CN106448814A - Bending-resistant cable for manipulator - Google Patents

Bending-resistant cable for manipulator Download PDF

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Publication number
CN106448814A
CN106448814A CN201610352427.7A CN201610352427A CN106448814A CN 106448814 A CN106448814 A CN 106448814A CN 201610352427 A CN201610352427 A CN 201610352427A CN 106448814 A CN106448814 A CN 106448814A
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China
Prior art keywords
conductor
layer
oxygen
gun
metal
Prior art date
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Pending
Application number
CN201610352427.7A
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Chinese (zh)
Inventor
陆春良
谭言秦
崔久德
邹慧娟
吴士杰
姜勤荣
孙明华
宋志斌
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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 CN201610352427.7A priority Critical patent/CN106448814A/en
Publication of CN106448814A publication Critical patent/CN106448814A/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 bending-resistant cable for a manipulator. Each metal conductor unit of the cable comprises an aramid fiber located at the center, an internal conducting layer formed by a plurality of first tin-copper alloy conductors and first oxygen-free copper conductors twisted at the external surface of the aramid fiber, and an external conductor layer formed by a plurality of second tin-copper alloy conductors and second oxygen-free copper conductors twisted at the external surface of the inner conducting layer, the external surface of a cable core is wrapped by a second polytetrafluoroethylene layer in a longitudinal manner, gaps between the second polytetrafluoroethylene layer and a first symmetrical insulation line pair, a second symmetrical insulation line pair, a third symmetrical insulation line pair and a fourth symmetrical insulation line pair are filled with a plurality of cotton yarns, the external surface of the second polytetrafluoroethylene layer is wound by a cotton fiber line to form a buffer sliding layer, the external surface of a metal shielding layer is wrapped by a third polytetrafluoroethylene layer, the external surface of the third polytetrafluoroethylene layer is wrapped by an outer sheath layer, and the diameter ratio of the tin-copper alloy conductors to the oxygen-free copper conductors is 1:1. According to the cable, stable structure of the cable is guaranteed, the stretch-resistant strength of the product is improved by more than 300%, the bending-resistant frequency is improved by 300-500%, and the bending attenuation change value for 10000 times is less than 2%.

Description

Manipulator resist bending cable
Technical field
The present invention relates to a kind of cable, particularly relate to a kind of manipulator resist bending cable.
Background technology
With the development of China's economic society, country replaces manually-operated technology pay attention to day by day to machinery, with And the development of China's future technology, intelligence industry and power industry, will bring unprecedented for mechanical arm/manipulator Development prospect, due to mechanical arm use environment vary, this requires that matching used cable to have excellent with mechanical arm Different electrical property, takes into account superior physical and mechanical properties simultaneously.
Current domestic 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.At cable by under the external force of load-bearing or tension, cable is often subject to Damage.In the case of cable bending repeatedly, proposing bigger challenge to bending property, conventional steel wire is it is possible that break Splitting, thus not having 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 stablized, and becomes the direction that those skilled in the art make great efforts.
Content of the invention
The present invention provides a kind of manipulator resist bending cable, and this manipulator resist bending cable ensure that the construction of cable is steady Fixed so that the tensile strength of product improves more than 300%, counter-bending number of times promotes 300 ~ 500%, 10000 bending decay and becomes Change value is less than 2%.
For reaching above-mentioned purpose, the technical solution used in the present invention is：A kind of manipulator resist bending 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 include being positioned at center aramid fiber, by some stranded the first gun-metal conductors in aramid fiber outer surface, One oxygen-free copper conductor composition inner conducting layer, led in interior by some second gun-metal conductors, the second oxygen-free copper conductor strand Electric layer outer surface forms outer conductor layer, and described first gun-metal conductor and the first oxygen-free copper conductor diameter are equal, and described second Gun-metal conductor and the second oxygen-free copper conductor diameter are equal, described first gun-metal conductor, the first oxygen-free copper conductor diameter More than the second gun-metal conductor, the second oxygen-free copper conductor diameter, the first gun-metal conductor, the first nothing in described inner conducting layer Oxygen copper conductor is alternately arranged, and in described outer conductor layer, the second gun-metal conductor, the second oxygen-free copper conductor are alternately arranged；
The symmetrical insulated wire of described eight metallic conductor unit stranded two-by-two formation first, second, third and fourth to and each outside Surface is all surrounded with the first teflin tape, and the symmetrical insulated wire pair twist of described first, second, third and fourth is together in described virtue Synthetic fibre reinforcement outer surface forms cable core；
The described cable core outer surface of the vertical bag of one second polytetrafluoroethylene floor, described second polytetrafluoroethylene floor and first, second, third And the 4th 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 side In opposite direction to insulated wire strand symmetrical with first, second, third and fourth, some one metal wires are wound in described abreast Buffering sliding layer outer surface forms 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 trimerization four PVF layer outer surface, described gun-metal conductor is 1 with the diameter ratio of oxygen-free copper conductor：1.
Technique scheme is further improved technical scheme as follows：
In such scheme, in described first gun-metal conductor, the second gun-metal conductor, Theil indices accounts for 0.6%.
Owing to technique scheme is used, the present invention compared with prior art has following advantages：
1. manipulator resist bending cable of the present invention, the symmetrical insulated wire of its first, second, third and fourth is to respective outer surface It is all surrounded with the first teflin tape stranded formation cable core, the described cable core outer surface of the vertical bag of the second polytetrafluoroethylene floor, Frequently in BENDING PROCESS, overcome between the symmetrical insulated wire of first, second, third and fourth and respective metallic conductor unit Distance and pitch change, thus cause the change of electric property；And frequently in BENDING PROCESS, the first, secondth, Three and the 4th symmetrical insulated wire is all surrounded with the first teflin tape to respective outer surface, and the second polytetrafluoroethylene floor passes through Vertical packet mode cladding has the symmetrical insulated wire pair of four the first teflin tapes, due to the first teflin tape and second Polytetrafluoroethylene floor has that coefficient of friction is low, intensity is high, corrosion-resistant, good insulation preformance, and the coefficient of friction of this band is 0.04, is The material that in current solid material, coefficient of friction is minimum, and being coated with by way of vertical bag before metal screen layer, reduce due to The increase of the frictional force that the overlap joint that lapping structure produces causes so that when being frequently bended, the structural change of cable core drops to Low；Secondly as minimizing frictional force and teflin tape are not easy to produce electrostatic, also greatly reduce the generation of electrostatic, carry High-performance reliability and security.
2. manipulator resist bending cable of the present invention, its described second polytetrafluoroethylene floor and first, second, third and 4th symmetrical insulated wire between gap be filled with some cotton yarns, a cotton fiber line is wound in described second polytetrafluoroethylene floor Outer surface forms buffering sliding layer, this cotton fiber line winding direction symmetrical insulated wire strand with first, second, third and fourth 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, it is ensured that during bending, and copper wire has enough shift positions not produce and draw Stretching and causing broken string, be easier to slide and do not produce electrostatic interference simultaneously between copper wire and insulated slide layer, this structure both can guarantee that The pliability of cable, also ensure that the shield effectiveness after being frequently bended.
3. manipulator resist bending cable of the present invention, is disposed with second poly-four between described cable core and external sheath layer PVF layer, a cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, some metals Silk is wound in buffering sliding layer abreast and forms metal screen layer, and one the 3rd polytetrafluoroethylene floor is around being wrapped in described metal screen layer Outer surface, forms buffering, it is to avoid in the reciprocating motion of cable, oversheath and screen layer between metal screen layer and oversheath Between produce electrostatic interference.Meanwhile, the Performance comparision of teflin tape is soft, smooth, does not interferes with the pliability of cable, By technology controlling and process during sheathing, smooth surface makes easily to produce between cable core and sheath in BENDING PROCESS to slide Dynamic, reduce the stretching to copper conductor and tincopper fuse wire braided armor for the external force, increase the service life.
4. manipulator resist bending cable of the present invention, if its metallic conductor unit include being positioned at center aramid fiber, by The inner conducting layer of the stranded gun-metal conductor composition in aramid fiber outer surface of dry root, by some oxygen-free copper conductor strand in Inner conducting layer outer surface forms outer conductor layer, improves tensile strength, it is ensured that aramid fiber is in construction of cable center Stablize；The symmetrical insulated wire pair twist of first, second, third and fourth forms cable core together in an aramid fiber reinforcement outer surface；Ensure The construction of cable is stable so that the tensile strength of product improves more than 300%, and counter-bending number of times promotes 300 ~ 500%, 10000 Secondary bending attenuation change value is less than 2%.
5. manipulator resist bending cable of the present invention, if its metallic conductor unit include being positioned at center aramid fiber, by If stranded the first gun-metal conductor in aramid fiber outer surface of dry root, first oxygen-free copper conductor composition inner conducting layer, by Dry root the second gun-metal conductor, the second oxygen-free copper conductor strand in inner conducting layer outer surface formed outer conductor layer, 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 Equal, described first gun-metal conductor, the first oxygen-free copper conductor diameter are led more than the second gun-metal conductor, the second oxygen-free copper Body diameter, in described first gun-metal conductor, the second gun-metal conductor, Theil indices accounts for 0.6%, in described inner conducting layer first Gun-metal conductor, the first oxygen-free copper conductor are alternately arranged, the second gun-metal conductor, the second oxygen-free copper in described outer conductor layer Conductor is alternately arranged, uses the conductor mixing of different types of conductor and different-diameter as conductor element, relative to single directly The copper conductor in footpath or alloy conductor, improve electrical characteristic and bend performance；Again, unlike material conductor replaces hybrid junctions Structure, solves being uniformly distributed of conductor stretching resistance, there is not stretching resistance weak region in local during bending.Solve conductor simultaneously Being uniformly distributed of resistance, when signal transmits evenly.Use the otherness distribution of the first conductor and the second conductor diameter so that The tension stress point distribution of outer layer is finer and closely woven, evenly.Bigger tensile force and extruding force is born when solving the bending of conductor outer layer The problem being easily broken off.Outer contact diameter is less simultaneously, makes stranded conductor surface more smooth, at conductive surface during signal transmission Electromagnetic wave evenly, reduce electromagnetic distortions, reduce pad value.
Brief description
Accompanying drawing 1 is manipulator resist bending construction of cable schematic diagram 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；
The partial structurtes schematic diagram that accompanying drawing 5 is accompanying drawing 1；
The structural representation that accompanying drawing 6 is comparative example cable.
In the figures above：1st, metallic conductor unit；2nd, insulate polypropylene layer；3rd, the first symmetrical insulated wire pair；4th, second is right Claim insulated wire pair；5th, the 3rd symmetrical insulated wire pair；6th, the 4th symmetrical insulated wire pair；7th, the first teflin tape；8th, cable core；9、 Second polytetrafluoroethylene floor；10th, cotton yarn；12nd, sliding layer is buffered；13rd, wire；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 oxygen-free copper conductor；24th, the second gun-metal conductor；25th, 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：
Embodiment：A kind of manipulator resist bending cable, including：Eight metallic conductor unit 1 and aramid fiber reinforcement 21, this metal Conductor element 1 outer surface is coated with insulation polypropylene layer 2, and the 20th, described metallic conductor unit 1 includes being positioned at the aramid fiber at center Led in the 22nd, the first oxygen-free copper conductor 23 forms by some stranded the first gun-metal conductors in aramid fiber 20 outer surface Electric layer, formed outer leading by some second gun-metal conductors the 24th, the second oxygen-free copper conductor 25 is stranded in inner conducting layer outer surface Body layer, described first gun-metal conductor 22 and the first oxygen-free copper conductor 23 equal diameters, described second gun-metal conductor 24 With the second oxygen-free copper conductor 25 equal diameters, described first gun-metal conductor the 22nd, the first oxygen-free copper conductor 23 diameter is more than the Two gun-metal conductors the 24th, the second oxygen-free copper conductor 25 diameter, described first gun-metal conductor the 22nd, the second gun-metal conductor In 24, Theil indices accounts for 0.6%, and in described inner conducting layer, the first gun-metal conductor the 22nd, the first oxygen-free copper conductor 23 is alternately arranged, institute State the second gun-metal conductor the 24th, the second oxygen-free copper conductor 25 in outer conductor layer alternately arranged；
The symmetrical insulated wire of described eight metallic conductor unit 1 stranded two-by-two formation first, second, third and fourth is to the 3rd, the 4th, the 5th, 6 And each outer surface is all surrounded with the first teflin tape 7, the symmetrical insulated wire of described first, second, third and fourth is to the 3rd, 4th, the 5th, 6 stranded in described aramid fiber reinforcement 21 outer surface formed cable core 8；
Described cable core 8 outer surface of the vertical bag of one second polytetrafluoroethylene floor 9, described second polytetrafluoroethylene floor 9 and the first, secondth, Third and fourth symmetrical insulated wire to the 3rd, the 4th, the 5th, between 6 gap be filled with some cotton yarns 10；
In BENDING PROCESS frequently, overcome the symmetrical insulated wire of first, second, third and fourth and respective metallic conductor list Distance between Yuan and pitch change, thus cause the change of electric property；And frequently in BENDING PROCESS, the firstth, Second, third and the 4th symmetrical insulated wire are all surrounded with the first teflin tape, and the second polytetrafluoroethyl-ne to respective outer surface Alkene layer has the symmetrical insulated wire pair of four the first teflin tapes by vertical packet mode cladding, due to the first polytetrafluoroethylene (PTFE) 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 material that in current solid material, coefficient of friction is minimum, and being coated with by 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 so that the structural change of cable core when being frequently bended It is preferably minimized；Secondly as minimizing frictional force and teflin tape are not easy to produce electrostatic, also greatly reduce the product of electrostatic Raw, 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 The symmetrical insulated wire of 17 winding directions and first, second, third and fourth to the 3rd, the 4th, the 5th, 6 direction of lays contrary, some one metal wires 13 are wound in described buffering sliding layer 12 outer surface abreast forms metal screen layer 14, wire 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 broken string, Being easier between copper wire and insulated slide layer slide and do not produce electrostatic interference, this structure both can guarantee that the softness of cable simultaneously Degree, 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 Three polytetrafluoroethylene floor 15 outer surfaces.Form buffering between metal screen layer and oversheath, it is to avoid in the reciprocating motion of cable In, produce electrostatic interference between oversheath and screen layer.Meanwhile, the Performance comparision of teflin tape is soft, smooth, Bu Huiying Ringing to the pliability of cable, by technology controlling and process during sheathing, smooth surface makes in BENDING PROCESS cable core and protects Easily produce between Ceng 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 unit 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；
The symmetrical insulated wire of described eight metallic conductor unit 1 stranded two-by-two formation first, second, third and fourth to the 3rd, the 4th, the 5th, 6, The symmetrical insulated wire of described first, second, third and fourth to the 3rd, the 4th, the 5th, 6 stranded formation cable core 8, a wrapped described cable of polyester belt 18 The symmetrical insulated wire of core 8 outer surface, described polyester belt 18 and first, second, third and fourth to the 3rd, the 4th, the 5th, between 6 gap be filled with Some cotton yarns 10；
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 institute State wire sheathing 19 outer surface.
Above-mentioned first gun-metal conductor 22 and the second gun-metal conductor 24 diameter ratio are 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 is only that the technology that the present invention be described is conceived 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 limit the scope of the invention with this.All according to present invention spirit The equivalence that essence is made changes or modifies, and all should cover within protection scope of the present invention.

Claims (2)

1. a manipulator resist bending cable, it is characterised in that：Including：Eight metallic conductor unit（1）With aramid fiber reinforcement （21）, this metallic conductor unit（1）Outer surface is coated with insulation polypropylene layer（2）, described metallic conductor unit（1）Including be positioned at The aramid fiber at center（20）, stranded in aramid fiber by some（20）First gun-metal conductor of outer surface（22）, One oxygen-free 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 formation 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 oxygen-free copper conductor（25）Equal diameters, described first tin Copper alloy conductor（22）, the first oxygen-free copper conductor（23）Diameter is more 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 oxygen-free copper conductor（23）Alternately arranged, described outside Second gun-metal conductor in conductor layer（24）, the second oxygen-free copper conductor（25）Alternately arranged；
Described eight metallic conductor unit（1）The symmetrical insulated wire pair of stranded two-by-two formation first, second, third and fourth（3、4、 5、6）And each outer surface is all surrounded with the first teflin tape（7）, the symmetrical insulation of described first, second, third and fourth 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 the firstth, Second, third and the 4th symmetrical insulated 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 is cotton Single（17）Winding direction symmetrical insulated wire pair with first, second, third and fourth（3、4、5、6）Direction of lay is contrary, if Dry one metal wire（13）It is wound in described buffering sliding layer abreast（12）Outer surface forms metal screen layer（14）, this metal screen Cover layer（14）Middle wire（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 gun-metal conductor（22）With oxygen-free copper conductor（23）Diameter ratio be 1：1.
2. manipulator resist bending cable according to claim 1, it is characterised in that：Described first gun-metal conductor （22）, the second gun-metal conductor（24）Middle Theil indices accounts for 0.6%.
CN201610352427.7A 2014-05-22 2014-05-22 Bending-resistant cable for manipulator Pending CN106448814A (en)

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

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CN201610351805.XA Pending CN106448829A (en) 2014-05-22 2014-05-22 Flexible stretch-proof robot cable
CN201610352150.8A Pending CN106448848A (en) 2014-05-22 2014-05-22 Manipulator cable
CN201610352149.5A Pending CN106448830A (en) 2014-05-22 2014-05-22 Low-friction-coefficient flexible cable used for robot
CN201610352427.7A Pending CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator
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CN201610352150.8A Pending CN106448848A (en) 2014-05-22 2014-05-22 Manipulator cable
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CN106448848A (en) 2017-02-22
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CN106448830A (en) 2017-02-22
CN106448829A (en) 2017-02-22
CN104036852A (en) 2014-09-10

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