Collaborative robots have been widely used for their safety-friendly, easy-to-use, easy-to-deploy, versatile and other advantages, and strong force control capabilities are important features of collaborative robots, and high-performance force control functions can significantly improve the accuracy and effect of drag teaching, collision detection, load identification, assembly detection, grinding and polishing and other functional processes.
As an important feature of collaborative robots, the force control function is the top priority on the first day of the birth of collaborative robots, and the special force/torque sensor can greatly improve the accuracy of force detection.
There are many advantages of the technical route of the joint configuration torque sensor, but the complex structure, large volume and weight seriously affect the load and speed performance of the whole machine, and the high cost greatly restricts the popularization. The route of the external six-dimensional force/torque sensor on the tool side can achieve the balance between the force control accuracy and the load, speed and volume of the whole machine, but the independent six-dimensional force/torque sensor occupies the valuable space, weight and I/O interface resources of the tool side, and the independent six-dimensional force/torque sensor is also expensive and cannot be popularized so far. Therefore, it is difficult to hide the pain points of the industry, and multiple constraints need to be solved.
Elite Robot has a forward-looking layout, independently develops force sensor technology, and successfully solves the above problems by configuring a six-dimensional force/torque sensor inside the robot tool.
The first product of this technology, the new product of Elite CS66F force-controlled collaborative robot, was officially launched. As the first affordable force control collaboration product, it is not a test of the water, but a formal work that can achieve mass production, and has officially begun to accept orders.
The CS66F is based on the CS66 cobot and has all the features of the basic CS series, with only 80g more flange mass and 12mm thicker than the CS66, with negligible weight and volume effects.
However, it can provide 150N, 10Nm force/moment range, with a comprehensive accuracy of 2% and an accuracy of 0.5%. Compared with the form of force detection relying on joint current, the detection accuracy of force/torque at the end of the robot tool is increased by more than 1 order of magnitude, and the accuracy is more than double that of major foreign opponents.
In addition, the tool flange has a built-in attitude and acceleration sensor, which realizes the compensation of load movement through the sensor fusion algorithm, and further improves the accuracy of force/torque detection under the condition of robot acceleration and deceleration and vibration.
Based on Elite's understanding of collaborative robots and long-term experience in the collaborative robot market, CS66F attaches great importance to overload protection and protection level, with an overload capacity of more than 400% and a standard protection level of IP65 and up to IP68, which is perfectly suitable for the diverse working scenarios and working environments of collaborative robots.
CS66F is the first model of Elite CSF force control collaborative robot, in the near future, CS63F, CS612/616F, CS620/625F will be launched one after another, and constantly improve and expand the CSF family, let us wait and see.
How to better empower the industry through collaborative robots and realize the integration of the whole chain of technologies, services and solutions required for intelligent transformation has always been the focus of Elite Robotics' continuous efforts in product research and development.
After in-depth research on the typical application fields of force sensors, Elite aims at market pain points and efficiently releases productivity, and CSF series force-controlled collaborative robots will create infinite possibilities for you.
01 Safe, reliable, sensitive, and strong collision detection ability
Generally, collaborative robots have defects such as insensitive collision detection and easy mistriggering, especially in the process of full load movement, and there are hidden dangers in safety. The collision detection sensitivity of Elite CS66F force-controlled collaborative robot is better than 3N when fully loaded.
02Towed teaching helps to quickly carry out applications
Elite CSF series force-controlled collaborative robot has a more sensitive force feedback ability, only 1-2N external force can be dragged by the robot, no matter how heavy the tool is installed, it can be easily dragged to the desired position point, effectively reducing the teaching workload and the threshold of the use of the robot, allowing you to quickly carry out applications.
03Hengli tracking to achieve manufacturing process consistency
Elite CSF series force-controlled collaborative robot has a constant force tracking accuracy of up to 0.5N, and with the CS series perfect force control instructions and force control process package, it can realize accurate complex surface grinding, polishing and other operations.
04High assembly accuracy control for smooth assembly
The force sensor gives the robot a precise "sense of touch", adjusts the movement attitude and position according to the feedback of the force sensor, realizes the smooth assembly, and greatly improves the assembly accuracy of the robot.
05Convenient maintenance: Low maintenance cost and low technical difficulty
When the joint torque sensor fails, the entire robotic arm needs to be disassembled to replace the joint or the torque sensor in it, and when the six-dimensional force/torque sensor in the tool flange fails, only the lightweight and small tool flange integrated assembly needs to be replaced, and the maintenance work can be completed more quickly.
Driven by application requirements, the CSF series of force-controlled collaborative robots provide a safer and intelligent interactive experience, higher adaptability, and a lower-cost scenario-based application mode, allowing Elite Robot to improve "quality" with "intelligence" and break through innovation.
"Independent research and development, innovation and creation" is the gene of Elite, and it is also the foundation of Elite's life. The launch of the CSF model equipped with a six-dimensional force/torque sensor on the tool side further highlights the autonomy advantage of Elite's high-end products and its ability to continue to provide customers with cost-effective products.
In the research and development process of the sensor, the R&D team repeatedly optimized and iterated on multi-dimensional parameters such as load stress range, safety factor, stiffness, frequency, and manufacturability, and closely followed the international frontier of force sensors and the development trend of collaborative robots, and further improved the environmental and working condition adaptability of the sensor through multi-sensor fusion technology.
At the same time, Elite has always maintained a sense of awe of technology, knowing that high-precision force/torque sensor as a measurement component, production and calibration are more important than design and commissioning, and have developed a complete set of force sensor testing and calibration system.
Based on the test and calibration system, nearly 1,000 performance, reliability, protection, temperature and vibration test tests were carried out on the sensor itself in the trial production and verification stage of the sensor components, hundreds of calibration retests were carried out for each prototype iteration, and the finalized products were subjected to hundreds of thousands of load durability tests and high and low temperature cycle tests from 0 to 90 °C.
After the sensor is integrated with the robot body, thousands of hours of force control performance, function and reliability tests of the whole machine are carried out in combination with the robot's force control function. After more than a dozen versions of iterative optimization, the proportion of sensor itself and software and hardware integrated design updates is as high as more than 90%.
Looking back on the development path of the built-in six-dimensional force/torque sensor: research, optimization, integration, innovation, and verification, each node is the brave innovation, arduous search, and rich accumulation of Elite in the field of technology.
CSF series is the first "pioneer" of CS series cobot in-depth serialization plan, and Elite will launch more new products based on CS in the future, redefining the development path of cobots.
In the future, with the promotion of collaborative robots, force sensor technology, as a key support for intelligent manufacturing, will surely bring earth-shaking changes to the development of major industries and fields.
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