3HAC046686-002 ABB SMB Replacement Set

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Essential details：3HAC046686-002 ABB SMB Replacement Set

The wiring design of serial joint six-axis industrial robots (Robotic cable management system) is a very key part of robot design. However, it is often ignored or left to the final part of the design process, whether the wiring design is reasonable or not will affect the robot’s range of motion, cable life, overall appearance, installation and maintenance and other issues, is a technical point that should be paid attention to and carefully considered. This paper will be summarized from the industrial robot wiring requirements, common wiring types, pipeline package components and other functions.

1 Industrial robot wiring requirements
The wiring of industrial robots (this article refers to the six-axis industrial robot arm with series joints) is usually divided into two categories: body wiring and end wiring with loaded tools. Among them, the body line refers to the power line of six motors, the encoder line, and the reserved gas pipe and IO line; End tool cables include air source cables, bus power cables, bus signal cables, and IO cables. When the robot is connected to the teaching device and control cabinet, the wiring outside the body will also be involved. Here, only the body and end tool cables mounted on the body of the robot are considered, and other external wiring harnesses are not considered.

3HAC046686-002

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3HAC046686-002 ABB SMB Replacement Set

From the demand of the wire, the electrical performance is first required to meet, including the rated current peak current, duration, rated voltage, voltage resistance, shielding, conductor resistance, insulation resistance, and then consider the quality performance, material, UL grade, flame retardant, oil resistance, etc. Then consider the assembly performance, bending radius, winding mode to lay, wire diameter, wire length, joint and so on.

From the installation needs of the body, the body harness fixed point, fixed mode, protection mode, movement avoidance direction, easy installation and easy maintenance;

In terms of performance quality requirements, the body wiring harness is required to meet the cable standards, and the quality is qualified under the specified test conditions; In addition, during debugging, it is required that the harness does not hinder the range of motion of the robot, reduce friction with the body as much as possible, and the stability and wear resistance of the connection point.

In addition to this, there are some potential requirements, such as the impact of cables on the appearance of industrial robots, cable supply cycle and cost issues.

1.2 Wiring for end tools
At present, the most common scenes of industrial robots are handling, welding, processing, spraying, in addition to welding will back a feed box on the cable, the rest of the cable are power lines, signal lines, gas pipes, IO lines and other conventional cables. For example, the spot welding pipeline package carried by ABB contains 4 water pipes, respectively: red, green, blue, black, inner diameter 1/2 “(about Ø12.5), outer diameter Ø19; The handling/piping package contains 2 water pipes, respectively: blue, black, inner diameter 1/2 “(Ø12.5), outer diameter Ø19.

The wiring of the end tool is usually routed using a Robot Dress Pack alone, rather than mixed with the body, so that it is easy to match the pipeline package for different application scenarios. The pipeline package is a complete set of wiring harness solutions and products designed and made to protect cables and gas pipes, which can significantly reduce the wear and aging of cables and gas pipes, and reduce the bending and torsional forces borne by cables and gas pipes. In the layout of the pipeline package, in addition to the internal cable composition should be clear, but also need to consider the movement space of the robot under the application, to prevent the interference of the pipeline package movement; In addition, in the rotating part, it is necessary to consider the stress of the wiring harness, bending radius, shielding, etc.