CN104036852B - Mechanical arm endurance high speed data cable - Google Patents

Mechanical arm endurance high speed data cable Download PDF

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Publication number
CN104036852B
CN104036852B CN201410218462.0A CN201410218462A CN104036852B CN 104036852 B CN104036852 B CN 104036852B CN 201410218462 A CN201410218462 A CN 201410218462A CN 104036852 B CN104036852 B CN 104036852B
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conductor
gun
metal
layer
oxygen
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CN104036852A (en
Inventor
陆春良
谭言秦
崔久德
沈建新
孙明华
吴士杰
韩志东
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Jiangsu Hengtong Wire and Cable Technology Co Ltd
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Jiangsu Hengtong Wire and Cable Technology Co Ltd
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Priority to CN201610352150.8A priority Critical patent/CN106448848A/en
Priority to CN201610351693.8A priority patent/CN106409402A/en
Priority to CN201410218462.0A priority patent/CN104036852B/en
Priority to CN201610352149.5A priority patent/CN106448830A/en
Priority to CN201610351805.XA priority patent/CN106448829A/en
Priority to CN201610352427.7A priority patent/CN106448814A/en
Publication of CN104036852A publication Critical patent/CN104036852A/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00Adapting or protecting infrastructure or their operation
    • Y02A30/14Extreme weather resilient electric power supply systems, e.g. strengthening power lines or underground power cables

Abstract

The open a kind of mechanical arm endurance high speed data cable of the present invention, including eight metallic conductor unit and aramid fiber reinforcement, metallic conductor unit includes aramid fiber, stranded the first gun-metal conductor in aramid fiber outer surface, the first oxygen-free copper conductor, the second gun-metal conductor, the second oxygen-free copper conductor strand are in inner conducting layer outer surface;One second polytetrafluoroethylene floor is vertical wraps described cable core outer surface, the second polytetrafluoroethylene floor and four symmetrical insulated wires between gap be filled with some cotton yarns;One cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, this cotton fiber line winding direction and four symmetrical insulated wire strands are in opposite direction, some one metal wires are wound in described buffering sliding layer outer surface abreast and form metal screen layer, and in this metal screen layer, wire is wound around contrary with described cotton fiber line;One the 3rd polytetrafluoroethylene floor is around being wrapped in described metal screen layer outer surface.Coefficient of friction of the present invention stretch-proof little, soft, produce without frictional static, frequently mobile after still can guarantee that structurally and electrically stable performance.

Description

Mechanical arm endurance high speed data cable
Technical field
The present invention relates to a kind of data cable, particularly relate to a kind of mechanical arm endurance high speed data cable.
Background technology
The structure of traditional shield type data cable is to set by 4 groups of symmetric signal lines, wrapped one layer of polyester belt, the most wrapped one layer of aluminium-plastic tape for shielding, outer layer extrusion PVC or other plastic covering layers.Symmetric signal is to being that the insulated wire set by being coated with high-density polyethylene layer outside two copper conductors forms.Properties of product meet the code requirement of TIA/EIA568B.For solving the electric property attenuation problem under lower frequency and electromagnetic interference problem, some product designs are at one layer of brass wire shielding of aluminium-plastic tape outer braid.For requiring mobile shield type data cable, the conductor of symmetric signal pair is replaced by many copper stranded conductors.The data cable of this kind of structure ensure that transmission performance when fixing and laying and move occasion use.But in the environment of, environmental condition rather harsh the most mobile for mechanical arm etc., the performance reliability of this series products cannot meet requirement, through the movement of hundreds of time, arise that conductor break, decay increase, degradation problem under interference free performance.During movement, between insulation, there is friction between insulation and outer layer band, shielding, on the one hand easily produce electrostatic, cause signal disturbing, rub frequently also to cause the mechanical and physical performance of insulating materials to decline simultaneously.General mechanical arm all can require the movement of more than 100,000 times, if the impact of the slip of cable core structure can not be solved, it is impossible to solves product endurance and the problem of shielding stability, cannot ensure the signal transmission demand of mechanical arm.In this point, traditional cable structure is it is difficult to ensure that meet the requirements.
How to design a kind of data cable, it is possible to during ensureing the type frequently reciprocating of more than 100,000 times, signal transmission ensures stable, becomes the direction that those skilled in the art make great efforts.
Summary of the invention
The present invention provides a kind of mechanical arm endurance high speed data cable, this mechanical arm endurance high speed data cable coefficient of friction stretch-proof little, soft, produce without frictional static, frequently mobile after still can guarantee that constitutionally stable mechanical arm endurance high speed data cable, cable tensile strength improves 5%, counter-bending number of times promotes 10 ~ 20%, 10000 bending attenuation change values less than 5%.
nullFor reaching above-mentioned purpose,The technical solution used in the present invention is: a kind of mechanical arm endurance high speed data cable,Including eight metallic conductor unit and aramid fiber reinforcement,This metallic conductor unit outer surface is coated with insulation polypropylene layer,Described metallic conductor unit includes the aramid fiber being positioned at center、Stranded in the first gun-metal conductor of aramid fiber outer surface by some、The inner conducting layer of the first oxygen-free copper conductor composition、By some second gun-metal conductors、Second oxygen-free copper conductor strand forms outer conductor layer in inner conducting layer outer surface,Described first gun-metal conductor and the first oxygen-free copper conductor diameter are equal,Described second gun-metal conductor and the second oxygen-free copper conductor diameter are equal,Described first gun-metal conductor、First oxygen-free copper conductor diameter is more than the second gun-metal conductor、Second oxygen-free copper conductor diameter,Described first gun-metal conductor、In second gun-metal conductor, Theil indices accounts for 0.6%,First gun-metal conductor in described inner conducting layer、First oxygen-free copper conductor is alternately arranged,Second gun-metal conductor in described outer conductor layer、Second oxygen-free copper conductor is alternately arranged;
Described eight metallic conductor unit the most stranded formation first, second, third and fourth symmetry insulated wires to and each outer surface be all surrounded with the first teflin tape, described first, second, third and fourth symmetry insulated wire pair twist forms cable core together in described aramid fiber reinforcement outer surface;
One second polytetrafluoroethylene floor is vertical wrap described cable core outer surface, described second polytetrafluoroethylene floor and first, second, third and fourth symmetry insulated wire between gap be filled with some cotton yarns;
One cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, this cotton fiber line winding direction is in opposite direction with first, second, third and fourth symmetry insulated wire strand, some one metal wires are wound in described buffering sliding layer outer surface abreast and form metal screen layer, and in this metal screen layer, wire is wound around contrary with described cotton fiber line;
One the 3rd polytetrafluoroethylene floor is around being wrapped in described metal screen layer outer surface, and an external sheath layer is coated on described 3rd polytetrafluoroethylene floor outer surface.
Technique scheme is further improved technical scheme as follows:
1., in such scheme, described cotton fiber line is dredged and is around in described second polytetrafluoroethylene floor outer surface.
2., in such scheme, described first gun-metal conductor and the second gun-metal conductor diameter are than for 10:6 ~ 8.
3. in such scheme, the described a diameter of 190 ~ 210D of aramid fiber reinforcement.
Owing to technique scheme is used, the present invention compared with prior art has the advantage that
Mechanical arm endurance high speed data cable the most of the present invention, its first, second, third and fourth symmetry insulated wire is all surrounded with the first teflin tape stranded formation cable core to respective outer surface, second polytetrafluoroethylene floor is vertical wraps described cable core outer surface, in BENDING PROCESS frequently, overcome the distance between first, second, third and fourth symmetry insulated wire and respective metallic conductor unit and pitch changes, thus cause the change of electric property;And frequently in BENDING PROCESS, first, second, third and fourth symmetrical insulated wire is all surrounded with the first teflin tape to respective outer surface, and second polytetrafluoroethylene floor by vertical packet mode cladding, there is the symmetrical insulated wire pair of four the first teflin tapes, due to the first teflin tape and the second polytetrafluoroethylene floor, to have coefficient of friction low, intensity is high, corrosion-resistant, good insulation preformance, the coefficient of friction of this band is 0.04, it it is the material that in current solid material, coefficient of friction is minimum, and being coated with by the way of vertical bag before metal screen layer, the increase of the frictional force that the overlap joint that minimizing produces due to lapping structure causes, when making to be frequently bended, the structural change of cable core is preferably minimized;Secondly as minimizing frictional force and teflin tape are not easy to produce electrostatic, also greatly reduce the generation of electrostatic, improve performance reliability and security.
nullMechanical arm endurance high speed data cable the most of the present invention,Its described second polytetrafluoroethylene floor and first、Second、Third and fourth symmetrical insulated wire between gap be filled with some cotton yarns,One cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer,This cotton fiber line winding direction and first、Second、Third and fourth symmetrical insulated wire strand is in opposite direction,Some one metal wires are wound in described buffering sliding layer outer surface and form metal screen layer,In this metal screen layer, wire is wound around contrary with described cotton fiber line abreast,When ensureing bending,Copper wire has enough shift positions not produce stretching and cause broken string,It is easier between copper wire and insulated slide layer slide and do not produce electrostatic interference simultaneously,This structure both can guarantee that the pliability of cable,Also ensure that the shield effectiveness after being frequently bended.
Mechanical arm endurance high speed data cable the most of the present invention, the second polytetrafluoroethylene floor it is disposed with between described cable core and external sheath layer, one cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, some one metal wires are wound in buffering sliding layer abreast and form metal screen layer, one the 3rd polytetrafluoroethylene floor is around being wrapped in described metal screen layer outer surface, buffering is formed between metal screen layer and oversheath, avoid in the reciprocating motion of cable, between oversheath and screen layer, produce electrostatic interference.Simultaneously, the Performance comparision of teflin tape is soft, smooth, do not interfere with the pliability of cable, by technology controlling and process during sheathing, smooth surface makes easily to produce between cable core and sheath slip in BENDING PROCESS, reduction external force, to copper conductor and the stretching of tincopper fuse wire braided armor, increases the service life.
Mechanical arm endurance high speed data cable the most of the present invention, its metallic conductor unit include being positioned at center aramid fiber, by some stranded form in the gun-metal conductor of aramid fiber outer surface inner conducting layer, formed outer conductor layer by some oxygen-free copper conductor strand in inner conducting layer outer surface, improve tensile strength, it is ensured that aramid fiber is stablized construction of cable center;First, second, third and fourth symmetry insulated wire pair twist forms cable core together in an aramid fiber reinforcement outer surface;Ensure that the construction of cable is stable so that the tensile strength of product improves more than 300%, counter-bending number of times promotes 300 ~ 500%, 10000 bending attenuation change values less than 2%.
nullMechanical arm endurance high speed data cable the most of the present invention,Its metallic conductor unit includes the aramid fiber being positioned at center、Stranded in the first gun-metal conductor of aramid fiber outer surface by some、The inner conducting layer of the first oxygen-free copper conductor composition、By some second gun-metal conductors、Second oxygen-free copper conductor strand forms outer conductor layer in inner conducting layer outer surface,Described first gun-metal conductor and the first oxygen-free copper conductor diameter are equal,Described second gun-metal conductor and the second oxygen-free copper conductor diameter are equal,Described first gun-metal conductor、First oxygen-free copper conductor diameter is more than the second gun-metal conductor、Second oxygen-free copper conductor diameter,Described first gun-metal conductor、In second gun-metal conductor, Theil indices accounts for 0.6%,First gun-metal conductor in described inner conducting layer、First oxygen-free copper conductor is alternately arranged,Second gun-metal conductor in described outer conductor layer、Second oxygen-free copper conductor is alternately arranged,The conductor using different types of conductor and different-diameter mixes as conductor element,Copper conductor or alloy conductor relative to single diameter,Improve electrical characteristic and bend performance;Again, unlike material conductor replaces mixed structure, solves being uniformly distributed of conductor stretching resistance, there is not the region that local stretching resistance is weak during bending.Solve being uniformly distributed of conductor resistance, when signal transmits evenly simultaneously.The otherness using the first conductor and the second conductor diameter is distributed so that the tension stress point distribution of outer layer is finer and closely woven, evenly.Bigger tensile force is born and problem that extruding force is easily broken off when solving the bending of conductor outer layer.Outer contact diameter is less simultaneously, makes stranded conductor surface more smooth, during signal transmission conductive surface electromagnetic wave evenly, reduce electromagnetic distortions, reduce pad value.
Accompanying drawing explanation
Accompanying drawing 1 is mechanical arm endurance high speed data cable structural representation of the present invention;
Accompanying drawing 2 buffers sliding layer and metal screen layer structural representation for the present invention;
Accompanying drawing 3 is A-A cross-sectional view in accompanying drawing 2;
Accompanying drawing 4 is metallic conductor cellular construction schematic diagram of the present invention
Accompanying drawing 5 is the structural representation of comparative example cable.
In the figures above: 1, metallic conductor unit;2, insulation polypropylene layer;3, the first symmetrical insulated wire pair;4, the second symmetrical insulated wire pair;5, the 3rd symmetrical insulated wire pair;6, the 4th symmetrical insulated wire pair;7, the first teflin tape;8, cable core;9, the second polytetrafluoroethylene floor;10, cotton yarn;12, buffering sliding layer;13, wire;14, metal screen layer;15, the 3rd polytetrafluoroethylene floor;16, external sheath layer;17, cotton fiber line;18, polyester belt;19, wire sheathing;20, aramid fiber;21, aramid fiber reinforcement;22, the first gun-metal conductor;23, the first oxygen-free copper conductor;24, the second gun-metal conductor;25, the second oxygen-free copper conductor.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
nullEmbodiment: a kind of mechanical arm endurance high speed data cable,Including: eight metallic conductor unit 1 and aramid fiber reinforcement 21,This metallic conductor unit 1 outer surface is coated with insulation polypropylene layer 2,Described metallic conductor unit 1 includes the aramid fiber 20 being positioned at center、Stranded in the first gun-metal conductor 22 of aramid fiber 20 outer surface by some、The inner conducting layer of the first oxygen-free copper conductor 23 composition、By some second gun-metal conductors 24、Second oxygen-free copper conductor 25 is stranded forms outer conductor layer in inner conducting layer outer surface,Described first gun-metal conductor 22 and the first oxygen-free copper conductor 23 equal diameters,Described second gun-metal conductor 24 and the second oxygen-free copper conductor 25 equal diameters,Described first gun-metal conductor 22、First oxygen-free copper conductor 23 diameter is more than the second gun-metal conductor 24、Second oxygen-free copper conductor 25 diameter,Described first gun-metal conductor 22、In second gun-metal conductor 24, Theil indices accounts for 0.6%,First gun-metal conductor 22 in described inner conducting layer、First oxygen-free copper conductor 23 is alternately arranged,Second gun-metal conductor 24 in described outer conductor layer、Second oxygen-free copper conductor 25 is alternately arranged;
Described eight metallic conductor unit 1 the most stranded formation first, second, third and fourth symmetry insulated wires are all surrounded with the first teflin tape 7 to 3,4,5,6 and respective outer surface, and described first, second, third and fourth symmetry insulated wire is stranded in described aramid fiber reinforcement 21 outer surface formation cable core 8 to 3,4,5,6;
One second polytetrafluoroethylene floor 9 is vertical to be wrapped described cable core 8 outer surface, described second polytetrafluoroethylene floor 9 and first, second, third and fourth symmetry insulated wire gap between 3,4,5,6 is filled with some cotton yarns 10;
In BENDING PROCESS frequently, overcome the distance between first, second, third and fourth symmetry insulated wire and respective metallic conductor unit and pitch changes, thus cause the change of electric property;And frequently in BENDING PROCESS, first, second, third and fourth symmetrical insulated wire is all surrounded with the first teflin tape to respective outer surface, and second polytetrafluoroethylene floor by vertical packet mode cladding, there is the symmetrical insulated wire pair of four the first teflin tapes, due to the first teflin tape and the second polytetrafluoroethylene floor, to have coefficient of friction low, intensity is high, corrosion-resistant, good insulation preformance, the coefficient of friction of this band is 0.04, it it is the material that in current solid material, coefficient of friction is minimum, and being coated with by the way of vertical bag before metal screen layer, the increase of the frictional force that the overlap joint that minimizing produces due to lapping structure causes, when making to be frequently bended, the structural change of cable core is preferably minimized;Secondly as minimizing frictional force and teflin tape are not easy to produce electrostatic, also greatly reduce the generation of electrostatic, improve performance reliability and security;
One cotton fiber line 17 is wound in described second polytetrafluoroethylene floor 9 outer surface and forms buffering sliding layer 12, this cotton fiber line 17 winding direction is contrary to 3,4,5,6 direction of lays with first, second, third and fourth symmetry insulated wire, some one metal wires 13 are wound in described buffering sliding layer 12 outer surface abreast and form metal screen layer 14, and in this metal screen layer 14, wire 13 is wound around contrary with described cotton fiber line 17;When ensureing bending, copper wire has enough shift positions not produce stretching and cause broken string, is easier to slide and do not produce electrostatic interference between copper wire and insulated slide layer simultaneously, and this structure both can guarantee that the pliability of cable, also ensure that the shield effectiveness after being frequently bended;
One the 3rd polytetrafluoroethylene floor 15 is around being wrapped in described metal screen layer 14 outer surface, and an external sheath layer 16 is coated on described 3rd polytetrafluoroethylene floor 15 outer surface.Between metal screen layer and oversheath, form buffering, it is to avoid in the reciprocating motion of cable, between oversheath and screen layer, produce electrostatic interference.Simultaneously, the Performance comparision of teflin tape is soft, smooth, do not interfere with the pliability of cable, by technology controlling and process during sheathing, smooth surface makes easily to produce between cable core and sheath slip in BENDING PROCESS, reduction external force, to copper conductor and the stretching of tincopper fuse wire braided armor, increases the service life.
Above-mentioned cotton fiber line 17 is dredged and is around in described second polytetrafluoroethylene floor 9 outer surface.
Comparative example: a kind of mechanical arm data cable, including eight metallic conductor unit 1, this metallic conductor unit 1 outer surface is coated with insulation polypropylene layer 2, and described metallic conductor unit 1 is formed by some copper conductors 11 are stranded;
Described eight metallic conductor unit 1 the most stranded formation first, second, third and fourth symmetry insulated wires are to 3,4,5,6, described first, second, third and fourth symmetry insulated wire is to 3,4,5,6 stranded formation cable cores 8, one wrapped described cable core 8 outer surface of polyester belt 18, described polyester belt 18 and first, second, third and fourth symmetry insulated wire are filled with some cotton yarns 10 to gap between 3,4,5,6;
Being positioned at polyester belt 18 outer surface by the wire sheathing 19 of some proof copper-wire braideds, an external sheath layer 16 is coated on described wire sheathing 19 outer surface.
Above-mentioned first gun-metal conductor 22 and the second gun-metal conductor 24 diameter are than for 10:6 ~ 8.
The above-mentioned a diameter of 190 ~ 210D of aramid fiber reinforcement 21.
Above-mentioned cotton fiber line 17 is dredged and is around in described second polytetrafluoroethylene floor 9 outer surface.
Performance test data is as shown in table 1:
Table 1
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to allow person skilled in the art will appreciate that present disclosure and to implement according to this, can not limit the scope of the invention with this.All equivalence changes made according to spirit of the invention or modification, all should contain within protection scope of the present invention.

Claims (1)

  1. null1. a mechanical arm endurance high speed data cable,It is characterized in that: including: eight metallic conductor unit (1) and aramid fiber reinforcement (21),This metallic conductor unit (1) outer surface is coated with insulation polypropylene layer (2),Described metallic conductor unit (1) includes the aramid fiber (20) being positioned at center、Stranded in the first gun-metal conductor (22) of aramid fiber (20) outer surface by some、The inner conducting layer that first oxygen-free copper conductor (23) forms、By some second gun-metal conductors (24)、Second oxygen-free copper conductor (25) is stranded forms outer conductor layer in inner conducting layer outer surface,Described first gun-metal conductor (22) and the first oxygen-free copper conductor (23) equal diameters,Described second gun-metal conductor (24) and the second oxygen-free copper conductor (25) equal diameters,Described first gun-metal conductor (22)、First oxygen-free copper conductor (23) diameter is more than the second gun-metal conductor (24)、Second oxygen-free copper conductor (25) diameter,Described first gun-metal conductor (22)、In second gun-metal conductor (24), Theil indices accounts for 0.6%,First gun-metal conductor (22) in described inner conducting layer、First oxygen-free copper conductor (23) is alternately arranged,Second gun-metal conductor (24) in described outer conductor layer、Second oxygen-free copper conductor (25) is alternately arranged;
    Described eight metallic conductor unit (1) the most stranded formation first, second, third and fourth symmetry insulated wires are all surrounded with the first teflin tape (7) to (3,4,5,6) and first, second, third and fourth symmetry insulated wire to (3,4,5,6) each outer surface, and described first, second, third and fourth symmetry insulated wire forms cable core (8) to (3,4,5,6) are stranded in described aramid fiber reinforcement (21) outer surface;
    One second polytetrafluoroethylene floor (9) vertical bag described cable core (8) outer surface, described second polytetrafluoroethylene floor (9) and first, second, third and fourth symmetry insulated wire are filled with some cotton yarns (10) to gap between (3,4,5,6);
    One cotton fiber line (17) is wound in described second polytetrafluoroethylene floor (9) outer surface and forms buffering sliding layer (12), this cotton fiber line (17) winding direction is contrary to (3,4,5,6) direction of lay with first, second, third and fourth symmetry insulated wire, some one metal wires (13) are wound in described buffering sliding layer (12) outer surface abreast and form metal screen layer (14), and in this metal screen layer (14), wire (13) is wound around contrary with described cotton fiber line (17);
    One the 3rd polytetrafluoroethylene floor (15) is around being wrapped in described metal screen layer (14) outer surface, and an external sheath layer (16) is coated on described 3rd polytetrafluoroethylene floor (15) outer surface.
CN201410218462.0A 2014-05-22 2014-05-22 Mechanical arm endurance high speed data cable Active CN104036852B (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201610352150.8A CN106448848A (en) 2014-05-22 2014-05-22 Manipulator cable
CN201610351693.8A CN106409402A (en) 2014-05-22 2014-05-22 Soft cable used for industrial robot
CN201410218462.0A CN104036852B (en) 2014-05-22 2014-05-22 Mechanical arm endurance high speed data cable
CN201610352149.5A CN106448830A (en) 2014-05-22 2014-05-22 Low-friction-coefficient flexible cable used for robot
CN201610351805.XA CN106448829A (en) 2014-05-22 2014-05-22 Flexible stretch-proof robot cable
CN201610352427.7A CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator

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CN201410218462.0A CN104036852B (en) 2014-05-22 2014-05-22 Mechanical arm endurance high speed data cable

Related Child Applications (5)

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CN201610351693.8A Division CN106409402A (en) 2014-05-22 2014-05-22 Soft cable used for industrial robot
CN201610351805.XA Division CN106448829A (en) 2014-05-22 2014-05-22 Flexible stretch-proof robot cable
CN201610352427.7A Division CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator
CN201610352149.5A Division CN106448830A (en) 2014-05-22 2014-05-22 Low-friction-coefficient flexible cable used for robot
CN201610352150.8A Division CN106448848A (en) 2014-05-22 2014-05-22 Manipulator cable

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CN104036852B true CN104036852B (en) 2016-08-31

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CN201410218462.0A Active CN104036852B (en) 2014-05-22 2014-05-22 Mechanical arm endurance high speed data cable
CN201610352150.8A Pending CN106448848A (en) 2014-05-22 2014-05-22 Manipulator cable
CN201610352427.7A Pending CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator
CN201610352149.5A Pending CN106448830A (en) 2014-05-22 2014-05-22 Low-friction-coefficient flexible cable used for robot
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CN201610352149.5A Pending CN106448830A (en) 2014-05-22 2014-05-22 Low-friction-coefficient flexible cable used for robot
CN201610351805.XA Pending CN106448829A (en) 2014-05-22 2014-05-22 Flexible stretch-proof robot cable

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CN106448848A (en) 2017-02-22
CN106448829A (en) 2017-02-22
CN104036852A (en) 2014-09-10
CN106448814A (en) 2017-02-22

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