CN106448829A - Flexible stretch-proof robot cable - Google Patents

Flexible stretch-proof robot cable Download PDF

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Publication number
CN106448829A
CN106448829A CN201610351805.XA CN201610351805A CN106448829A CN 106448829 A CN106448829 A CN 106448829A CN 201610351805 A CN201610351805 A CN 201610351805A CN 106448829 A CN106448829 A CN 106448829A
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China
Prior art keywords
conductor
gun
metal
layer
oxygen
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Application number
CN201610351805.XA
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Chinese (zh)
Inventor
谭言秦
崔久德
吴士杰
沈建新
冯强
姜勤荣
宋志斌
邹慧娟
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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 CN201610351805.XA priority Critical patent/CN106448829A/en
Publication of CN106448829A publication Critical patent/CN106448829A/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 flexible stretch-proof robot cable. Each metal conductor unit of the flexible stretch-proof robot cable comprises an aramid fiber disposed at the center, an internal conductive layer composed of a plurality of first tin-copper alloy conductors and first coalesced copper conductors which are twisted at the outer surface of the aramid fiber, and an external conductor layer composed of a plurality of second tin-copper alloy conductors and second coalesced copper conductors which are twisted at the outer surface of the internal conductive layer. The eight metal conductor units are twisted in pairs to form a first symmetric insulation wire, a second symmetric insulation wire, a third symmetric insulation wire and a fourth symmetric insulation wire, the outer surface of each symmetric insulation wire is wrapped by a first polytetrafluoroethylene band, the first symmetric insulation wire, the second symmetric insulation wire, the third symmetric insulation wire and the fourth symmetric insulation wire are intertwisted at the outer surface of an aramid fiber reinforcement to form a cable core, and the ratio of the diameters of the first tin-copper alloy conductors and the diameters of the second tin-copper alloy conductors is 10:6-8. The surfaces of the twisted conductors are more flat, electromagnetic waves on the surface of the conductors during signal transmission are more uniform, electromagnetic distortion is reduced, and the attenuation value is reduced.

Description

Flexible stretch-proof robot cable
Technical field
The present invention relates to a kind of robot cable, particularly relate to a kind of flexible stretch-proof robot 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 flexible stretch-proof robot cable, this flexible stretch-proof robot cable coefficient of friction is little, Soft stretch-proof, without frictional static produce, frequently mobile after still can guarantee that constitutionally stable flexibility stretch-proof robot cable, Cable tensile strength improves 5%, and counter-bending number of times promotes 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 flexible stretch-proof robot cable, including eight Individual metallic conductor unit and aramid fiber reinforcement, this metallic conductor unit outer surface is coated with insulation polypropylene layer, and described metal is led Body unit include being positioned at center aramid fiber, by some stranded the first gun-metal conductors in aramid fiber outer surface, The inner conducting layer of the first oxygen-free copper conductor composition, by some second gun-metal conductors, the second oxygen-free copper conductor strand in interior Conductive 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 the Two gun-metal conductors and the second oxygen-free copper conductor diameter are equal, and described first gun-metal conductor, the first oxygen-free copper conductor are straight Footpath is more than the second gun-metal conductor, the second oxygen-free copper conductor diameter, and described first gun-metal conductor, the second gun-metal are led In body, Theil indices accounts for 0.6%, and in described inner conducting layer, the first gun-metal conductor, the first oxygen-free copper conductor are alternately arranged, described outside In 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, the first gun-metal conductor and the second gun-metal conductor diameter ratio are 10：6~8.
Technique scheme is further improved technical scheme as follows：
In such scheme, described cotton fiber line is dredged and is around in described second polytetrafluoroethylene floor outer surface.
Owing to technique scheme is used, the present invention compared with prior art has following advantages：
1. the flexible stretch-proof robot cable of the present invention, the symmetrical insulated wire of its first, second, third and fourth is to respective appearance Face 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, In BENDING PROCESS frequently, overcome the symmetrical insulated wire of first, second, third and fourth and respective metallic conductor unit it Between distance and pitch change, thus cause the change of electric property；And frequently in BENDING PROCESS, the first, secondth, Third and fourth symmetrical insulated wire is all surrounded with the first teflin tape to respective outer surface, and the second polytetrafluoroethylene floor leads to Cross vertical packet mode cladding and there is the symmetrical insulated wire pair of four the first teflin tapes, due to the first teflin tape and the Two polytetrafluoroethylene floors have 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, 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 by Increase in the frictional force that the overlap joint of lapping structure generation 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. the flexible stretch-proof robot cable of the present invention, its described second polytetrafluoroethylene floor and first, second, third And the 4th symmetrical insulated wire between gap be filled with some cotton yarns, a cotton fiber line is wound in described second polytetrafluoroethylene (PTFE) Layer outer surface forms buffering sliding layer, this cotton fiber line winding direction symmetrical insulated wire pair twist with first, second, third and fourth Closing in opposite direction, some one metal wires are wound in described buffering sliding layer outer surface and form metal screen layer, this metal screen layer Middle 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 Stretching causes broken string, is easier to slide and do not produce electrostatic interference between copper wire and insulated slide layer simultaneously, and this structure can be protected The pliability of card cable, also ensure that the shield effectiveness after being frequently bended.
3. the flexible stretch-proof robot cable of the present invention, is disposed with second and gathers between described cable core and external sheath layer Tetrafluoroethene layer, a cotton fiber line is wound in described second polytetrafluoroethylene floor outer surface and forms buffering sliding layer, some gold Belonging to silk to be wound in buffering sliding layer abreast and form metal screen layer, one the 3rd polytetrafluoroethylene floor is around being wrapped in described metallic shield Layer outer surface, forms buffering, it is to avoid in the reciprocating motion of cable, oversheath and shielding between metal screen layer and oversheath Electrostatic interference is produced between Ceng.Meanwhile, the Performance comparision of teflin tape is soft, smooth, does not interferes with the softness of cable Degree, by technology controlling and process during sheathing, smooth surface makes easily to produce between cable core and sheath in BENDING PROCESS Slide, reduce the stretching to copper conductor and tincopper fuse wire braided armor for the external force, increase the service life.
4. the flexible stretch-proof robot cable of the present invention, its metallic conductor unit include being positioned at center aramid fiber, by The inner conducting layer of the some stranded gun-metal conductor compositions in aramid fiber outer surface, by some oxygen-free copper conductor strand Form outer conductor layer in inner conducting layer outer surface, improve tensile strength, it is ensured that aramid fiber is at construction of cable centre bit That puts stablizes；The symmetrical insulated wire pair twist of first, second, third and fourth forms cable core together in an aramid fiber reinforcement outer surface；Protect Having demonstrate,proved the construction of cable stable so that the tensile strength of product improves more than 300%, counter-bending number of times promotes 300 ~ 500%, 10000 times bending attenuation change value is less than 2%.
5. the flexible stretch-proof robot cable of the present invention, its metallic conductor unit include being positioned at center aramid fiber, by Some stranded the first gun-metal conductors in aramid fiber outer surface, the first oxygen-free copper conductor composition inner conducting layer, by Some second gun-metal conductors, the second oxygen-free copper conductor strand form outer conductor layer in inner conducting layer outer surface, and described the One 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 are straight Footpath is equal, and described first gun-metal conductor, the first oxygen-free copper conductor diameter are more than the second gun-metal conductor, the second oxygen-free copper Conductor diameter, in described first gun-metal conductor, the second gun-metal conductor, Theil indices accounts for 0.6%, in described inner conducting layer One gun-metal conductor, the first oxygen-free copper conductor are alternately arranged, the second gun-metal conductor, the second anaerobic in described outer conductor layer Copper conductor is alternately arranged, uses the conductor mixing of different types of conductor and different-diameter as conductor element, relative to single The copper conductor of diameter 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 the flexible stretch-proof robot 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；
The partial structurtes schematic diagram that accompanying drawing 5 is accompanying drawing 4；
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 flexible stretch-proof robot cable, including：Eight metallic conductor unit 1 and aramid fiber reinforcement 21, this gold Belonging to conductor element 1 outer surface and being coated with insulation polypropylene layer 2, described metallic conductor unit 1 includes the aramid fiber being positioned at center 20th, it is made up of some stranded the first gun-metal conductor in aramid fiber 20 outer surface the 22nd, the first oxygen-free copper conductors 23 Inner conducting layer, by some second gun-metal conductors, the 24th, the second oxygen-free copper conductor 25 is stranded is formed in inner conducting layer outer surface Outer conductor layer, described first gun-metal conductor 22 and the first oxygen-free copper conductor 23 equal diameters, described second gun-metal is led Body 24 and 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 big In the second gun-metal conductor the 24th, the second oxygen-free copper conductor 25 diameter, described first gun-metal conductor the 22nd, the second gun-metal In conductor 24, Theil indices accounts for 0.6%, the first gun-metal conductor the 22nd, the first oxygen-free copper conductor 23 alternately row in described inner conducting layer Row, in described outer conductor layer, the second gun-metal conductor the 24th, the second oxygen-free copper conductor 25 is 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 flexible stretch-proof robot cable, it is characterised in that：Including：Eight metallic conductor unit（1）Strengthen with aramid fiber Part（21）, this metallic conductor unit（1）Outer surface is coated with insulation polypropylene layer（2）, described metallic conductor unit（1）Including position Aramid fiber in center（20）, stranded in aramid fiber by some（20）First gun-metal conductor of outer surface（22）、 First 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, described first gun-metal conductor（22）, the second gun-metal conductor（24）Middle Theil indices accounts for 0.6%, described in lead First gun-metal conductor in electric layer（22）, the first oxygen-free copper conductor（23）Alternately arranged, the second tin copper in described outer conductor layer Alloy conductor（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, the first gun-metal conductor（22）With the second gun-metal conductor（24）Diameter Ratio is 10：6~8.
2. flexible stretch-proof robot cable according to claim 1, it is characterised in that：Described cotton fiber line（17）Dredge around In described second polytetrafluoroethylene floor（9）Outer surface.
CN201610351805.XA 2014-05-22 2014-05-22 Flexible stretch-proof robot cable Pending CN106448829A (en)

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CN201610351805.XA Pending CN106448829A (en) 2014-05-22 2014-05-22 Flexible stretch-proof robot cable
CN201610352427.7A Pending CN106448814A (en) 2014-05-22 2014-05-22 Bending-resistant cable for manipulator
CN201410218462.0A Active CN104036852B (en) 2014-05-22 2014-05-22 Mechanical arm endurance high speed data cable
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CN106409402A (en) 2017-02-15
CN106448830A (en) 2017-02-22

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Application publication date: 20170222