描述
ABB 3HAC14549-1与3HAC030162-001是ABB工业机器人系统中两款关键组件，分别对应机械臂的手腕单元（Wrist Unit）和电机驱动模块（Drive Module），常用于IRB 6600、IRB 7600等中大型机器人系列。以下是详细的产品详情：
一、3HAC14549-1：机械臂手腕单元
1.产品定位与核心作用
定位：
3HAC14549-1是ABB机器人机械臂的末端手腕模块，直接连接上臂（3HAC14265-1等组件的输出端）与工具法兰盘（3HAC029958-001），负责末端执行器的姿态调整、运动传递及负载支撑。
典型应用机器人型号：
IRB 6600系列：负载150kg~300kg，适用于汽车焊接、大型工件搬运。
IRB 7600系列：负载150kg~630kg，适用于锻造、压铸、重型装配。
核心作用：
多自由度姿态调整：通过3个旋转关节（Roll、Pitch、Yaw）实现末端工具的俯仰、偏航、横滚，满足复杂工况下的作业需求（如焊接轨迹跟踪、异形工件抓取）。
运动传递：将上臂的动力通过谐波减速器、同步带等传动机构传递至末端执行器，确保高精度、高刚性运动。
负载支撑：承受工具重量（如焊枪、夹爪）及作业反作用力（如焊接冲击力、夹持反力），设计寿命≥8年/16000小时。
2.技术规格与性能参数
机械结构：
材料：
主体框架：高强度铝合金（6061-T6），轻量化设计，重量较钢制结构降低30%，适用于高速运动场景。
关键部件：合金钢（42CrMo4），经淬火+回火处理，硬度HRC 45~50，抗磨损性能提升3倍，适用于重负载、高振动环境。
传动方式：
谐波减速器：型号如CSF-25-160，减速比160:1，实现零背隙传动，确保末端姿态精度±0.03mm。
同步带：连接电机与关节轴，降低噪音与振动，维护周期≥5000小时。
接口设计：
工具法兰盘：符合ISO 9409-1标准，可安装焊枪（3HAC14208-1）、夹爪、打磨头等工具，最大负载150kg~630kg（根据机器人型号调整）。
定位销/孔：确保工具重复安装精度≤0.02mm，避免偏移导致运动误差。
运动性能：
自由度：3自由度（Roll±180°、Pitch±90°、Yaw±180°），覆盖全方位姿态调整需求。
重复定位精度：±0.03mm~±0.05mm（满足高精度焊接、装配需求）。
最大运动速度：关节轴速度120°/s~180°/s，末端工具速度1m/s~3m/s。
3.可靠性设计
防护等级：IP65（防尘、防水喷溅），适用于焊接车间、喷涂房等恶劣环境。
密封设计：
防尘圈：阻挡金属粉尘、焊接飞溅物，延长传动部件寿命。
O型圈：防止润滑脂泄漏，确保谐波减速器长期润滑。
温度适应性：
标准型号：0℃~+45℃（一般工业车间）。
高温型号：-10℃~+55℃（可选配，适用于锻造、压铸车间）。
The ABB 3HAC14549-1 and 3HAC030162-001 are two key components in ABB’s industrial robot systems.They correspond to the wrist unit and motor drive module of the robot arm,respectively.They are commonly used in medium-to-large robot series such as the IRB 6600 and IRB 7600.The following is a detailed product description:
I.3HAC14549-1:Robot Arm Wrist Unit
1.Product Positioning and Core Function
Positioning:
The 3HAC14549-1 is the end-effector wrist module of ABB robot arms.It directly connects to the upper arm(the output end of components such as the 3HAC14265-1)and the tool flange(3HAC029958-001),responsible for end-effector posture adjustment,motion transmission,and load support.
Typical Application Robot Models:
IRB 6600 Series:Loads of 150kg to 300kg,suitable for automotive welding and large workpiece handling.IRB 7600 Series:Capable of 150kg to 630kg load,suitable for forging,die-casting,and heavy assembly.
Core Function:
Multi-Degree-of-Freedom Posture Adjustment:Three revolute joints(roll,pitch,and yaw)enable pitch,yaw,and roll of the end-effector,meeting the demands of complex working conditions(such as welding trajectory tracking and gripping of odd-shaped workpieces).
Motion Transmission:Power from the upper arm is transmitted to the end effector via a harmonic reducer,synchronous belt,and other transmission mechanisms,ensuring high-precision and high-rigidity motion.
Load Support:Withstands tool weight(such as welding guns and grippers)and operational reaction forces(such as welding impact and clamping reaction forces).Designed for a service life of≥8 years/16,000 hours.
2.Technical Specifications and Performance Parameters
Mechanical Structure:
Material:
Main Frame:High-strength aluminum alloy(6061-T6).Lightweight design,30%lighter than steel,suitable for high-speed motion scenarios.Key Components:Alloy steel(42CrMo4),quenched and tempered,with a hardness of 45-50 HRC and three times improved wear resistance,suitable for heavy-load,high-vibration environments.
Transmission:
Harmonic Reducer:Models such as the CSF-25-160 offer a 160:1 reduction ratio,achieving zero backlash transmission and ensuring an end-position accuracy of±0.03mm.
Timing Belt:Connects the motor and joint shaft,reducing noise and vibration.Maintenance interval is≥5000 hours.
Interface Design:
Tool Flange:Compliant with ISO 9409-1 standards,it can accommodate tools such as welding guns(3HAC14208-1),grippers,and grinding heads.Maximum load capacity is 150-630kg(depending on robot model).
Location Pins/Hole:Ensure tool repeatability of≤0.02mm to prevent misalignment and motion errors.Motion Performance:
Degrees of Freedom:3 degrees of freedom(Roll±180°,Pitch±90°,Yaw±180°),covering all posture adjustment requirements.
Repeatability:±0.03mm~±0.05mm(meets high-precision welding and assembly requirements).
Maximum Motion Speed:Joint axis speed 120°/s~180°/s,end-of-line tool speed 1m/s~3m/s.
3.Reliability Design
Protection Rating:IP65(dustproof and splashproof),suitable for harsh environments such as welding workshops and spray booths.
Sealing Design:
Dust seal:Blocks metal dust and welding spatter,extending the life of transmission components.
O-ring:Prevents grease leakage,ensuring long-term lubrication of the harmonic reducer.
Temperature Adaptability:
Standard Model:0°C~+45°C(general industrial workshop).High temperature model:-10℃~+55℃(optional,suitable for forging and die-casting workshops).
ABB Model: GBU72 3BHE055094R0002 Model: 3BHE055094R0002 GBU72 Model: GBU72 Model: 3BHE055094R0002 Model: 3BHE031197R0001 Model: 3BHB030310R0001 Model: 73BHE055094R0002 GBU72 Model: 73BHE055094R0002 Model: GBU72 Model: ABB PCS6000 PRODUCT FAMLIY ABB 5SHY4045L0006 3BHB030310R0001 3BHE039203R0101 GVC736CE101
