BLUE DANUBE ROBOTICS SAFE COLLABORATION BETWEEN HUMANS AND ROBOTS

WE PRODUCE SAFETY SENSORS DIRECTLY MOUNTED ON ROBOTS

HQ Vienna, Austria, founded in 2013, part of AVV, 30 Employees

Development, Design and Production in Austria.

WHAT IS AIRSKIN

AIRSKIN is a soft, thin, airtight skin over a flexible dampening structure with smart safety electronics.Contact-deformation of AIRSKIN changes air pressure inside (decrease of volume, increase of pressure).

Barometric sensors monitor and detect air pressure change and trigger emergency stop.A piezo-micro-pump creates a small overpressure of ~400 Pa in the pads, to detect leaks.

Like a tire pressure monitoring system in a car: Pressurized rubber tire, monitoring airpressure with sensor, signal when too low or high. But with only ~1/1000th the pressure of a tire.

cushioning airtight barometricstructure hull sensors (inside)

bar. sensors safety electronics(outside)

AIRSKIN® COMPONENTS

AIRSKIN® Pad

External Cables

Support Layer

Internal Cables

AIRSKIN® PAD WITH SAFETY ELECTRONICS

AIRSKIN® ADD-ON SAFETY

◦ Soft and pressure sensitive collision sensor◦ Robust: Ideal for industrial settings◦ Simple and fast: shortest time to change in case of damage due to innovative magnetic fasteners.◦ Material: Thermoplastic Polyurethan (TPU)

Safety◦ Reaction time: 9ms◦ Same sensitivity everywhere, even near joints (shearing, crushing hazards with cobots using motor current to detect collision).

Connection / Integration◦ AIRSKIN® Pads are connected in series (max. 15 pads/lane).◦ 1 Mikro-Pump per pad integrated into the electronics -> no external air pressure needed.◦ Dual Channel OSSD – directly connected to Safety IOs of robot or safety SPS.◦ No SW, no programming needed. ◦ Every industrial robot compatible to AIRSKIN

Certification◦ ISO 13849 PLe / Cat3 TÜV Austria since 1/2018. ◦ CSA/UL with TÜV Rheinland for north american market◦ Currently IP 50 – IP54 in Q4/2019 (sealings of magnetic connectors)◦ AIRSKIN safety certification: every geometry possible inside our certified parameters -> certified Lot-Size-1 Sensors possible◦ Every AIRSKIN comes with CE mark.

Flexibility◦ From lot-size-1 for customized designs, 3D printed to mass-manufactured series.◦ Cabling outside AIRSKIN offers flexibility of end effectors

AIRSKIN® CHARACTERISTICS

SPACE

SPEED

SAFETY

CHALLENGES

WITH

UP TO 90% REDUCTION

800 MM/S STANDARD VALUE UP TO 400 MM/S CLAMPING

SIMPLIFIED RISK ASSESSMENTHIGHEST SAFETY PLE / CAT3

SPACE

SPEED

SAFETY

AIRSKIN® - CUSTOMER VALUE

MODES OF COLLABORATIONHuman Robot Collaboration

◦ Different modes of collaboration

◦ Very few real collaborative applications, mostly coexistence

◦ Big potential for savings in◦ Floor space◦ Cycle time

AIRSKIN® (ISO/TS 15066)Traditional safety

measures(ISO 10218)

Traditional robot cell

Open robot cell (“Cobot”)

MODES OF COLLABORATION : ISO/TS 15066d) Power and force limitation

ISO/TS 15066

◦ Definition of four types of collaborative operation◦ Safety-rated monitored stop◦ Hand guiding◦ Speed and separation monitoring◦ Power and force limiting

◦ Biomechanical limits◦ Force◦ Pressure

◦ Acceptable collision in free spacecalculated with simple formula

Quelle: TÜ

V Austria Whitepaper II

ARSKIN®

AIRSKIN® dampens collision

AIRSKIN® covers sharp edges

AIRSKIN FOR LIGHTWEIGHT ROBOTS

Faster reaction time on contact, resulting shorter breaking distance and soft impact dampeningskin:

Less force on contact -> FASTER MOVEMENTS

Definition: Lightweight robots: easy to use, low stiffness and accuracy. Payload: 3 to 10kg. Some robots up to 14 kg.

Problem

◦ measure contact/collision in the joints, via motor current or torque sensors◦ Collision with hard outer surface is happening, contact-force is required for measurement◦ Stop signal is issued when there is no more room for deceleration/breaking (already in contact)◦ Varying sensitivity: near joints not sensitive (physics), clamping, shearing, crushing hazards

◦ Only collaborative in low speeds

◦ End of Arm Tool

HIGHER SPEEDS FOR COBOTS

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◦ Any lightweight robot (UR10, Techman, Aubo, iiwa, HC10, …)

◦ ISO / TS 15066, clause 5.5.4 “Power and force limiting”

◦ Limiting criteria: peak forces , peak pressures, energy transfer

◦ Quasi-static extended contact, human body part can NOT recoil, is trapped: quick 9ms AIRSKIN® reaction time allows120% higher speed (250 -> 550 mm/s)

◦ Transient short contact, human body part can recoil: energy absorption in 40 mm AIRSKIN® allows60% higher speed (500 -> 800 mm/s)

◦ Pressures in transient contact: increased surface area of soft AIRSKIN® vs. hard edge allows320% higher speed (250 -> 800 mm/s)

IMPOSSIBLE TO SOLVE WITHOUT AIRSKIN®

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◦ Clamping and shearing hazards in problematic areas

◦ ISO / TS 15066, clause 5.5.4 “Power and force limiting”

◦ Limiting criteria: peak forces, peak pressures

◦ Shearing between UR10 connector and shoulder joint: soft AIRSKIN® stops robot before shearing occurs

◦ Clamping near strong shoulder joint: AIRSKIN® is equally sensitive everywhere, negligible clamping forces1000 mm/s tool speed only 40 N (vs. >500 N at 50 mm/s withoutAIRSKIN® )

AIRSKIN® ON INDUSTRIAL ROBOTS

8/29/19 5:55 PM

◦ AIRSKIN® turns any industrial robot into a collaborative robot

◦ ISO / TS 15066, clause 5.5.4 “Power and force limiting”

◦ Limiting criteria: peak forces, energy transfer

◦ Transient short contact, human body part can recoil: energy absorption in 80 mm AIRSKIN® on a 200 kg robot allows800 mm/s Standard Speed

◦ Quasi-static extended contact, human body part can NOT recoil, is trapped: quick 9ms AIRSKIN® reaction time allowsup to 400 mm/s (depending on stopping distance of robot)

EOATStandard grippers(Schunk, Schmalz, Weiss, Onrobot…) customized finger Modulpads Safeyflange

KR10 AGILUS R1100 sixx

KR12/16/20/22 R1610-2/R1810-2(KR8/20 R2010-2)

KR 210/300R2700-2/R3100-2

Available Q4/2019

Q3/2020

+contactless safety sensor @toolfor higher movement speed

• Palletizing• Screwing• Visual Inspection• Pick&Place• Assisted Lifting• Camera Platform• Medical

AIRSKIN® ROADMAP

• Visual Inspection• Pick&Place• Glueing• Marketing: Demonstrator

• Assisted Lifting• Medical

Mitsubishi RV-4FL

4kg

0,649m

Mitsubishi RV13FL

13kg

1,388m

Mitsubishi RV13F/20F

13kg/20kg

1,094m

Mitsubishi RV7FLL

7kg

1,503m

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