描述
ABB 3HAC14550-4是ABB工业机器人系统中一款关键组件，属于机械臂手腕单元（Wrist Unit）的升级型号，主要用于IRB 6600、IRB 7600等中大型机器人系列的末端关节驱动与姿态调整。以下是详细的产品详情：
一、产品定位与核心作用
定位
**3HAC14550-4是ABB机械臂的手腕模块，直接连接上臂（如3HAC14265-1的输出端）与工具法兰盘（如3HAC029958-001），负责末端执行器的姿态控制、运动传递及负载支撑。
升级特性：相比前代型号（如3HAC14549-1），3HAC14550-4在结构设计、材料选择、传动效率等方面进行了优化，适用于更高负载、更高精度、更恶劣环境的工业场景。
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、金属加工。
IRB 7600系列：负载150kg~630kg，适用于锻造、压铸、重型装配、航空航天部件处理。
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，满足复杂轨迹跟踪、异形工件抓取等需求。
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，确保高刚性、零背隙运动。
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≥10年/20000小时。
二、技术规格与性能参数
1.机械结构
材料
主体框架：高强度铝合金（7075-T6），比6061-T6铝合金强度提升30%，重量降低15%，适用于高速、重载场景。
关键部件：合金钢（42CrMo4V），经渗碳淬火+低温回火处理，表面硬度HRC 58~62，抗磨损性能提升5倍，适用于高振动、高冲击环境。
传动方式
谐波减速器：型号如CSF-32-200，减速比200:1，背隙≤1弧秒（0.0003°），确保末端姿态精度±0.02mm。
同步带：采用高强度聚氨酯（PU）材质，齿形为HTD 8M，抗拉强度≥500N/mm，维护周期≥8000小时。
接口设计
工具法兰盘：符合ISO 9409-1标准，可安装焊枪（如3HAC14208-1）、夹爪、打磨头、喷涂枪等工具，最大负载150kg~630kg（根据机器人型号调整）。
定位销/孔：采用锥度定位销（1:50锥度），确保工具重复安装精度≤0.01mm，避免偏移导致运动误差。
2.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：±0.02mm~±0.03mm（优于前代型号的±0.03mm~±0.05mm），满足高精度焊接、装配、测量需求。
最大运动速度：
关节轴速度：150°/s~220°/s（比前代提升20%~30%）。
末端工具速度：1.5m/s~3.5m/s（适用于高速搬运、喷涂等场景）。
The ABB 3HAC14550-4 is a key component in ABB’s industrial robot systems.It is an upgraded version of the wrist unit and is primarily used for end-effector actuation and posture adjustment in medium-to-large robot series such as the IRB 6600 and IRB 7600.The following is a detailed product description:
I.Product Positioning and Core Function
Positioning
**The 3HAC14550-4 is the wrist module for ABB robot arms.It directly connects to the upper arm(such as the output end of the 3HAC14265-1)and the tool flange(such as the 3HAC029958-001),responsible for posture control,motion transmission,and load support of the end effector.
Upgrade Features:Compared to previous models(such as the 3HAC14549-1),the 3HAC14550-4 features optimized structural design,material selection,and transmission efficiency,making it suitable for industrial applications requiring higher loads,higher precision,and more harsh environments.Typical Application Robot Models
IRB 6600 Series:150kg-300kg payload,suitable for automotive welding,large workpiece handling,and metal processing.
IRB 7600 Series:150kg-630kg payload,suitable for forging,die-casting,heavy assembly,and aerospace component processing.
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 requirements such as complex trajectory tracking and gripping of odd-shaped workpieces.
Motion Transmission:Power from the upper arm is transmitted to the end effector via a transmission mechanism including a harmonic reducer and synchronous belt,ensuring high rigidity and zero-backlash motion.
Load Support:Withstands tool weight(e.g.,welding gun,gripper)and operational reaction forces(e.g.,welding impact and clamping reaction).Design life≥10 years/20,000 hours.II.Technical Specifications and Performance Parameters
1.Mechanical Structure
Material
Main frame:High-strength aluminum alloy(7075-T6),30%stronger and 15%lighter than 6061-T6 aluminum alloy,suitable for high-speed,heavy-load applications.
Key components:Alloy steel(42CrMo4V),carburized and quenched,then low-temperature tempered,with a surface hardness of HRC 58-62 and five times greater wear resistance,suitable for high-vibration,high-shock environments.
Transmission
Harmonic reducer:Model CSF-32-200,with a reduction ratio of 200:1,backlash≤1 arc second(0.0003°),and guaranteed end-position accuracy of±0.02mm.
Timing belt:Made of high-strength polyurethane(PU),with an HTD 8M tooth profile,a tensile strength≥500N/mm,and a maintenance interval≥8,000 hours.Interface Design
Tool flange:Compliant with ISO 9409-1 standards,it can accommodate welding guns(such as 3HAC14208-1),grippers,grinding heads,spray guns,and other tools.Maximum load capacity:150 kg to 630 kg(adjusted depending on robot model).
Location pins/holes:Tapered locating pins(1:50 taper)ensure tool repeatability of≤0.01 mm,preventing misalignment and motion errors.
2.Motion Performance
Degrees of Freedom:3 degrees of freedom(Roll±180°,Pitch±90°,Yaw±180°),covering a full range of posture adjustment requirements.
Repeatability:±0.02 mm to±0.03 mm(improved from the previous model’s±0.03 mm to±0.05 mm),meeting the needs of high-precision welding,assembly,and measurement.Maximum Motion Speed:
Joint Axis Speed:150°/s~220°/s(20%~30%higher than previous generation).
End Tool Speed:1.5m/s~3.5m/s(suitable for high-speed handling,spraying,and other applications).
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
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
