描述
ABB 3HAC14279-1是ABB工业机器人系统中一款关键的机械臂手腕组件，通常用于IRB 6600、IRB 7600等中大型机器人系列，作为手腕（Wrist）模块的核心部分，承担末端执行器的连接、姿态调整及运动传递的核心功能。以下是详细的产品详情：
一、产品定位与核心作用
定位：
3HAC14279-1是ABB机器人机械臂的末端连接模块，直接安装于上臂末端（3HAC14265-1等组件的输出端），用于连接工具（如焊枪、夹爪、打磨头）并实现多自由度姿态调整。
典型应用机器人型号：
IRB 6600系列：负载范围150kg~300kg，适用于汽车焊接、大型工件搬运。
IRB 7600系列：负载范围150kg~630kg，适用于锻造、压铸、重型装配。
核心作用：
工具连接与姿态调整：通过旋转关节实现末端工具的俯仰、偏航、横滚（3自由度），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）。
运动传递与负载支撑：将上臂的动力传递至末端执行器，同时承受工具重量及作业反作用力（如焊接时的冲击力、夹持时的反作用力）。
精度保障：通过高刚性结构和低背隙传动，确保末端工具的重复定位精度±0.05mm以内，满足高精度加工需求。
二、技术规格与性能参数
1.机械结构
材料与工艺：
主体材料：
高强度铝合金（如6061-T6）：轻量化设计，降低整体重量，适用于高速运动场景（如快速搬运）。
合金钢（如42CrMo4）：高刚性、抗冲击性强，适用于重负载、高振动环境（如锻造、压铸）。
表面处理：
铝合金****：阳极氧化，防腐蚀、耐磨，表面硬度HV≥300。
合金钢****：淬火+回火，硬度HRC 45~50，抗磨损性能提升3倍。
传动方式：
谐波减速器（Harmonic Drive）：
型号：如CSF-20-160，减速比160:1，实现高精度、零背隙传动，确保末端姿态的精确控制。
优势：体积小、重量轻，适合手腕紧凑空间设计。
同步带传动（部分型号）：
连接电机与关节轴，降低噪音与振动，简化维护流程（如皮带更换无需拆解整个手腕）。
接口设计：
电气接口：
动力线接口：连接伺服驱动器（如3HAC12934-1），传输三相交流电（400V/480V），额定电流20A~50A（根据电机功率调整）。
编码器接口：反馈电机位置、速度信号至控制器（如IRC5），实现闭环控制，精度±1脉冲。
机械接口：
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。
The ABB 3HAC14279-1 is a key wrist assembly in ABB’s industrial robot systems.It is commonly used in mid-to-large robot series such as the IRB 6600 and IRB 7600.As the core component of the wrist module,it performs core functions such as end-effector connection,posture adjustment,and motion transmission.The following is a detailed product description:
I.Product Positioning and Core Function
Positioning:
The 3HAC14279-1 is an end-connection module for ABB robot arms.It is directly installed at the end of the upper arm(the output end of components such as the 3HAC14265-1).It connects tools(such as welding guns,grippers,and grinding heads)and enables multi-degree-of-freedom posture adjustment.
Typical Applications:
IRB 6600 Series:With a payload range of 150kg to 300kg,it is suitable for automotive welding and large workpiece handling.
IRB 7600 Series:With a payload range of 150kg to 630kg,it is suitable for forging,die-casting,and heavy assembly.Core Functions:
Tool Connection and Posture Adjustment:A revolute joint enables pitch,yaw,and roll(3 degrees of freedom)of the end-effector(EUT),meeting operational requirements in complex working conditions(such as welding trajectory tracking and gripping of irregularly shaped workpieces).
Motion Transmission and Load Support:The EUT transmits power from the upper arm to the end effector,while also bearing the tool weight and operational reaction forces(such as impact during welding and reaction forces during clamping).
Precision Assurance:A highly rigid structure and low-backlash transmission ensure repeatable positioning accuracy of the EUT within±0.05mm,meeting high-precision machining requirements.
II.Technical Specifications and Performance Parameters
1.Mechanical Structure
Material and Processing:
Main Material:
High-strength aluminum alloy(such as 6061-T6):Lightweight design reduces overall weight and is suitable for high-speed motion scenarios(such as rapid handling).
Alloy steel(such as 42CrMo4):High rigidity and strong impact resistance make it suitable for heavy-load,high-vibration environments(such as forging and die-casting).Surface Treatment:
Aluminum Alloy****:Anodized for corrosion and wear resistance,surface hardness HV≥300.
Alloy Steel****:Quenched and tempered,hardness HRC 45-50,three times better wear resistance.
Transmission Method:
Harmonic Drive:
Models such as the CSF-20-160 have a reduction ratio of 160:1,achieving high-precision,zero-backlash transmission and ensuring precise control of the end-point posture.
Advantages:Compact size and light weight,suitable for compact wrist designs.
Synchronous Belt Drive(select models):
Connects the motor and joint shaft,reducing noise and vibration and simplifying maintenance(e.g.,belt replacement without disassembling the entire wrist).
Interface Design:
Electrical Interface:
Power Line Interface:Connects to a servo drive(such as the 3HAC12934-1),transmitting three-phase AC power(400V/480V),with a rated current of 20A-50A(adjusted according to motor power).Encoder Interface:Feeds motor position and speed signals to a controller(such as the IRC5)for closed-loop control with an accuracy of±1 pulse.
Mechanical Interface:
Tool Flange:Compliant with ISO 9409-1,it can accommodate tools such as welding guns(such as the 3HAC14208-1),grippers,and grinding heads.Maximum load capacity is 150 kg to 630 kg(depending on the robot model).
Location Pins/Hole:Ensures tool repeatability within 0.02 mm to prevent misalignment and motion errors.
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
