x
y
z
±
10
°
Displacement around
the z-axis
±
8
.
8
°
Tilt angle
11 mm
z-compliance
Fig. 3.1: Auslenkungen und Nachgiebigkeit des AIRSKIN® Safetyflange.
3.2 Applications
The main area in which the AIRSKIN® Safetyflange can be used relates to pick-and-place applications: using the
Safetyflange can avoid crushing risks when putting down a workpiece. However, the Safetyflange is also suitable
for detecting collisions when moving a workpiece. A risk assessment as specified by ISO 12100 must always be
carried out before the AIRSKIN® Safetyflange is used; the corresponding biomechanical limits must be determined
and measured. Any application that uses the AIRSKIN® Safetyflange must only be brought into service after it
has been examined and approved.
Maximum payload
The maximum load for the AIRSKIN® Safetyflange is
20 kg
(own weight plus payload), and
this figure must not be exceeded.
3.2.1 Example
The intention in a pick-and-place application is to palletize boxes with a mass of
10 kg
. As a result of the high
payload, the Safetyflange is used without springs. When the boxes are put down, it might be possible for a hand
to get jammed, producing a force of
110 N
. Any additional pressure on the mass by the robot is prevented by
the AIRSKIN® Safetyflange. The maximum permissible quasi-static force that (according to ISO/TS 15066) can
be exerted on hands and fingers is
140 N
. The risk of crushing a hand is thus adequately decreased. If a spring
is incorporated in the Safetyflange, the force that additionally arises must be taken into account as set out in