描述
ABB 3HAC14673-9是ABB工业机器人系统中一款关键的手腕单元（Wrist Unit）组件，属于IRB 6620、IRB 6640等中大型机器人系列的升级型号，主要用于机械臂末端执行器的姿态控制、运动传递及负载支撑。以下是详细的产品详情：
一、产品定位与核心作用
定位
**3HAC14673-9是ABB机械臂的手腕模块，连接上臂（如3HAC14265-1的输出端）与工具法兰盘（如3HAC029958-001），负责末端工具的俯仰（Pitch）、偏航（Yaw）、横滚（Roll）姿态调整。
升级特性：相比前代型号（如3HAC14673-1），3HAC14673-9在结构设计、传动效率、防护性能方面进一步优化，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 6620系列：负载150kg~220kg，适用于汽车焊接、金属冲压、物流搬运。
IRB 6640系列：负载180kg~235kg，适用于重型装配、压铸、锻造。
核心作用
多自由度姿态控制：通过3个旋转关节实现末端工具的全方位姿态调整，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-32-250，减速比250:1，背隙≤0.5弧秒（0.00015°），确保末端姿态精度±0.015mm。
同步带：采用高强度聚氨酯（PU）材质，齿形为HTD 14M，抗拉强度≥800N/mm，维护周期≥10000小时。
接口设计
工具法兰盘：符合ISO 9409-1标准，可安装焊枪、夹爪、打磨头、喷涂枪等工具，最大负载150kg~235kg（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≤0.008mm，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：±0.015mm~±0.02mm（优于前代型号的±0.02mm~±0.03mm），满足高精度焊接、装配、测量需求。
最大运动速度：
关节轴速度：180°/s~250°/s（比前代提升15%~20%）。
末端工具速度：1.8m/s~3.5m/s（适用于高速搬运、喷涂等场景）。
The ABB 3HAC14673-9 is a key wrist unit component in ABB’s industrial robot systems.It’s an upgraded model for mid-to-large robot series such as the IRB 6620 and IRB 6640.It primarily provides posture control,motion transmission,and load support for the robot’s end effector.The following is a detailed product description:
I.Product Positioning and Core Function
Positioning
**The 3HAC14673-9 is the wrist module for ABB robot arms.It connects the upper arm(such as the output end of the 3HAC14265-1)to the tool flange(such as the 3HAC029958-001)and is responsible for adjusting the pitch,yaw,and roll posture of the end effector.
Upgraded Features:Compared to previous models(such as the 3HAC14673-1),the 3HAC14673-9 features further optimizations in structural design,transmission efficiency,and protective performance,making it suitable for industrial applications requiring higher loads,higher precision,and more harsh environments.
Typical Applications:
IRB 6620 Series:150kg-220kg payload,suitable for automotive welding,metal stamping,and logistics handling.
IRB 6640 Series:180kg-235kg payload,suitable for heavy-duty assembly,die-casting,and forging.
Core Function:
Multi-degree-of-freedom posture control:Three rotary joints enable full-range posture adjustment of the end-of-tool,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(such as welding guns and grippers)and operational reaction forces(such as welding impact and clamping reaction forces).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 58-62 HRC and five times greater wear resistance,suitable for high-vibration,high-shock environments.
Transmission
Harmonic Reducer:Models such as CSF-32-250,with a reduction ratio of 250:1,backlash≤0.5 arc seconds(0.00015°),and guaranteed end-position accuracy of±0.015mm.Timing Belt:Made of high-strength polyurethane(PU)with an HTD 14M tooth profile,tensile strength≥800N/mm,and maintenance interval≥10,000 hours.
Interface Design
Tool Flange:Compliant with ISO 9409-1,it can accommodate tools such as welding guns,grippers,grinding heads,and spray guns.Maximum load capacity:150kg to 235kg(adjusted depending on robot model).
Locking Pins/Hole:Tapered locating pins(1:50 taper)are used to ensure tool repeatability within 0.008mm,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 needs.Repeatability:±0.015mm to±0.02mm(better than the previous model’s±0.02mm to±0.03mm),meeting the demands of high-precision welding,assembly,and measurement.
Maximum Motion Speed:
Joint Axis Speed:180°/s to 250°/s(15%to 20%higher than the previous model).
End-of-Tool Speed:1.8m/s to 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
