描述
一、3HAC14139-1：ABB机器人机械臂或手腕部件
1.产品概述
定位：
3HAC14139-1是ABB工业机器人（如IRB 2400、IRB 2600、IRB 4600等系列）的机械臂或手腕组件，具体可能为上臂、下臂、手腕关节或传动模块的一部分。
作用：直接参与机器人的运动执行，负责精确的轨迹控制、姿态调整，适用于焊接、搬运、装配、喷涂等工艺。
典型应用场景：
汽车制造：车身焊接、零部件装配。
3C电子：精密元件抓取、PCB板插装。
金属加工：切割、打磨、去毛刺。
物流仓储：货品分拣、码垛。
2.核心功能与参数
机械结构：
材料：高强度铝合金或铸铁，表面阳极氧化处理（防腐蚀、耐磨）。
传动方式：
伺服电机驱动：通过谐波减速器或RV减速器实现高精度、低背隙传动。
同步带/齿轮传动：部分型号可能采用同步带传递动力，降低噪音与振动。
运动性能：
负载能力：根据机器人型号不同，负载范围3kg~300kg（如IRB 2600负载20kg，IRB 4600负载110kg）。
重复定位精度：±0.05mm~±0.1mm（满足高精度加工需求）。
最大运动速度：2m/s~5m/s（快速响应动态任务）。
接口与连接：
电气接口：
动力线：连接伺服电机与驱动器（如3HAC12934-1驱动单元），传输三相交流电（400V/480V）。
编码器线：反馈电机位置、速度信号至控制器，实现闭环控制。
机械接口：
法兰盘：符合ISO 9409-1标准，可安装末端执行器（如焊枪、夹爪、喷枪）。
定位销/孔：确保重复安装精度，避免偏移导致误差。
3.性能指标
工作环境：
温度：0℃~+45℃（标准工业环境，部分型号支持-10℃~+55℃）。
湿度：5%~95%RH（无凝结），防冷凝设计。
防护等级：IP65（防尘、防水喷溅），适用于一般工业场景（如焊接车间、喷涂房）。
寿命与可靠性：
设计寿命****：8年/16000小时（连续运行），MTBF（平均无故障时间）≥50000小时。
维护周期：
润滑：每5000小时检查/补充润滑脂（如Klübersynth UH1 6-150）。
密封件：每2年更换O型圈、防尘圈，防止泄漏与污染。
I.3HAC14139-1:ABB Robot Arm or Wrist Component
1.Product Overview
Positioning:
The 3HAC14139-1 is an ABB industrial robot arm or wrist component(such as the IRB 2400,IRB 2600,and IRB 4600 series).It may be part of the upper arm,lower arm,wrist joint,or transmission module.
Function:Directly involved in the robot’s motion execution,responsible for precise trajectory control and posture adjustment.It is suitable for processes such as welding,handling,assembly,and painting.
Typical Applications:
Automobile Manufacturing:Body welding and parts assembly.
3C Electronics:Precision component handling and PCB board insertion.
Metalworking:Cutting,grinding,and deburring.
Logistics and warehousing:Goods sorting and palletizing.
2.Core Functions and Parameters
Mechanical Structure:
Material:High-strength aluminum alloy or cast iron,anodized for corrosion and wear resistance.Drive Type:
Servo Motor Drive:High-precision,low-backlash transmission is achieved through a harmonic reducer or RV reducer.
Synchronous Belt/Gear Drive:Some models may use a synchronous belt to transmit power,reducing noise and vibration.
Motion Performance:
Load Capacity:Depending on the robot model,the load range is 3kg to 300kg(e.g.,20kg for the IRB 2600 and 110kg for the IRB 4600).
Repeatability:±0.05mm to±0.1mm(meets high-precision machining requirements).
Maximum Speed:2m/s to 5m/s(fast response to dynamic tasks).
Interfaces and Connections:
Electrical Interface:
Power Cable:Connects the servo motor to the drive(e.g.,the 3HAC12934-1 drive unit),transmitting three-phase AC power(400V/480V).
Encoder Cable:Provides feedback of motor position and speed signals to the controller for closed-loop control.Mechanical Interface:
Flange:Complies with ISO 9409-1 standards and can be used to mount end-effectors(such as welding guns,grippers,and spray guns).
Location Pins/Hole:Ensure repeatable mounting accuracy and prevent errors caused by misalignment.
3.Performance Specifications
Operating Environment:
Temperature:0°C to+45°C(standard industrial environment,some models support-10°C to+55°C).
Humidity:5%to 95%RH(non-condensing),condensation-resistant design.
Protection Rating:IP65(dustproof and splashproof),suitable for general industrial environments(such as welding workshops and spray booths).
Lifespan and Reliability:
Design Life****:8 years/16,000 hours(continuous operation),MTBF(mean time between failures)≥50,000 hours.
Maintenance Interval:
Lubrication:Check/refill grease(such as Klübersynth UH1 6-150)every 5,000 hours.Seals:Replace O-rings and dust seals every two years to prevent leakage and contamination.
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