy animals, including cows, during an at least partly or fully automatic milking process, includes providing a spray device mounted on a robot arm, the spray device including a spray nozzle with a spray opening, and a fluid channel feeding spray solution from an input port to the spray opening; pumping spray solution through the fluid channel towards the spray opening; heating the spray solution in a heating region of the fluid channel; and spraying the heated spray solution through the spray opening towards the udder region of the dairy animal.

Abstract: An apparatus and method for cleaning milking stalls on a platform of a rotary parlour. The rotary parlour includes a robotic manipulation device configured to perform a primary task; a holding device configured to hold the end portion of the hose member in a predetermined parking position, and a control unit. When it is time to clean a milking stall on the platform, the control unit activates the robotic manipulation device such that, instead of performing a primary task, the robotic manipulation device performs an additional task in which the robotic manipulation device grips the end portion of a hose member and moves the end portion from a parking position to a number of cleaning positions from which liquid jets are sprayed from the outlet opening of the end portion against predetermined surfaces to be cleaned in the milking stall.

Abstract: An application apparatus includes a nozzle device (20) injecting a damping material from a nozzle hole (20a) to a vehicle body, an articulated robot (21) moving the nozzle device (20) relative to the vehicle body, a supply section including a supply pump (22), and a supply passage (27), and continuously driving the supply pump (22) to continuously supply the damping material from the supply pump (22) to the supply passage (27) in a substantially uniform amount, a return passage (33) branched from the supply passage (27) and returning the damping material to the supply pump (22), and a gun (32) and a return valve (34) switching a supply destination of the damping material between the nozzle hole (20a) and the return passage (33) based on information on applying the damping material to the vehicle body.

Abstract: A flexible shaft assembly that transfers torque from a driver to a driven member includes a stub shaft that includes an elongated shaft axis, where the stub shaft couples to the driver, and a flexible coupling that includes a first hub that is adjustably connected to a second hub, where the second hub is coupled to the driven member and includes an external cylindrical interface. The flexible shaft assembly further includes a spacer that includes a spacer body, a shaft clearance hole that passes through the spacer body having a central axis extending therethrough, and a cylindrical guide surface concentric with the shaft clearance hole, where the external cylindrical interface of the flexible coupling is located inside the cylindrical guide surface, and the first hub adjusts relative to the second hub when the elongated shaft axis is out of alignment with the central axis of the shaft clearance hole.

Abstract: A painting system according to the embodiments includes a painting booth surrounded by a ceiling and a sidewall, a conveyor line that is arranged in the painting booth and conveys an object to be painted, and a painting robot that performs painting on the object. The painting robot includes a base portion fixed on the sidewall side in the painting booth, and an arm portion that is connected to the base portion and has a seven-axis configuration.

Abstract: The invention relates to a painting booth for coating components, particularly for painting motor vehicle body components, with a booth wall (10) and a coating agent line (1), which runs from the exterior of the booth through the booth wall (10) into the interior of the booth. The invention proposes that the coating agent line (1) has an electrically conductive and axially running potential-compensating element (15) inside the line for electrically connecting the coating agent inside the line to an electrical reference potential, said potential-compensating element (15) extending from the exterior of the booth through the booth wall (10), so that the free end of the potential-compensating element (15) is inside the booth.

Abstract: [Problems to be Solved] Provision of a printing apparatus which is capable of printing a pattern and/or a character on a curved printed surface, such as an airframe surface of a passenger aircraft, in a very short time. [Means for Solving the Problems] A head array 3 having therein a plurality of inkjet nozzles 16 for ejecting ink toward a remote position by supplying pressurized air to every ink tanks 6 filled with the ink, respectively, is mounted on a linear array 4 so as to be able to perform linear reciprocation, the linear rail being held by an robot arm 5a of a multi-articulated robot 5, and a position at which the robot arm 5a is to be disposed is controlled on the basis of position information, while controlling of driving of predetermined nozzles 16 in the head array 3 is performed in association with the position information.

Abstract: Systems and methods for reinforcing a pipe. A robot is adapted for rotating in a pipe to apply resin and/or fiber to an inner surface of a pipe in a generally helical pattern. Application of resin and/or fiber to the pipe may be actively adjusted to achieve desired application. A rate at which the robot moves along the pipe per revolution of the robot can be may be adjustable. A rate at which fiber is advanced toward the inner surface of the pipe may be adjustable for application of the fiber to the inner surface of the pipe in a generally non-tensioned state.

Abstract: A valve seat assembly includes a gasket retainer comprising an outer wall, an inner wall, an upper face extending between the outer and inner walls, and a lower face extending between the outer and inner walls. The inner wall defines an insert receiving bore extending from the upper face inwardly toward the lower face to a recess that receives a gasket. A gasket is located in the recess. A retainer insert is located in the insert receiving bore that applies a compressive force to the gasket.

Abstract: A robot, such as a painting robot for painting components such as motor vehicle body components, is disclosed having a plurality of robot elements that are pivotable relative to each other. At least one flexible supply line may run from a proximal robot element to a distal robot element. The supply line may be axially displaceable in the proximal robot element relative to the longitudinal axis of the supply line, so that the supply line can perform an axial compensating motion during a pivot motion of the robot.

Abstract: Rotary bell cup atomizing apparatus is provided having a rotatable bell cup driven by a motor shaft dimensioned so as to provide an annular gap between the outer, rear surface of the cup and the shaft extending an effective distance axially adjacent the shaft. Solvent channels extend within the assembly circumventing the gap and discharge into the gap. During cleaning of the atomizer, solvent passes partially through the paint nozzle and partially through the solvent channels impinging directly upon the shaft, then migrating over the outer surface of the cup. The inner and outer surfaces of the bell cup and the motor shaft are simultaneously cleaned. A replaceable sleeve placed inside the cup adjacent the front surface thereof absorbs the force of paint impinging thereon. The cup may have at least one balancing indentation immediately adjacent the sleeve.

Abstract: A masking device capable of effectively carrying out a masking operation using a masking jig by means of a robot. A step S5, wherein the masking jig is taken out by a second robot, must be completed prior to step S6, and may be carried out until step S2 has been completed, otherwise, may be carried out concurrently with step S4. Since the taking out operation of the masking jig by the second robot may be concurrently with the detecting/taking-out operation of the workpiece or the applying operation of adhesive by the first robot, cycle time may be reduced.

Abstract: The present disclosure relates to a system, method and article which may be configured to autonomously dispense a medium onto a relatively large surface relatively accurately.

Abstract: The invention relates to a painting system which comprises a painting device (121) in the painting chamber (103), said painting device comprising a casing (113) that surrounds the workpiece support (107) such that paint droplets that are not deposited onto the workpieces are dripped onto the casing to a large extent and can thus be reused.

Abstract: Exemplary illustrations of a supply tube, e.g., for a painting system, such as for supplying compressed air to a turbine in a rotary atomizer or for supplying an atomizer with a fluid medium, such as paint or a rinsing agent, are disclosed. An exemplary supply tube may include an upstream tube section and a downstream tube section. The upstream tube section may have a larger inner cross-section than the downstream tube section. A painting robot is also disclosed, which includes an exemplary supply tube.

Abstract: A system and method of applying coating to automotive workpieces is disclosed. A first coating dispensing robot dispenses coating at least a portion of an engine compartment, trunk and internal surfaces of a bed of an automotive workpiece during a first time interval, while a second robot dispenses coating on the exterior surface of fenders and passenger doors of the workpiece over the first time interval. The first robot dispenses coating on the exterior surface of a hood, roof, trunk lid and lift gate over a second time interval and the second robot dispenses coating on the side door interiors over the second time interval.

Abstract: The invention relates to a coating installation, in particular for painting motor vehicle bodies, comprising a transport path (2, 12), along which a plurality of coating objects (1) are transported one after the other through the coating installation, and a plurality of treatment stations (13-17, 18-22, 23-27), in which the coating objects (1) are treated. It is proposed that the transport path (2, 12) branches into a plurality of parallel branches (5-9), in each of which at least one of the treatment stations (13-17, 18-22, 23-27) is arranged.

Abstract: A coating system comprises: a coating apparatus connected to a syringe filled with a coating agent and having a nozzle for discharging the coating agent of the connected syringe; a robot which moves an object to be coated, held by a robot hand, to a coating position; and a control unit, wherein the coating apparatus comprises a plurality of syringes respectively filled with different coating agents, the nozzles connected to the respective syringes, and a rotary table for rotationally moving together the syringes and the connected nozzles, and the control unit controls to select the syringe filled with the coating agent to be applied to the object, move the nozzle connected to the selected syringe to a position facing the coating position by the rotation of the rotary table, move the object held by the robot hand to the coating position, and discharge the coating agent from the nozzle.

Abstract: An application operation simulation device including a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member; an interference number calculation section that calculates the number of interference at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference; and a display section that displays the color-coded surface of the three-dimensional model.

Abstract: A robot coating system (1) includes a robot moving unit (21) which makes a robot (11) having a coating gun (12) successively move to a plurality of planned coating positions, a readying pressure imparting unit (22) which drives a pump (13) of the coating gun before reaching the planned coating positions and imparts to the viscous material a predetermined readying pressure without coating the viscous material, a coating executing unit (23) which executes coating work of the viscous material by a predetermined flow rate over a predetermined coating time when the coating gun has reached a planned coating position, and a post-coating stopping unit (24) which continues the coating work to make the pump stop after the end of the work when executing the coating work and a stop command of the robot is issued.

Abstract: In a masking system a robot performs first conveyance work of making an object gripping unit grip an object and set the object at a predetermined position based on positional information of the object which was detected by a first detection unit, coating work of making a coating unit coat an adhesive on a masking location of the object which is set at the predetermined position, and second conveyance work of making a masking piece gripping unit adhere a masking piece to the masking location of the object based on positional information of the masking piece which was detected by a second detection unit.

Abstract: A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.

Abstract: A method for applying a substance to the teats of a dairy livestock comprises extending a robotic arm between the legs of a dairy livestock positioned in a stall. The method continues by rotating a linear member of a spray tool about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the hind legs of the dairy livestock. The method continues by discharging a substance as the linear member rotates.

Abstract: The conveyance apparatus includes: a swing arm whose distal end portion passes on a carrying-in/out position and a working position while being swung, which are provided on a circular trajectory in advance, a plurality of turn tables each of which is mounted on the corresponding distal end portion of the swing arm, the turn tables revolving along the circular trajectory and being rotatable on the axis thereof at the mounted position in the horizontal direction in a state that a workpiece is placed on the turn table, and a rotation locking mechanism that locks the rotation of the turn table on the axis except when the turn table is located at the working position.

Abstract: Embodiments of the invention include coating apparatuses and related methods. In an embodiment, the invention includes a coating apparatus. The coating apparatus can include a motor, a rotating contact member, a fluid applicator, a fluid pump, and a base member. The fluid applicator can include an orifice. The rotating contact member can be configured to rotate around a device to be coated that does not rotate. The rotating contact member can be configured to move along the lengthwise axis of a device to be coated. In an embodiment, the invention includes a method of coating a medical device.

Abstract: A method comprises determining a tangent to the rear of an udder of a dairy livestock, and determining a tangent to the bottom of the udder of the dairy livestock. The method continues by determining a position relative to the intersection of the two tangents, and extending a robot arm to the determined position.

Abstract: This spraygun (1) comprises a body (11) and, housed in a proximal part (11.1) of the body (11), a tank (10) extending along a main axis (X10). This spraygun also comprises atomizing means (5) in a distal part (11.2) of the body (11) comprising an atomizing member (51) designed to atomize the coating product generally in an atomizing direction (Y50). The atomizing direction (Y50) and the main axis (X10) of the tank are convergent.

Abstract: A rotary coupling for a multi-axial robot hand (19) is provided with a rotatable hand housing (20) and an output element (21) that is rotatable on said housing. The rotary coupling (62) includes connections (65, 66, 68) for the output element (21), a tool (23) and an accessory unit (30). The tool (23) and the accessory unit (30) can be rotated relative to each other, and the accessory unit (30) can be coupled to the hand housing (20) or to the tool (23) or to the output element (21) via the rotary coupling (62). The rotary coupling (62) is provided for an application device (11) which is used to apply a sealant (8) on a lock seam (7) of an add-on piece (4) of a vehicle body (3).

Abstract: Painting robots processing a part moving on a conveyor are synchronized by creating for each of the robots a master sequence of computer program instructions for a collision-free movement of robots along associated master sequence paths relative to the moving part, each of the master sequence paths including positions of the associated robot and the conveyor at pre-defined synchronization points, and running each of the master sequences on a controller connected to the associated robot to move the associated robot and comparing a current path of the associated robot and the conveyor against the master sequence path. The method further includes operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path, and operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the robots and the conveyor.

Abstract: A painting system having a painting robot with a stationary base mounted to a wall of a paint booth in cantilever fashion. A stand is mounted to the stationary base and is rotatable around a first axis that is disposed substantially horizontal. A first arm is rotatably mounted to the stand around a second axis, and a second arm is rotatably mounted to the first arm around a third axis. The second arm is operable to rotate around the third axis 180 degrees relative to the first arm. An end effector is connected between the second arm and a painting tool. The end effector is operable to orient the painting tool.

Abstract: An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.

Abstract: A robot arm assembly with tubes or pipes carrying fluids or electrical cables which do not get bent and are relatively straight, and are not disrupted by, the moving parts of the robot arm includes a first robot arm, a second robot arm, a third robot arm, and a flexible carrying tube. The second robot arm includes a first axle base, a first input shaft, a first bevel gear, and a second bevel gear. The flexible tube is inserted into the first bevel gear and the second bevel gear along a first axis, and fixed to the output shaft.

Abstract: A robotic apparatus for painting a workpiece includes a redundant axis robot for use in a robotic painting system. The redundant axis of rotation provides the robot arm additional flexibility in avoiding obstacles and reaching an interior of the workpiece to apply paint thereto. The robotic apparatus could be a seven-axis robot arm or a five-axis parallel link panel opener robot arm for opening and/or closing the panel. The robot arms are mounted on at least one vertically oriented column adjacent a path of travel of the workpiece through a painting booth and the robot arms can be mounted on a common base.

Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

Abstract: A painting robot includes a fixing unit fixed to a sidewall of a painting booth; a swivel unit provided to swivel with respect to the fixing unit; an arm provided to the swivel unit; and a painting gun provided in a tip end portion of the arm. The fixing unit includes a fixing surface fixed to the sidewall of the painting booth; and a cable lead-in portion provided on the fixing surface to lead a cable into the painting robot therethrough.

Abstract: The present invention is directed to a process for manufacture of a solar panel string assembly for a solar canopy including: horizontally aligning two solar panel support channels substantially parallel to one another; applying an adhesive with a robotic tool to an upper portion of the solar panel support channels, the robotic tool comprising a fixed track aligned parallel with the two solar panel support channels, a robotic arm assembly movably supported by the track, a positioning member for adjusting the position of the robotic arm assembly along the track, and wherein the robotic arm comprises an adhesive applicator and a vacuum lift component; and lifting with the vacuum lift component of the robot arm assembly of the robotic tool and aligning a solar panel on top of the two solar panel support channels near opposing edges of the solar panel.

Abstract: The invention concerns a method for controlling a robot or a first robot (LR1) and at least one further second robot (LR2), wherein the robot or the first robot (LR1) and the at least one further second robot (LR2) is provided to run through a plurality of positioning ranges (SB11, SB22) during operation. Preferably, a dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot (LR1) in at least one first positioning range (SB11) is adapted to a dynamic behavior and/or a load characteristic value of the second robot (LR2) in at least one second positioning range (SB22). The invention further concerns a corresponding control system, a corresponding computer program resp. computer-readable medium and a corresponding robot.

Abstract: To automatically perform an attachment work of a material supply to a target object, a robot system includes a robot provided with a body, a first arm provided for the body and having a plurality of joints, a second arm provided for the body separately from the first arm and having a plurality of joints, and hand units respectively provided for the first arm and the second arm. The robot holds one of a plurality of types of workpiece components using the hand units of the first arm and the second arm at the same time, and the remaining type of the workpiece components is held and carried by the hand unit of the first arm or the second arm.

Abstract: A method and apparatus for applying sealant. The apparatus may comprise a sealant flow control system. The sealant flow control system may be configured to engage a nozzle of a sealant container to reduce a flow of sealant from the nozzle.