ReconCell hardware installation manual

Workcell overview

Reconcell workcell is a reconfigurable robotic assembly workcell that uses flexible, reconfigurable and modular concepts to efficiently manage changeable production. The workcell frame is made of square steel beams connected with various Boxjoint joints. This enables the same beams to be assembled in various ways depending on the given task requirements.

The assembly sequences are executed by two UR10 robots. The workcell periphery is modular. Various peripheral elements can be added to the cell with the Plug and Produce (PnP) connectors. For ease of transportation the whole cell is mounted on wheels that can be locked. The assembly and use of aforementioned mechanical components is explained in detail in the subsequent chapters.

Cell frame

The cell frame connects the two UR10 robots with peripheral elements connected via PnP connectors. It is made of steel beams connected with BoxJoint joints. It can be configured in various ways, however a default minimal cell frame design that suits most applications is described in the Minimal frame section.

Minimal frame

The minimal cell frame is shown in Figure 1: ../../../_images/minimal_frame.pngFigure 1. Minimal cell frame

Quantity Component
1 200x200x1600 backbone beam
1 200x200x1600 beam
1 200x200x1200 beam
2 Robot stand
3 Plug and Produce connector
2 modified 200x200 double BoxJoint
4 modified 200x100 single BoxJoint
4 HRIG POA 63G wheels

Minimal frame assembly procedure

  1. Place the 200x200x1600 beam on wood blocks to allow access to the underside of the beam

  2. Mount the 2 modified 200x100 single BoxJoints along with the wheels to both edges of the 200x200x1600 beam (see Figure 2)

    ../../../_images/Modified_200x100_bj_LR.pngFigure 2. Modified 200x100 single BoxJoint assembly

  3. Place the 200x200x1200 beam parallel to the one prepared in step 1

  4. Mount the 2 modified 200x100 single BoxJoints to both edges of the 200x200x1200 beam (Figure 2)

  5. Ensure that the distance between the outer faces of the 200x200x1600 and the 200x200x1200 beam is 1568mm

  6. Align one of the edges of the 200x200x1200 beam to one of the edges of the 200x200x1600 beam

  7. Mount the bottom part of the modified 200x200 BoxJoint (consisting of two plates) to the center of the 200x200x1600 beam

  8. Mount the bottom part of the modified 200x200 double BoxJoint so that the center of the plate is 316mm from the edge of the 200x200x1200 beam

  9. Place the 200x200x1600 backbone beam on the two assembled bottom parts of the modified 200x200 BoxJoints on the 200x200x1200 and the 200x200x1600 beams ensuring that the PnP mounting holes are on the side

  10. Mount the top parts of the two modified 200x200 BoxJoints ensuring that the top plate has mounting holes for robot stands

  11. Using a forklift lift the frame from the wooden blocks and place it on the wheels

  12. Lock the wheels by firstly rotating the locking wheel counter clockwise manually until possible then finish using a wrench to tighten the locking nut until the wheel no longer touches the ground (see Figure 3)

    ../../../_images/wheel_LR.pngFigure 3. HRIG POA 63G wheel

  13. Mount the two robot stands (see Figure 4)

    1. Bolt the lower 80x80x10x150 brackets to the modified 200x200 plate
    2. Bolt the top 80x80x10x130 brackets in to the 200x200 robot mounting beam
    3. Bolt the robot mounting plate to the brackets installed in step II
    4. Place and bolt the preassembled robot mounting beam over the brackets installed in step I
    5. Bolt the UR 10 robot base to the robot mounting plate

    ../../../_images/Robot_stand_LR.pngFigure 4. Robot stand

  14. Mount the PnP connectors on appropriate mounting holes on the side of the 200x200x1600 backbone beam (see Figure 5)

    ../../../_images/BoxJoint_LR.pngFigure 5. PnP connector mounting

Optional PnP side connector

To mount a pnp connector to the 200x200x1600 or 200x200x1200 beam we use the PnP side connector shown in Figure 6. The position along the length of the aforementioned beams is arbitrary and should be carefully selected to best suit the assembly operation.

../../../_images/PnP_mouning_bracket.pngFigure 6: PnP side connector

Quantity Component
1 PnP connector
1 PnP mounting plate
4 PnP bracket
4 M10x240 bolt
4 M10 single nut
4 M8x80 bolt
  1. Insert the single nuts in the appropriate holes on the PnP mounting plate
  2. Place two pairs of the PnP brackets on both sides of the beam (see Figure 7)
  3. Drive four M10x240 bolts through the PnP brackets
  4. Place the PnP mounting plate on the outer side PnP brackets
  5. Bolt the assembly in place with bolts prepared in step 3
  6. Bolt the PnP connector to the PnP mounting plate with four M8x80 bolts

../../../_images/PnP_bracket_LR.pngFigure 7. PnP side connector assembly

Overhead camera frame assembly

For the use of machine vision systems overhead cameras are often needed. To mount the cameras the optional overhead camera frame is used (Figure 8). It is highly configurable and can suit most machine vision needs.

../../../_images/Camera_frame_LR.pngFigure 8. Overhead camera frame

Quantity Component
2 100x100x2300 beam
2 100x50x1500 beam
1 100x50x1200 beam
2 Modified 100x100 T-joint BoxJoint
2 100x50 T-joint BoxJoint
2 100x100 single BoxJoint
  1. Assemble two modified 100x100 T-joint BoxJoints and bolt them to the modified 200x100 single BoxJoint (see Figure 9) on the 200x200x1600 and 200x200x1200 beams (do not tighten the M10x140 bolts completely)

    ../../../_images/Modified_T_joint_BoxJoint_LR.pngFigure 9. Camera frame assembly (bottom)

  2. Vertically insert the 100x100x2300 beam in to the modified 100x100 T-joint BoxJoints assembled in step 1 and fully tighten the M10x140 bolts

  3. Assemble two 100x50 T-joint BoxJoints and mount them one on each of the 100x100x2300 beams (Figure 10) without fully tightening the M10x100 bolts. The height will determine the camera’s distance from the work surface and must be equal on both beams

  4. Insert the 100x50x1200 beam into the 100x50 T-joint BoxJoints and fully tighten the M10x50 bolts

  5. Preassemble the 100x100 single BoxJoint by loosely connecting the two 100x100 plates with M10x120 bolts and single nuts approximately in the middle of the 100x50x1200 beam

  6. Insert the 100x50x1500 beam perpendicularly to the 100x50x1200 beam in the BoxJoint preassembled in step 5 and fully tighten the bolts. Chose the distance of the BoxJoint from the edge of the 100x50x1500 beam according to your requirements

  7. Preassemble the 100x100 single BoxJoint by loosely connecting the two 100x100 plates with M10x120 bolts and single nuts on the100x50x1500 beam. Choose the distance from the edge according to your requirements

  8. Insert the second 100x50x1500 beam perpendicularly to the already mounted 100x50x1500 beam in the BoxJoint preassembled in step 7

../../../_images/100x100_T_joint_BoxJoint.png ../../../_images/100x100_single_BoxJoint_exploded.pngFigure 10. Camera frame assembly (top)