The CoboSafe-CBSF is a force gauge system designed for accurately checking permissible load thresholds in workplaces involving human-robot collaboration (HRC). It is part of a larger system and must be used in conjunction with CoboSafe-Vision software, CoboSafe-Scan pressure measurement set, and CoboSafe-Tek pressure measurement.
Function Description
The CoboSafe-CBSF force sensors determine forces occurring in collisions with collaborative robots. The device calculates force values based on underlying standards and publications, storing the results along with metadata such as ID, date, and time. It features a compact design for easy integration into measurement setups, even in confined spaces. The system automatically detects K1 damping elements and measures temperature and humidity. The CoboSafe-Vision software is used for visualizing and archiving the stored measurement data, while CoboSafe-CBSF is specifically designed for this purpose.
Important Technical Specifications
Force Sensor CoboSafe-CBSF:
- Weight: < 790 g
- Diameter: 80 mm
- Height: 60 ... 107 mm
- Measuring surface Diameter: 80 mm
- Measuring surface Height: 60 ... 107 mm
- Measuring range (various models):
- CoboSafe-CBSF-10: 20 ... 300 N
- CoboSafe-CBSF-25 to -150: 20 ... 500 N
- Maximum pressure on measuring surface: 1500 N/cm²
- Measurement inaccuracy, typical: ±1%
- Measuring error maximum (from end value): ±3%
- Sampling rate: ≥ 1 kHz
- Voltage supply: 3.7 V (DC)
- Power consumption: 500 mA
- Capacity of internal memory: >100 pieces (single measurements)
- Interface, Type: USB/Wireless
- Spring constant (various models):
- CoboSafe-CBSF-10: 10 N/mm
- CoboSafe-CBSF-25: 25 N/mm
- CoboSafe-CBSF-30: 30 N/mm
- CoboSafe-CBSF-35: 35 N/mm
- CoboSafe-CBSF-40: 40 N/mm
- CoboSafe-CBSF-50: 50 N/mm
- CoboSafe-CBSF-60: 60 N/mm
- CoboSafe-CBSF-75: 75 N/mm
- CoboSafe-CBSF-150: 150 N/mm
- Operating conditions (Relative humidity, non-condensing): 20 ... 90 % RH
- Operating conditions (Temperature): +10 ... +30 °C
- Storage conditions (Relative humidity, non-condensing): 20 ... 90 % RH
- Storage conditions (Temperature): +10 ... +30 °C
CoboSafe CBSF-Basic:
- Weight: 1400 g
- Measuring surface diameter: 80 mm
- Measuring surface height: 70 mm
- Length incl. handle: 310 mm
- Width: 80 mm
- Voltage supply: 2.4 V
- Measured curve memory: 100 pieces
- Measuring range: 20 ... 500 N
- Maximum pressure, on measuring surface: 1500 N/cm²
- Measurement inaccuracy, typical value: ±1%
- Measuring error, maximum (in measurement range): ±3%
- Spring rate (SI): 75 N/mm
- Spring rate (SAE): 428.26 lb/in
- Sampling rate: ≥ 1 kHz
- Port, type: USB-mini
- Charging battery: 2 hours
- Battery life: 8 hours
- Charging current: 500 mA
- Operating conditions (Relative humidity, non-condensing): 20 ... 90 % RH
- Operating conditions (Temperature): +10 ... +30 °C
- Storage conditions (Relative humidity, non-condensing): 20 ... 90 % RH
- Storage conditions (Temperature): +10 ... +30 °C
Accessories (Charger):
- Nominal voltage, primary side: 100 ... 230 V (AC)
- Nominal voltage, secondary side: 5 V
- Charging current: 0.7 ... 1.2 A
Measurement Setup Requirements:
- Stiffness measuring points: > 2000 N/mm
- Contact surface: 80 x 80 mm
- Temperature measurement inaccuracy: ±5 °C
- Humidity measurement inaccuracy: ±3 % RH
Usage Features
The CoboSafe-CBSF is designed for ease of use in collision measurement.
- Display: Features a clear display showing charge level, time, measurement number, measured values (Ft: maximum transient force, Fs: maximum quasistatic force), and a command line.
- Menu Navigation: Operated via a single pushbutton (CoboSafe-CBSF) or three softkeys (CoboSafe CBSF-Basic) for intuitive menu navigation, selection confirmation, and mode switching (manual/auto measurement, wireless on/off, data deletion, system info, exit).
- Data Storage: Stores measurement data including date, time, measurement number, device type, K1 damping element used, ambient temperature, and humidity.
- Data Transmission: Supports wireless data transmission (up to 20 meters under normal conditions) and wired transmission via USB cable to a PC for use with CoboSafe-Vision software.
- K1 Damping Elements: These elements simulate biomechanical properties of body surfaces and are classified by Shore hardness (Green: 10° Shore A, Blue: 30° Shore A, Red: 70° Shore A). They are crucial for creating biofidelic setups.
- K2 Spring Rates: Special springs built into the force sensors to simulate biofidelic body resistance.
- Measurement Preparation: Requires careful setup of the measurement environment, including defining collision scenarios, selecting measurement points, and ensuring a firm, stable scaffold with deburred components. The force sensor must acclimate to surroundings for at least two hours before operation.
- Robot Parameters: Requires careful planning and iterative design of collision kinematics, starting with reduced speeds and gradually increasing to intended operating conditions.
- Pressure Measuring Film: Can be used with CoboSafe-Scan or CoboSafe-Tek systems for pressure measurement, placed on the damping element or directly on the measuring plate.
Maintenance Features
Regular maintenance ensures the accuracy and longevity of the CoboSafe-CBSF system.
- Inspection and Cleaning:
- Before each measurement: Inspect and clean the device.
- After each measurement: Inspect and clean the device.
- CoboSafe-CBSF: Wipe measuring surface and housing with a clean cloth, remove coarse particles and adhesive residue. Clean the display with a soft cloth. Check for external damage.
- K1 Damping Elements: Regularly check surfaces for external damage. Clean if necessary (dry cloth for SH 10 and SH 30; damp cloth for SH 70). Bend slightly to check for porosity; porous elements with lasting cracking must be replaced.
- Battery Management:
- Charging: Recharge batteries after approximately 20 operating hours or when indicated, using the provided USB charger or via the PC's USB port.
- Replacement: Batteries cannot be replaced by the operator. They are checked and replaced during annual calibration by the manufacturer, or at the latest every two years.
- Calibration:
- Annual Calibration: The CoboSafe-CBSF requires annual inspection and calibration by the manufacturer or a certified laboratory (accredited to DIN EN ISO/IEC 17025) to ensure measurement capability.
- K1 Damping Elements: Checked for compliance with specifications during calibration. Replacement is recommended annually or when worn.
- Firmware Update: Firmware updates are performed via the CoboSafe-Vision software (not applicable to CBSF-Basic).
- Spare Parts: Only original or manufacturer-approved spare parts should be used, available from GTE Industrieelektronik GmbH.
- Storage: Store devices in the included transport cases, ensuring prescribed storage conditions (temperature and humidity) and protecting them from shaking or vibrations.
- Disposal: The measuring system contains components that can damage the environment if disposed of improperly. It must not be disposed of in residual waste. Components should be disposed of according to local regulations, or the device can be returned to the manufacturer for disposal at the end of its service life.
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