CN106409402A - Soft cable used for industrial robot - Google Patents

Soft cable used for industrial robot Download PDF

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Publication number
CN106409402A
CN106409402A CN201610351693.8A CN201610351693A CN106409402A CN 106409402 A CN106409402 A CN 106409402A CN 201610351693 A CN201610351693 A CN 201610351693A CN 106409402 A CN106409402 A CN 106409402A
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China
Prior art keywords
conductor
gun
metal
layer
aramid fiber
Prior art date
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Application number
CN201610351693.8A
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Chinese (zh)
Inventor
陆春良
谭言秦
崔久德
邹慧娟
宋志斌
孙明华
刘新宇
冯成
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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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Application filed by Jiangsu Hengtong Wire and Cable Technology Co Ltd filed Critical Jiangsu Hengtong Wire and Cable Technology Co Ltd
Priority to CN201610351693.8A priority Critical patent/CN106409402A/en
Publication of CN106409402A publication Critical patent/CN106409402A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/04—Flexible cables, conductors, or cords, e.g. trailing cables
    • H01B7/041—Flexible cables, conductors, or cords, e.g. trailing cables attached to mobile objects, e.g. portable tools, elevators, mining equipment, hoisting cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/06—Extensible conductors or cables, e.g. self-coiling cords
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B1/00—Conductors or conductive bodies characterised by the conductive materials; Selection of materials as conductors
    • H01B1/02—Conductors or conductive bodies characterised by the conductive materials; Selection of materials as conductors mainly consisting of metals or alloys
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B1/00—Conductors or conductive bodies characterised by the conductive materials; Selection of materials as conductors
    • H01B1/02—Conductors or conductive bodies characterised by the conductive materials; Selection of materials as conductors mainly consisting of metals or alloys
    • H01B1/026—Alloys based on copper
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B3/00—Insulators or insulating bodies characterised by the insulating materials; Selection of materials for their insulating or dielectric properties
    • H01B3/18—Insulators or insulating bodies characterised by the insulating materials; Selection of materials for their insulating or dielectric properties mainly consisting of organic substances
    • H01B3/30—Insulators or insulating bodies characterised by the insulating materials; Selection of materials for their insulating or dielectric properties mainly consisting of organic substances plastics; resins; waxes
    • H01B3/44—Insulators or insulating bodies characterised by the insulating materials; Selection of materials for their insulating or dielectric properties mainly consisting of organic substances plastics; resins; waxes vinyl resins; acrylic resins
    • H01B3/441—Insulators or insulating bodies characterised by the insulating materials; Selection of materials for their insulating or dielectric properties mainly consisting of organic substances plastics; resins; waxes vinyl resins; acrylic resins from alkenes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B5/00—Non-insulated conductors or conductive bodies characterised by their form
    • H01B5/08—Several wires or the like stranded in the form of a rope
    • H01B5/10—Several wires or the like stranded in the form of a rope stranded around a space, insulating material, or dissimilar conducting material
    • H01B5/102—Several wires or the like stranded in the form of a rope stranded around a space, insulating material, or dissimilar conducting material stranded around a high tensile strength core
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/0009—Details relating to the conductive cores
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/0045—Cable-harnesses
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/04—Flexible cables, conductors, or cords, e.g. trailing cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/182—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments
    • H01B7/1825—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments forming part of a high tensile strength core
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/182—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments
    • H01B7/183—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments forming part of an outer sheath
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/186—Sheaths comprising longitudinal lapped non-metallic layers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/1875—Multi-layer sheaths
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/1895—Internal space filling-up means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/22—Metal wires or tapes, e.g. made of steel
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/24—Devices affording localised protection against mechanical force or pressure
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/28—Protection against damage caused by moisture, corrosion, chemical attack or weather
    • H01B7/2806—Protection against damage caused by corrosion
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/14—Extreme weather resilient electric power supply systems, e.g. strengthening power lines or underground power cables

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  • Insulated Conductors (AREA)
  • Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Ropes Or Cables (AREA)

Abstract

The invention discloses a soft cable used for an industrial robot. Every two of eight metal conductor units are intertwisted to form first to fourth symmetric insulation wire pairs, and each symmetric insulation wire pair is wrapped by a first polytetrafluoroethylene band, the first to fourth symmetric insulation wire pairs are intertwisted on the outer surface of an aramid fiber reinforcement piece to form a cable core. A cotton fiber wire is coiled on the outer surface of a second polytetrafluoroethylene layer to form a buffer sliding layer, and the direction of coiling the cotton fiber wire is opposite to the direction of intertwisting the first to fourth symmetric insulation wire pairs. An oversheath wraps a third polytetrafluoroethylene layer. The diameter of the aramid fiber reinforcement piece is 190-210D. The diameter ratio of a first copper alloy conductor to a second copper alloy conductor is 10:6-8. The soft cable is soft and stretch-proof, cannot generate frictional static, and can enable the electromagnetic wave to be uniform on the conductor surface in signal transmission after being moved frequently, so that the electromagnetic distortion is reduced, and the attenuation value is lowered.

Description

Industrial robot flexible cable
Technical field
The present invention relates to a kind of robot cable, more particularly, to a kind of industrial robot flexible cable.
Background technology
With the continuous development of China's economic society, country replaces manually-operated technology pay attention to day by day to machinery, with And the continuous development of China's future technology, intelligent industry and power industry, will bring unprecedented for mechanical arm/mechanical hand Development prospect, because mechanical arm use environment varies, it is excellent that this requires with mechanical arm matching used cable will have Different electrical property, takes into account superior physical and mechanical propertiess simultaneously.
Domestic at present special mechanical arm cable, due to the flexibility of cable, wearability is bad, and service life is often relatively Short, and these cables can not bear mechanical external force.Under the external force that cable is subject to load-bearing or tension, cable is often subject to Damage.In the case of cable bending repeatedly, bending property is proposed with bigger challenge, conventional steel wire is it is possible that break Split, thus do not have load-bearing and drawing-resistant function, the steel wire of fracture is it is also possible to puncture insulation or sheath to cause the accident.
How design a mechanism arm cable, and during ensure that the type frequently reciprocating of more than 100,000 times, signal passes Defeated guarantee is stable, becomes the direction of those skilled in the art's effort.
Content of the invention
The present invention provides a kind of industrial robot flexible cable, this industrial robot flexible cable coefficient of friction Little, soft stretch-proof, no frictional static produce, frequently move after still can guarantee that constitutionally stable industrial robot soft type Cable, cable tensile strength improves 5%, and counter-bending number of times lifts 10 ~ 20%, 10000 bending attenuation change values and is less than 5%.
For reaching above-mentioned purpose, the technical solution used in the present invention is：A kind of industrial robot flexible cable, including Eight metallic conductor units and aramid fiber reinforcement, this metallic conductor unit outer surface is coated with insulation polypropylene layer, described metal Conductor element includes aramid fiber positioned at center, is led by some stranded the first gun-metals in aramid fiber outer surface Body, first anaerobic copper conductor composition inner conducting layer, by some second gun-metal conductors, the second oxygen-free copper conductor strand in Inner conducting layer outer surface forms outer conductor layer, and 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, the first anaerobic copper conductor With diameter greater than the second gun-metal conductor, the second oxygen-free copper conductor diameter, the first gun-metal conductor in described inner conducting layer, One anaerobic copper conductor is alternately arranged, and in described outer conductor layer, the second gun-metal conductor, the second anaerobic copper conductor are alternately arranged；
Described eight metallic conductor units two-by-two the stranded formation symmetrical covered wire of first, second, third and fourth to and each outer Surface is all surrounded with the first teflin tape, and the symmetrical covered wire pair twist of described first, second, third and fourth is together in described virtue Synthetic fibre reinforcement outer surface forms cable core；
One second polytetrafluoroethylene floor is indulged and is wrapped described cable core outer surface, described second polytetrafluoroethylene floor and first, second, third And the 4th symmetrical covered 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 side To in opposite direction with first, second, third and fourth symmetrical covered wire strand, some one metal wires are abreast wound in described Buffering sliding layer outer surface forms metal screen layer, and in this metal screen layer, tinsel winding is contrary with described cotton fiber line；
One the 3rd polytetrafluoroethylene floor is coated on described trimerization four around being wrapped in described metal screen layer outer surface, an external sheath layer Fluorothene layer outer surface, a diameter of 190 ~ 210D of described aramid fiber reinforcement, the first gun-metal conductor and the second gun-metal are led Body diameter is than for 10：6~8.
In technique scheme, further improved technology scheme is as follows：
1., in such scheme, in described first gun-metal conductor, the second gun-metal conductor, Theil indices account for 0.6%.
2., in such scheme, described cotton fiber line is dredged and is around in described second polytetrafluoroethylene floor outer surface.
Because technique scheme is used, the present invention compared with prior art has following advantages：
1. industrial robot flexible cable of the present invention, the symmetrical covered wire of its first, second, third and fourth is to each outer Surface is all surrounded with the first teflin tape stranded formation cable core, and the second polytetrafluoroethylene floor is indulged and wrapped described cable core appearance Face, in frequently BENDING PROCESS, overcomes the symmetrical covered wire of first, second, third and fourth and respective metallic conductor list The distance between unit and pitch change, thus causing the change of electric property；And frequently in BENDING PROCESS, first, Second, third and the 4th symmetrical covered wire are all surrounded with the first teflin tape to respective outer surface, and the second polytetrafluoroethyl-ne Alkene layer has the symmetrical covered wire pair of four the first teflin tapes by vertical packet mode cladding, due to the first politef Band and the second polytetrafluoroethylene floor have that coefficient of friction is low, intensity is high, corrosion-resistant, good insulation preformance, the coefficient of friction of this band It is 0.04, be the minimum material of coefficient of friction in current solid material, and being coated by way of vertical bag before metal screen layer, Reduce the frictional force that causes of overlap joint being produced due to lapping structure increase so that when being frequently bended cable core structural change It is preferably minimized；Secondly as reducing frictional force and teflin tape does not allow to be also easy to produce electrostatic, also greatly reduce the product of electrostatic Raw, improve performance reliability and safety.
2. industrial robot flexible cable of the present invention, its described second polytetrafluoroethylene floor and first, second, Three and the 4th symmetrical covered wire between gap be filled with some cotton yarns, a cotton fiber line is wound in described second polytetrafluoroethyl-ne Alkene layer outer surface forms buffering sliding layer, this cotton fiber line winding direction and the symmetrical covered wire pair of first, second, third and fourth Direction of lay is contrary, and some one metal wires are wound in described buffering sliding layer outer surface and form metal screen layer, this metallic shield In layer, tinsel is abreast wound around contrary with described cotton fiber line it is ensured that when bending, copper wire has enough shift positions not produce Raw stretching causes to break, and is easier to slide simultaneously and does not produce static interference, this structure can between copper wire and insulated slide layer Ensure the pliability of cable, also ensure that the shield effectiveness after being frequently bended.
3. industrial robot flexible cable of the present invention, is disposed with second between described cable core and external sheath layer Polytetrafluoroethylene floor, a cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, Ruo Gangen Tinsel is abreast wound in buffering sliding layer and forms metal screen layer, and one the 3rd polytetrafluoroethylene floor is around being wrapped in described metal screen Cover a layer outer surface, formation buffering between metal screen layer and oversheath, it is to avoid in the reciprocating motion of cable, oversheath and screen Cover generation static interference between layer.Meanwhile, the Performance comparision of teflin tape is soft, smooth, does not interfere with the soft of cable Softness, by technology controlling and process during sheathing, smooth surface makes easily to produce between cable core and sheath in BENDING PROCESS Raw slip, reduces the stretching to copper conductor and tincopper fuse wire braided armor for the external force, increases the service life.
4. industrial robot flexible cable of the present invention, its metallic conductor unit include aramid fiber positioned at center, The inner conducting layer that is made up of some stranded gun-metal conductors in aramid fiber outer surface, twisted by some anaerobic copper conductors Form outer conductor layer together in inner conducting layer outer surface, improve tensile strength it is ensured that aramid fiber is at construction of cable center The stablizing of position；First, second, third and fourth symmetrical covered 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 lifts 300 ~ 500%, 10000 times bending attenuation change value is less than 2%.
5. industrial robot flexible cable of the present invention, its metallic conductor unit include aramid fiber positioned at center, The inner conducting layer that is made up of some stranded the first gun-metal conductors in aramid fiber outer surface, the first anaerobic copper conductors, Outer conductor layer is formed in inner conducting layer outer surface by some second gun-metal conductors, the second oxygen-free copper conductor strand, described First gun-metal conductor and the first oxygen-free copper conductor diameter are equal, described second gun-metal conductor and the second anaerobic copper conductor Equal diameters, described first gun-metal conductor, the first oxygen-free copper conductor diameter are more than the second gun-metal conductor, the second anaerobic Copper conductor diameter, in described first gun-metal conductor, the second gun-metal conductor, Theil indices account for 0.6%, in described inner conducting layer First gun-metal conductor, the first anaerobic copper conductor are alternately arranged, the second gun-metal conductor, the second nothing in described outer conductor layer Oxygen copper conductor is alternately arranged, and the conductor using different types of conductor and different-diameter mixes as conductor element, with respect to list The copper conductor of one diameter or alloy conductor, improve electrical characteristic and bend performance；Again, unlike material conductor replaces and mixes Structure, solves being uniformly distributed of conductor stretching resistance, there is not stretching resistance weak region in local during bending.Solve simultaneously and lead Being uniformly distributed, in signal transmission evenly of bulk resistor.Using the diversity distribution of the first conductor and the second conductor diameter, make The tension stress point distribution obtaining outer layer is finer and closely woven, evenly.Bigger tensile force and extruding is born when solving conductor outer layer bending The problem that power is easily broken off.Outer contact diameter is less simultaneously, makes stranded conductor surface more smooth, in conductor table during signal transmission The electromagnetic wave in face evenly, reduces electromagnetic distortions, reduces pad value.
Brief description
Accompanying drawing 1 is industrial robot flexible 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：1st, metallic conductor unit；2nd, insulate polypropylene layer；3rd, the first symmetrical covered wire pair；4th, second is right Claim covered wire pair；5th, the 3rd symmetrical covered wire pair；6th, the 4th symmetrical covered wire pair；7th, the first teflin tape；8th, cable core；9、 Second polytetrafluoroethylene floor；10th, cotton yarn；12nd, buffer sliding layer；13rd, tinsel；14th, metal screen layer；15th, the 3rd polytetrafluoro Pvdf layer；16th, external sheath layer；17th, cotton fiber line；18th, polyester belt；19th, wire sheathing；20th, aramid fiber；21st, aramid fiber adds Strong part；22nd, the first gun-metal conductor；23rd, the first anaerobic copper conductor；24th, the second gun-metal conductor；25th, the second oxygen-free copper Conductor.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Embodiment：A kind of industrial robot flexible cable, including：Eight metallic conductor units 1 and aramid fiber reinforcement 21, this Metallic conductor unit 1 outer surface is coated with insulation polypropylene layer 2, and the aramid fiber that described metallic conductor unit 1 is included positioned at center is fine Dimension 20, it is made up of some stranded the first gun-metal conductors 22 in aramid fiber 20 outer surface, the first anaerobic copper conductors 23 Inner conducting layer, by some second gun-metal conductors 24, the second anaerobic copper conductor 25 stranded in inner conducting layer outer surface shape Become outer conductor layer, described first gun-metal conductor 22 and the first anaerobic copper conductor 23 equal diameters, described second gun-metal Conductor 24 and the second anaerobic copper conductor 25 equal diameters, described first gun-metal conductor 22, the first anaerobic copper conductor 23 diameter More than the second gun-metal conductor 24, the second anaerobic copper conductor 25 diameter, described first gun-metal conductor 22, the second stannum copper close In golden conductor 24, Theil indices account for 0.6%, and in described inner conducting layer, the first gun-metal conductor 22, the first anaerobic copper conductor 23 replace Arrangement, in described outer conductor layer, the second gun-metal conductor 24, the second anaerobic copper conductor 25 are alternately arranged；
Described eight metallic conductor units 1 two-by-two the stranded formation symmetrical covered wire of first, second, third and fourth to 3,4,5,6 And respective outer surface is all surrounded with the first teflin tape 7, the symmetrical covered wire of described first, second, third and fourth to 3, 4th, 5,6 stranded in described aramid fiber reinforcement 21 outer surface formed cable core 8；
One second polytetrafluoroethylene floor 9 is vertical to wrap described cable core 8 outer surface, described second polytetrafluoroethylene floor 9 and first, second, Third and fourth symmetrical covered wire is filled with some cotton yarns 10 to gap between 3,4,5,6；
In frequently BENDING PROCESS, overcome the symmetrical covered wire of first, second, third and fourth and respective metallic conductor list The distance between unit and pitch change, thus causing the change of electric property；And frequently in BENDING PROCESS, first, Second, third and the 4th symmetrical covered wire are all surrounded with the first teflin tape to respective outer surface, and the second polytetrafluoroethyl-ne Alkene layer has the symmetrical covered wire pair of four the first teflin tapes by vertical packet mode cladding, due to the first politef Band and the second polytetrafluoroethylene floor have that coefficient of friction is low, intensity is high, corrosion-resistant, good insulation preformance, the coefficient of friction of this band It is 0.04, be the minimum material of coefficient of friction in current solid material, and being coated by way of vertical bag before metal screen layer, Reduce the frictional force that causes of overlap joint being produced due to lapping structure increase so that when being frequently bended cable core structural change It is preferably minimized；Secondly as reducing frictional force and teflin tape does not allow to be also easy to produce electrostatic, also greatly reduce the product of electrostatic Raw, improve performance reliability and safety；
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 directions covered wire symmetrical with first, second, third and fourth is contrary to 3,4,5,6 direction of lays, some one metal wires 13 are abreast wound in described buffering sliding layer 12 outer surface forms metal screen layer 14, tinsel 13 in this metal screen layer 14 It is wound around contrary with described cotton fiber line 17；When ensureing bending, copper wire has enough shift positions not produce stretching and cause to break, It is easier between copper wire and insulated slide layer to slide simultaneously and does not produce static interference, this structure both can guarantee that the softness of cable Degree, also ensure that the shield effectiveness after being frequently bended；
Around being wrapped in described metal screen layer 14 outer surface, an external sheath layer 16 is coated on described to one the 3rd polytetrafluoroethylene floor 15 Three polytetrafluoroethylene floor 15 outer surface.Form buffering between metal screen layer and oversheath, it is to avoid in the reciprocating motion of cable In, produce static interference between oversheath and screen layer.Meanwhile, the Performance comparision of teflin tape is soft, smooth, Bu Huiying Ring the pliability to cable, by technology controlling and process during sheathing, smooth surface makes cable core and shield in BENDING PROCESS Easily produce between layer and slide, reduce the stretching to copper conductor and tincopper fuse wire braided armor for the external force, increase 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 units 1, this metallic conductor unit 1 appearance Bread is covered with insulation polypropylene layer 2, and described metallic conductor unit 1 is formed by some copper conductors 11 are stranded；
Described eight metallic conductor units 1 two-by-two the stranded formation symmetrical covered wire of first, second, third and fourth to 3,4,5,6, Described first, second, third and fourth symmetrical covered wire formation stranded to 3,4,5,6 cable core 8, the wrapped described cable of a polyester belt 18 Core 8 outer surface, described polyester belt 18 and the symmetrical covered wire of first, second, third and fourth are filled with to gap between 3,4,5,6 Some cotton yarns 10；
Polyester belt 18 outer surface is located at by the wire sheathing 19 of some proof copper-wire braideds, an external sheath layer 16 is coated on institute State 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.
A diameter of 190 ~ the 210D of above-mentioned 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 technology design to illustrate the invention and feature, its object is to allow person skilled in the art's energy Solution present disclosure much of that is simultaneously implemented according to this, can not be limited the scope of the invention with this.All spiritual according to the present invention Equivalence changes or modification that essence is made, all should be included within the scope of the present invention.

Claims (3)

1. a kind of industrial robot flexible cable it is characterised in that：Including：Eight metallic conductor units（1）With aramid fiber plus Strong part（21）, this metallic conductor unit（1）Outer surface is coated with insulation polypropylene layer（2）, described metallic conductor unit（1）Including Aramid fiber positioned at center（20）, by some stranded in aramid fiber（20）First gun-metal conductor of outer surface （22）, the first anaerobic copper conductor（23）Composition inner conducting layer, by some second gun-metal conductors（24）, the second oxygen-free copper Conductor（25）Stranded in inner conducting layer outer surface formed outer conductor layer, described first gun-metal conductor（22）With the first oxygen-free copper Conductor（23）Equal diameters, described second gun-metal conductor（24）With the second anaerobic copper conductor（25）Equal diameters, described One gun-metal conductor（22）, the first anaerobic copper conductor（23）With diameter greater than the second gun-metal conductor（24）, the second oxygen-free copper Conductor（25）Diameter, the first gun-metal conductor in described inner conducting layer（22）, the first anaerobic copper conductor（23）Alternately arranged, institute State the second gun-metal conductor in outer conductor layer（24）, the second anaerobic copper conductor（25）Alternately arranged；
Described eight metallic conductor units（1）The stranded formation symmetrical covered wire pair of first, second, third and fourth two-by-two（3、4、 5、6）And each outer surface is all surrounded with the first teflin tape（7）, described first, second, third and fourth symmetrically insulate Line pair（3、4、5、6）Stranded in described aramid fiber reinforcement（21）Outer surface forms cable core（8）；
One second polytetrafluoroethylene floor（9）The described cable core of vertical bag（8）Outer surface, described second polytetrafluoroethylene floor（9）With first, Second, third and the 4th symmetrical covered wire pair（3、4、5、6）Between gap be filled with some cotton yarns（10）；
One cotton fiber line（17）It is wound in described second polytetrafluoroethylene floor（9）Outer surface forms buffering sliding layer（12）, this cotton Single（17）Winding direction and the symmetrical covered wire pair of first, second, third and fourth（3、4、5、6）Direction of lay is contrary, if Dry one metal wire（13）Abreast it is wound in described buffering sliding layer（12）Outer surface forms metal screen layer（14）, this metal screen Cover layer（14）Middle tinsel（13）It is wound around and described cotton fiber line（17）On the contrary；
One the 3rd polytetrafluoroethylene floor（15）Around being wrapped in described metal screen layer（14）Outer surface, an external sheath layer（16）It is coated on Described 3rd polytetrafluoroethylene floor（15）Outer surface, described aramid fiber reinforcement（21）A diameter of 190 ~ 210D, the first gun-metal Conductor（22）With the second gun-metal conductor（24）Diameter is than for 10：6~8.
2. industrial robot flexible cable according to claim 1 it is characterised in that：Described first gun-metal is led Body（22）, the second gun-metal conductor（24）Middle Theil indices account for 0.6%.
3. industrial robot flexible cable according to claim 1 it is characterised in that：Described cotton fiber line（17）Dredge It is around in described second polytetrafluoroethylene floor（9）Outer surface.
CN201610351693.8A 2014-05-22 2014-05-22 Soft cable used for industrial robot Pending CN106409402A (en)

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CN201410218462.0A Active CN104036852B (en) 2014-05-22 2014-05-22 Fatigue-resistant high-speed data cable for robotic arm
CN201610351693.8A Pending CN106409402A (en) 2014-05-22 2014-05-22 Soft cable used for industrial robot
CN201610352427.7A Pending CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator
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CN104036852B (en) 2016-08-31
CN106448814A (en) 2017-02-22

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