Huayan Robotics (Han's Robot) Collaborative Robots & Joint Modules: Elfin, Elfin-Pro, S Series (20–60 kg), Elfin-Ex, Echo/HY & STAR

Supply 6-axis and 7-axis collaborative robots, autonomous mobile manipulators, integrated humanoid joint modules, and genuine spare parts from Huayan Robotics (Guangdong Huayan Robotics Co., Ltd. / 广东华沿机器人股份有限公司, formerly Han's Robot / 大族机器人, China): Elfin, Elfin-Pro, S series (20–60 kg), Elfin-Ex, Elfin-Li/S-Li, Echo/HY, and STAR series.

Huayan Robotics Elfin Series 6-Axis Collaborative Robots (E03, E05, E05-L, E10, E10-L, E12, E15)

Universal 6-axis collaborative robots in the Elfin series are built around a patented dual-joint modular architecture (two drive axes integrated into a single housing), simplifying maintenance and module replacement.

The lineup comprises 7 models spanning 3 to 18 kg payload and 590 to 1800 mm reach: desktop E03 (payload 3/4 kg, reach 590 mm, mass 18 kg, 100 W), general-purpose E05 (5/7 kg, 800 mm, 25 kg, 180 W) and E05-L (5 kg, 950 mm, 26 kg, 180 W), medium E10 (10/12 kg, 1000 mm, 43 kg, 350 W) and E10-L (8/10

kg, 1300 mm, 45 kg, 350 W), long-reach E12 (12 kg, 1800 mm, 70 kg, 600 W), and high-payload E15 (15/18 kg, 1300 mm, 60 kg, 600 W).

3–7 kg models (E03, E05, E05-L): 590–950 mm reach, 18–26 kg mass, ±0.02 mm repeatability (up to ±0.015 mm), 2–3 m/s TCP speed, and 100–180 W typical power
10–12 kg models (E10, E10-L): 1000–1300 mm reach, 43–45 kg mass, ±0.03 mm repeatability, J1–J2 speed up to 120 °/s and J3–J6 up to 180 °/s, 350 W power
12–18 kg models (E12, E15): 1800 mm reach (E12) and 1300 mm reach (E15), 60–70 kg mass, ±0.05 mm repeatability, 2–2.5 m/s TCP speed, 600 W power
EtherCAT bus, Modbus TCP, TCP/IP, PROFINET, and Ethernet/IP protocols, IP54 protection (optional IP66), and any-angle mounting

Elfin-Pro Series Intelligent Cobots with Integrated Force Control & AI Vision (E03-Pro to E15-Pro)

The Elfin-Pro series comprises 7 collaborative robot models (E03-Pro, E05-Pro, E05L-Pro, E10-Pro, E10L-Pro, E12-Pro, and E15-Pro) featuring end-effector force control integration and optional AI vision.

Full internal routing for gigabit camera cables, power lines, and I/O signals eliminates external dress packs along the arm. The real-time motion control refresh rate reaches 2000 Hz, while the arm body carries an IP66 ingress rating and ISO Class 5 cleanroom certification.

Lineup covers E03-Pro (3/4 kg, 590 mm, ±0.02 mm), E05-Pro (5/7 kg, 800 mm), E05L-Pro (5 kg, 950 mm), E10-Pro (10/12 kg, 1000 mm), E10L-Pro (8/10 kg, 1300 mm), E12-Pro (12 kg, 1800 mm), and E15-Pro (15/18 kg, 1300 mm)
Integrated flange force control: ±3 N force control accuracy, up to 300% overload resistance, and low-resistance hand-guiding trajectory teaching
Integrated AI vision module: ±0.1 mm visual positioning accuracy with automatic workpiece offset recognition and trajectory compensation
2000 Hz real-time control refresh rate over EtherCAT, IP66 ingress protection, and ISO Class 5 cleanroom rating for semiconductor, optical, and medical lines

S Series Heavy-Payload Collaborative Robots: 20 to 60 kg Payload (S20, S30, S40, S50, S60)

Huayan S series heavy-payload cobots are engineered for automated palletizing, heavy CNC machine tending, case handling, and large assembly tasks from 20 to 60 kg.

The family includes 6-axis models S20 (payload 20/25 kg, reach 1700 mm, mass 64 kg, ±0.03 mm), S30 (payload 30/35 kg, reach 1800 mm, mass 93 kg, ±0.05 mm), and S50 (payload 50 kg, reach 2000 mm, mass 156 kg, ±0.1 mm), alongside dedicated 5-axis high-speed palletizing variants S40 (payload 40 kg,

reach 2000 mm, mass 89 kg, ±0.05 mm) and S60 (payload 60 kg, reach 2000 mm, mass 151 kg, ±0.1 mm).

Models S20 (20/25 kg, 1700 mm, 64 kg, ±0.03 mm) and S30 (30/35 kg, 1800 mm, 93 kg, ±0.05 mm): 6 DOF, TCP speed up to 2.5–3.2 m/s, palletizing throughput of 8–13 boxes/min
5-axis models S40 (40 kg, 2000 mm, 89 kg, ±0.05 mm) and S60 (60 kg, 2000 mm, 151 kg, ±0.1 mm): streamlined 5-DOF kinematics for high-speed end-of-line palletizing
6-axis flagship S50 (50 kg payload, 2000 mm rated reach, up to 2200 mm series reach, 156 kg mass, ±0.1 mm): fenceless alternative to traditional heavy industrial robots
Custom high-torque motors and lightweight hollow-shaft harmonic reducers, 1000 Hz EtherCAT bus, IP54 protection, 200–240 V AC power (up to 480 V AC on S50/S60)

Elfin-Ex Series Explosion-Proof Collaborative Robots (E05F, E10F, E10F-L, E12F, E15F)

Elfin-Ex 6-axis explosion-proof cobots integrate a leakage-compensation positive-pressure monitoring system: internal pressure sensors continuously track protective gas pressure inside the arm cavity and trigger automatic power cutoff upon pressure loss, blocking combustible gases and explosive

dust. Certified to national explosion-proof standards for gas and dust atmospheres (Ex pxb IIC T6 Gb / Ex pxb IIIC T80°C Db), the series is deployed in spray painting booths, petrochemicals, chemical dosing, and grain processing.

Models: E05F (7 kg, 800 mm, 25 kg, ±0.02 mm, 180 W), E10F (12 kg, 1000 mm, 43 kg, ±0.03 mm, 350 W), E10F-L (10 kg, 1300 mm, 45 kg, ±0.03 mm), E12F (12 kg, 1800 mm, 72 kg, ±0.05 mm, 600 W), and E15F (18 kg, 1300 mm, 60 kg, ±0.05 mm, 600 W)
Explosion-proof rating Ex pxb IIC T6 Gb / Ex pxb IIIC T80°C Db combining pressurized enclosure ('p') and intrinsic safety ('i') protection
Two configurations: Standard Edition (pressurized Ex control cabinet 600×400×800 mm, 100 kg installed directly inside hazardous zones) and Economy Edition (cabinet 600×350×655 mm, 50 kg in safe zone, up to 20 m cable)
IP66 ingress protection, -20 to +40 °C operating temperature range, and wireless operation via intrinsically safe Ex-iPad up to 50 m away

Elfin-Li & S-Li Series Lithium-Battery Edition Collaborative Robots (E03Li to S30Li)

Tailored for EV power battery and energy storage manufacturing lines, Huayan Robotics produces the specialized Elfin-Li and S-Li series spanning 8 models.

These manipulators feature high-dynamics motors and impact-resistant drivetrains optimized for high-speed screwdriving on battery packs, prismatic cell stacking, pre-weld laser cleaning, adhesive dispensing, labeling, and 3D battery tray inspection.

Eight dedicated models: E03Li, E05Li, E05Li-L, E10Li, E12Li, E15Li, S20Li, and S30Li covering 3 to 30 kg payload and 590 to 1800 mm reach
Repeatability up to ±0.02 mm, ±360° joint rotation range, and 1000 Hz real-time motion control refresh rate
IP66 ingress protection and ISO Class 5 cleanroom compliance for dry-room lithium battery cell and pack assembly environments
Reinforced joint stiffness against repetitive axial and reaction torque loads from automatic nutrunners, glue dispensers, and vision scanners

Echo & HY Series 7-Axis Humanoid Robotic Arms for Embodied AI Platforms (3–15 kg)

Huayan Echo and HY 7-axis ultra-lightweight robotic arms serve as core execution limbs for humanoid, quadruped, and wheeled embodied intelligence platforms as well as confined-space assembly.

The Echo series uses a coplanar cross-wrist configuration (Echo 3 rated 3 kg / 925 mm reach / <8 kg mass / ±0.02 mm, Echo 5 rated 5 kg / 746 mm / <12 kg / ±0.03 mm, and Echo 15 rated 15 kg / 850 mm / <22 kg / ±0.05 mm), while the HY series adopts a non-coplanar offset cross-wrist for higher

stiffness (HY 3 rated 3.5 kg / 625 mm / <8 kg, HY 7 rated 7 kg / 670 mm / <12 kg, and HY 15 rated 15 kg / 850 mm / <22 kg).

Full-joint torque control across all 7 axes: torque accuracy ≤0.02 N·m, force control bandwidth ≥100 Hz, and 0.1 N end-effector contact sensitivity
Ultra-lightweight design (payload-to-weight ratio up to 1:1.4) with a Ø15 mm hollow bore routing gigabit GMSL camera cables, power, and signals internally
Multi-arm controller (1 controller drives up to 4 humanoid arms), 48 V DC (±15%) supply, EtherCAT bus, RS485 and EtherCAT flange interfaces, native ROS2 and SDK
TCP max speed ≥2 m/s, ultra-low acoustic noise ≤45 dB, IP54 protection, and CE, ISO/TS 15066, and ISO 13849-1 PLd (Cat. 3) safety certifications

STAR Series Autonomous Mobile Manipulators (STAR-S, STAR-L, STAR-M, STAR-H) & HRC Control Platform

STAR mobile manipulators combine an autonomous AMR vehicle, an Elfin 6-axis cobot arm, an internal tray lifting unit, machine vision, and grippers for CNC machine tending, material transfer, and smart factory logistics.

The series offers 4 models: compact STAR-S (chassis HR150, dimensions 700×500×630 mm with E03/E05), medium STAR-L (chassis HR300, dimensions 950×650×900 mm with E03/E05/E05-L/E10), steering-wheel STAR-M (chassis HR600, dimensions 1200×700×900 mm with E05-L/E10/E10-L/E15), and heavy STAR-H (chassis

HR1200, dimensions 1530×965×1300 mm with E05-L/E10/E10-L/E15).

Laser SLAM and optional hybrid vision navigation without facility modification: max velocity up to 1.5 m/s (1.1 m/s on STAR-M) and ±0.5 mm docking/visual positioning accuracy
DC 48 V / 125 Ah battery system: loaded runtime >6 h (STAR-S), >10 h (STAR-L), and >12 h (STAR-M / STAR-H) with ≤2 h automatic charging
Customizable internal tray lifting mechanism for multi-workpiece storage and seamless MES scheduling integration via TCP/IP, HTTP, and SDK
HRC embodied intelligence real-time motion control platform ('cerebellum' controller): 1000 Hz multi-axis coordination across mobile chassis, dual arms, and dexterous hands

Humanoid Joint Modules (Sizes 11–32), FPGA Dual-Channel Servo Drives, Reducers & Genuine Spare Parts

Huayan Robotics develops and manufactures the complete core motion component stack for its cobots and humanoid platforms in-house.

The Humanoid Joint Module series (6 frame sizes: 11, 14, 17, 20, 25, and 32) integrates a frameless torque motor, precision harmonic reducer (ratio 100 or 120), 19-bit dual magnetic encoder, torque sensor, electromagnetic friction brake, and servo driver into a hollow-shaft unit achieving >50 N·m/kg

peak torque density.

Compact joint modules 11, 14, and 17: outer diameter 55 / 62 / 72 mm, mass 0.39 / 0.685 / 1.07 kg, rated torque 6 / 10 / 33 N·m, peak torque 19 / 35 / 70 N·m, gear ratio 100
High-torque joint modules 20, 25, and 32: outer diameter 84 / 100 / 132 mm, hollow bore Ø13 / 16 / 23 mm, mass 1.72 / 2.53 / 5.8 kg, rated torque 59 / 87 / 178 N·m, peak torque 107 / 204 / 459 N·m
Repeatability ≤30 arcsec, 19-bit dual magnetic encoder redundancy, DC 48 V supply, EtherCAT bus interface, and 0 to +45 °C operating temperature
Genuine spare parts for Elfin and S cobots: dual-joint modules, axial-flux hollow motors, FPGA dual-channel servo drives, control boxes (3 kW standard and mini controller), and 11-inch teach pendants (1920×1200)

Identifying Huayan Robotics (Han's Robot / 大族机器人) Models and Joint Modules by Nameplate

Guangdong Huayan Robotics Co., Ltd. (广东华沿机器人股份有限公司, stock code 1021.HK) was founded in September 2017 in Bao'an, Shenzhen as Han's Robot (深圳市大族机器人有限公司), built by an engineering team developing motors, servo drives, and motion control since 2005 and a Robotics Research Institute formed in 2014.

With manufacturing in Shunde, Foshan, field units carry Huayan Robotics or Han's Robot / Elfin nameplates.

Model codes indicate series, payload, and reach: E05 and E05-L (Elfin 5 kg with 800 mm or 950 mm reach), E10-Pro (flange force control and AI vision), E10F and E15F (Elfin-Ex explosion-proof series), E05Li and S20Li (lithium battery editions), S30 and S60 (heavy S series rated 30–60 kg), Echo 5 and

HY 7 (7-axis humanoid arms), and Humanoid Joint Modules in sizes 11, 14, 17, 20, 25, and 32.

To select a replacement dual-joint module, harmonic reducer, FPGA servo drive, encoder, or control box, send photos of the robot base and controller nameplates showing model, serial number, and axis (J1–J6 or J1–J7).

Selecting Between Elfin, Elfin-Pro, and S Series Heavy-Payload Cobots (3 to 60 kg)

For CNC tending, PCB assembly, soldering, screwdriving, and inspection, the 6-axis Elfin series (E03, E05, E05-L, E10, E10-L, E12, E15) covers 3 to 18 kg payloads and 590 to 1800 mm reach with ±0.015 to ±0.05 mm repeatability.

For constant-force grinding, deburring, precision insertion, or visual picking, the Elfin-Pro series offers a 2000 Hz control loop, ±3 N flange force control, ±0.1 mm AI visual positioning, IP66 sealing, and ISO Class 5 cleanroom readiness.

End-of-line palletizing and heavy part handling use the S series rated from 20 to 60 kg with reach up to 2000–2200 mm.

The 6-axis S20 (20/25 kg, 1700 mm), S30 (30/35 kg, 1800 mm), and S50 (50 kg, 2000 mm) provide full 6-DOF orientation, whereas the 5-axis S40 (40 kg, 2000 mm, 89 kg mass) and S60 (60 kg, 2000 mm, 151 kg mass) optimize high-speed palletizing.

Turnkey welding cells (supporting MEGMEET, Fronius, Panasonic, Lincoln, and OTC power sources) and lifting-column palletizing stations (8–13 boxes/min) are built on Elfin and S series arms.

Elfin-Ex Explosion-Proof Cobots, Lithium-Battery Li Editions, and Echo / HY 7-Axis Humanoid Arms

For spray painting, solvent dispensing, petrochemicals, and flour mills, the Elfin-Ex series (E05F, E10F, E10F-L, E12F, E15F) holds explosion-proof certification Ex pxb IIC T6 Gb / Ex pxb IIIC T80°C Db and IP66 protection.

Its positive-pressure system monitors internal arm pressure, paired with an Ex control cabinet (100 kg) or safe-zone cabinet (50 kg, 20 m cable) and an Ex-iPad.

For EV battery lines, the 8-model Elfin-Li and S-Li families (E03Li to S30Li, 3–30 kg payload, 590–1800 mm reach, ±0.02 mm, IP66, ISO Class 5) use impact-resistant motors.

For embodied AI, the 7-axis Echo (Echo 3, Echo 5, Echo 15) and HY (HY 3, HY 7, HY 15) arms deliver full-joint torque control (≤0.02 N·m, ≥100 Hz, 0.1 N sensitivity, ≤45 dB noise) with 1 controller driving 4 arms.

Shop-floor transfer and CNC tending use STAR mobile manipulators (STAR-S, STAR-L, STAR-M, STAR-H on HR150–HR1200 vehicles) with Laser SLAM (±0.5 mm) and a 48 V / 125 Ah battery.

Replacing Dual-Joint Modules, Harmonic Reducers, FPGA Servo Drives, and Teach Pendants

Elfin cobots use a dual-joint module housing two orthogonal axes in one hollow-shaft casting. When a reducer wears or a driver faults, teams can swap either the calibrated dual-joint module or internal components.

For custom robotics and joint repairs, Huayan supplies Humanoid Joint Modules in 6 sizes (11, 14, 17, 20, 25, and 32 with 55–132 mm outer diameter, 6–178 N·m rated torque, 19–459 N·m peak torque, 19-bit dual magnetic encoders, and ≤30 arcsec repeatability) plus frameless torque and axial-flux

motors.

We supply FPGA dual-channel servo drives, electromagnetic brakes, torque sensors, 3 kW control boxes (16 DI / 16 DO, 2 AI / 2 AO), mini controllers, 11-inch teach pendants (1920×1200, IP54), and cable harnesses.

International Supply of Complete Huayan Robotics (Han's Robot) Cobots and Genuine Spare Parts

SpareX supplies collaborative robots, mobile manipulators, humanoid arms, joint modules, harmonic reducers, FPGA servo drives, and spare parts from Guangdong Huayan Robotics Co., Ltd. (Han's Robot, China) for industrial plants worldwide.

We verify hardware revisions from nameplate data, match joint modules or reducers to axes J1–J7, and deliver from a single module or teach pendant to complete turnkey cobot cells.

Configurations, lead times, and export pricing for Huayan Robotics (Han's Robot) cobots, joint modules, and spare parts are calculated upon inquiry; retail price lists are not published. We operate as an independent supplier and not an exclusive distributor.