ASM / QUARTZ INSTALLATION

Compact tooling.
One mobile robot.

UR30 stays on MiR250. Compact multi-level trolley A carries the tools and fixed upward camera/probe. The robot moves the held chamber for measurement. Optional trolley B adds AI inspection. Optional trolley C lifts and transports the quartz container, then transfers its weight to located floor stands. The fixed POC now includes automatic tool changes and a machine-shaped dummy.

Play the checked path ↗Engineering review

NOMINAL TYPE 1 RESULT

No sampled collisions

Guide-free installation, camera-first probing, fixed upward checks, trolley exchange and inspection. Separate full-sample reports cover the fixed POC and container carrier. Two removable guiding fixtures remain an option. The demonstration shows selectable options. Detailed design remains to be agreed.

Robot mounting plane XYZ: 280, −1050, 1050 mm
Container support XYZ: −750, −650, 540 mm
Quartz transfer bottom Z: 1530 mm
Machine seat XYZ: 0, 0, 1250 mm

Customer tong + guide STEP retainedMachine dimensions reconstructedMeasured signals simulated · no equipment connection

01 / CHECKED TRAJECTORY

The full interchangeable-tool sequence

Inspect side-entry tool storage, the low foam box, fixed upward sensors, square seating and trolley exchange. Exact sampled poses from the nominal audit drive this 3D review.

Loading the checked model…

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ReadyCamera firstProbe sourcePin frameExchangeTrolley ALoad-monitored liftUpward checksSeatExchange trolleyInspect

© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. UR30 official meshes and kinematics. MiR250 mesh: community reference, with wheels and a collision envelope enclosing the displayed geometry; OEM provenance remains unverified.

English female narrated walkthrough

English neural female narration, moving 3D cameras and synchronized HMI. Initial concept for discussion.

02 / CUSTOMER SOURCE

The machine, its datums and its guides

All ten slides were reviewed. Slides 7 and 8 also contain three embedded STEP files: the existing tong and left/right installation guides. They are included in the engineering package.

Reconstructed customer machine with nominal frame dimensions — Upper cabinet, open frame, side platens, front tube notch, well and exhaust funnel. Unlabelled frame sizes remain estimates.

Automatic exchange from installation trolley A to inspection trolley B — Trolley A returns to its bay. The same MiR250 + UR30 captures trolley B and returns for optional inspection.

Front layout with container left and robot in front — Front access leaves the approach corridor open.

Top view of the checked layout — The side container, stabilizer feet and enclosure remain in the collision model.

Feature	Model value	Evidence
Type 1 quartz	759 × 490 × 159 mm fin envelope	Customer slide 5
Type 1 body	113 mm external height; 88 / 433 mm internal opening	Customer callouts; remaining wall dimensions inferred
Tubulation	Ø34; 355 mm upper datum to tip	Tube tip −219 mm relative to fin bottom in this reconstruction; 378 mm total height
Machine access	850 / 550 / 1250 mm	850 window; 550 transverse interpretation and 1250 seat datum require confirmation
Pin / guide spacing	700 / 310 / 450 / 230 mm	Source annotated views; pin Ø8 and hole Ø10 are explicit assumptions
Machine frame envelope	830 × 1130 × 2743 mm nominal	Approximate image-proportion reconstruction, not a toleranced machine drawing
Installation guides	400 mm CAD length	Customer guide reference retained; robot-handled sleeves and mounts are proposed geometry
Floor	10 kN/m²	Distributed rating; concentrated foot loads require separate approval

OPERATOR INTERFACE / DIAGNOSTICS

Every handover has a record

Independent interactive software design demonstration. Synthetic signals only; no robot or safety-controller connection. A production historian needs separate implementation and validation.

JOB CONTROL / LOCAL DEMOIDLE

Job IDSelected function

Guard / machine reservation confirmedFloor support / wheels unloaded confirmedMechanical seats / paired locks confirmedTool ID / calibration current

Opening browser-local journal…

LIVE SEQUENCE / SIMULATED

Reserve machine

Job / reservation
Trolley identity
Dock / lock
Tool / calibration
Camera first
Three locating pins
Three seating contacts
Automatic tool change
Force-monitored pickup
Fixed upward metrology
Level approach / seat
Unload / complete

Pin fit 0.03 mm · exampleProbe / camera Cross-check requiredSupport 4 loads + displacementRetention Mechanical / power-off

FAULT WINDOW / 10 S BEFORE + 20 S AFTER

Keep the evidence around a fault

Reset only acknowledges. It never restarts the job. The buffer continues collecting post-fault samples while motion is held.

Event journal

Job, machine, trolley, tool, calibration, timestamps, image references and raw probe points are traceable.

Sequence	UTC time	Event	Trolley

The demo stores events in this browser and keeps a bounded 10-second synthetic trace ring. Production design: local append-only journal, durable fault files, synchronized clocks, retention policy and a HOLD on mandatory logging failure.

Paired rigid coupling concept — Spaced capture keys and mechanical retention. AprilTag/RFID identity is separate from final mechanical seating.

Quartz box carrier on floor stands — Optional C transports the box, then leaves it on stable floor supports with wheels unloaded.

03 / METROLOGY AND HANDLING

Camera first. Probe second.
Verify the part after pickup.

T1 measures before exchange. The upward camera and probe stay fixed on trolley A while the robot presents the held chamber to them. A rigid pose correction cannot repair a mismatched hole pattern.

Separate T1 camera and probe, T2 load sensing carrier, and T3 guide gripper — T1 camera + touch probe. T2 fin-gap carrier with independent load and force/torque sensing. Optional T3 handles two guiding fixtures; T4 adds camera/probe/laser inspection on trolley B.

Upward camera and independent probe checking the retained quartz — Three datum holes and the bottom plane are checked after pickup. The tubulation remains in an open clearance region.

Condition	Control response
Chamber stuck in foam	Excess extraction force, load imbalance or abnormal moment → retained HOLD. No harder pull.
Vision / probe disagreement	Hold; inspect identification, datums and calibration. Measurement diversity does not automatically establish safety redundancy.
Final pin engagement	Square approach; slow vertical seating with independent force/torque monitoring. No forced search.
Release	Confirm all three seats and load handover; unload pads before opening.

Offline three-hole / three-pin registration

Enter three identified, calibrated centres in mm, in the order front, rear-left, rear-right. This synthetic example assumes a 35 mm pin-tip-to-seat offset and a 0.2 mm pattern check limit. These values are illustrative, not accepted process tolerances.

Machine pin centres in the cell frameHeld quartz hole centres in the carrier frame

The calculation holds playback. It never applies an unchecked correction to the robot path.

SELECTABLE PHASES / SGD EXCLUDING TAX

POC first, with separate options

Package	Budget SGD
Fixed-arm POC: machine-shaped dummy, T1/T2 automatic exchange, pin/plane probing	119,295
MiR250 + permanent UR30 + trolley A	625,845
Optional T3 and two removable Teflon guides	22,110
Optional AI inspection trolley B	140,085
Optional powered container carrier C	78,210

Budget allowances pending supplier offers and design freeze. POC is additional. Dummy trials do not prove real-quartz fracture limits. The custom lift/latch requires manufacturer acceptance.

Fixed robot printed dummy POC — Proposed fixed-arm POC, without an AMR.

04 / REV F PACKAGE

Simulation and engineering files

Simulation video

Full HD, English neural female narration, captions and moving cameras

MP4 ↗02

Models and CAD

Machine, quartz, four tools, compact trolleys, fixed metrology, original CAD and audit

ZIP ↗03

Engineering review

Source calibration, corrected layout, contact scope and validation gaps

PDF ↗04

Technical proposal

Revised sequence, calibration, force logic and acceptance basis

PDF ↗05

Budgetary quotation

SGD 625,845 base; guides, AI inspection and container carrier priced separately

PDF ↗06

ROI model

Updated scope and time/cost inputs; unknown values remain blank

XLSX ↗07

Presentation

Updated project concept and review images

PPTX ↗08

POC proposal and quotation

Fixed arm, printed dummy, three pins, proposed trials and separate budget

PDF ↗

No mass or cycle-time data has been supplied for a defensible ROI update. The integrated ISO 7 configuration, quartz stress limits, payload/CG and stabilizer reactions remain engineering release items.

Sources and provenance

MiR250 specifications · UR30 specifications · Official UR geometry · Community MiR geometry