End effector cleaning devices and systems

An end effector cleaner system comprising:

• an end effector for dispensing sealant;
• and
• an end effector cleaner for removing excess sealant from the end effector, the end effector comprising:
• a first spool;
• a second spool;
• a medium for removing excess sealant from the end effector, wherein one end of the medium is wound on the first spool and the other end of the medium is wound on the second spool, the medium extending along a medium conveyance pathway between the first spool and the second spool;
• a support member positioned adjacent to the medium conveyance pathway between the first spool and the second spool such that the medium traverses the medium conveyance pathway, the support member configured to support a portion of the medium, wherein the portion of the medium is positioned to receive excess sealant from the end effector;
• a motor coupled to the second spool for rotating the second spool;
• and
• an advancement sensor communicatively coupled to the motor, the advancement sensor for detecting a presence of the end effector and sending a signal for rotating the motor, the advancement sensor communicatively coupled to the motor.

A method for cleaning an end effector of a robot, comprising:

• moving, by the robot, the end effector into contact with a portion of a medium between successive applications of sealant by the end effector, wherein one end of the medium is wound on a first spool and the other end of the medium is wound on a second spool, the medium extends along a medium conveyance pathway between the first spool and the second spool, and the portion of the medium is supported by a support member positioned adjacent to the medium conveyance pathway between the first spool and the second spool;
• detecting, by an advancement sensor of an end effector cleaner, a presence of the end effector;
• and
• rotating, by a motor of the end effector cleaner, the second spool by a degree in response to detection of the presence of the end effector.