CN107507673A - Robot composite cable and preparation method thereof - Google Patents
Robot composite cable and preparation method thereof Download PDFInfo
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- CN107507673A CN107507673A CN201710766881.1A CN201710766881A CN107507673A CN 107507673 A CN107507673 A CN 107507673A CN 201710766881 A CN201710766881 A CN 201710766881A CN 107507673 A CN107507673 A CN 107507673A
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- 239000002131 composite material Substances 0.000 title claims abstract description 55
- 238000002360 preparation method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 98
- 239000000945 filler Substances 0.000 claims abstract description 68
- 230000008054 signal transmission Effects 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims description 128
- 238000013461 design Methods 0.000 claims description 114
- 229920006231 aramid fiber Polymers 0.000 claims description 107
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 85
- 239000004020 conductor Substances 0.000 claims description 78
- 239000011248 coating agent Substances 0.000 claims description 76
- 238000000576 coating method Methods 0.000 claims description 76
- 229920000742 Cotton Polymers 0.000 claims description 74
- 239000005020 polyethylene terephthalate Substances 0.000 claims description 73
- 229920004934 Dacron® Polymers 0.000 claims description 71
- 239000000203 mixture Substances 0.000 claims description 64
- 238000001125 extrusion Methods 0.000 claims description 35
- 239000004033 plastic Substances 0.000 claims description 35
- 239000010949 copper Substances 0.000 claims description 32
- 229910052802 copper Inorganic materials 0.000 claims description 32
- 239000004745 nonwoven fabric Substances 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 20
- 238000007493 shaping process Methods 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 14
- 238000009413 insulation Methods 0.000 claims description 13
- 238000000465 moulding Methods 0.000 claims description 13
- 229910052782 aluminium Inorganic materials 0.000 claims description 10
- 239000008199 coating composition Substances 0.000 claims description 5
- 229920002994 synthetic fiber Polymers 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 7
- 230000009471 action Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 18
- 230000004888 barrier function Effects 0.000 description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 9
- 239000004411 aluminium Substances 0.000 description 9
- 150000001875 compounds Chemical class 0.000 description 5
- 230000035807 sensation Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 229920004933 Terylene® Polymers 0.000 description 2
- 238000000280 densification Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000011049 filling Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
- H01B9/06—Gas-pressure cables; Oil-pressure cables; Cables for use in conduits under fluid pressure
- H01B9/0605—Gas-pressure cables with enclosed conduits
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B11/00—Communication cables or conductors
- H01B11/02—Cables with twisted pairs or quads
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/02—Stranding-up
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/02—Stranding-up
- H01B13/04—Mutually positioning pairs or quads to reduce cross-talk
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/06—Insulating conductors or cables
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/22—Sheathing; Armouring; Screening; Applying other protective layers
-
- 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
-
- 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
- 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
- H01B7/1895—Internal space filling-up means
-
- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B1/00—Constructional features of ropes or cables
- D07B1/14—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable
- D07B1/147—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable comprising electric conductors or elements for information transfer
Abstract
The invention discloses a kind of robot composite cable and preparation method thereof.The composite cable has total cable core and the outer belting layer and external sheath layer that are coated on outside total cable core；Total cable core is mainly by an at least Pneumatic Transmission pipe, at least a signal cable and at least a power cable is twisted, outer filler is filled with the twisted gap of total cable core, signal cable and power cable are twisted by more insulated wire cores respectively, and the direction of lay of the insulated wire cores of signal cable and power cable is identical with the direction of lay of total cable core respectively.The present invention effectively, stably, compactly integrates the function of Pneumatic Transmission, power transmission and signal transmission, its cabling structure can make product have excellent pliability and tensile strength, resist bending and the performance of resistance to torsion are good, service life is grown, and particularly suitable alternating bending, the robot of twisting action use.
Description
Technical field
The present invention relates to cable, collection air pressure, electric power and the signal of specifically a kind of robot are transmitted in integral compound
Cable, and the preparation method of the composite cable.
Background technology
Intelligent industrial equipment, which has, to be instructed according to setting and performs the function of task automatically, is most typical electromechanics
Integrated digital makeup is standby, such as robot, and it substitutes the mankind in the industrial production of automation, has obtained relatively broad answer
With now describing in detail, illustrate to intelligent industrial equipment by taking robot as an example.
The action of robot is needed to rely on electric power, control signal and Pneumatic Transmission to ensure, this is just needed in robot
Wire corresponding to arrangement and pipe fitting, to ensure effective, the orderly conveying of electric power, signal and gas.
At present, Pneumatic Transmission pipe, power cable and the signal cable being arranged in main flow robot disperse, are independent,
Especially Pneumatic Transmission pipe fails to be integrated in cable, and this allows for pneumatic actuator system and electric power and/or letter in robot
Number Transmission system must be installed separately, and cause the pipeline arrangement space in robot big.In order to reduce the machine of being arranged in as far as possible
The line volume in pipeline arrangement space on device people, usual treatment measures are the Pneumatic Transmission pipe and electric power that will be installed separately
And/or signal-transmitting cable is first handled in a manner of wire harness is integrated, then carries out overall poling arrangement again.Although in this way, make cloth
Each pipeline being placed in robot with respect to specification, in order, but structure evacuation, volume it is still big, the requirement to pipeline arrangement space
Height, still more, Pneumatic Transmission pipe are straight line connection, its needed in course of work in robot it is regular bend, be mobile,
Easily stretching, damage in this case, and then the service life of robot can be caused to directly affect, cause the maintenance of robot
Frequently, use cost is high.
In view of this, cable design, manufacturing are directed to the particularity of robot, are researching and developing various collection air pressure transmissions energetically
Dynamic, power transmission and signal are transmitted in integral composite cable, make to be arranged in the pipeline in robot by this composite cable
Can densification, long-actingization, these achievements in research appeared in the newspapers repeatly in published Chinese patent literature to.It is however, published
Although achievement in research makes the Pneumatic Transmission of composite cable collection, power transmission and signal be transmitted in one, comparing realizes densification, but
Because the cabling structure of composite cable limits so that the resistance to bend(ing) of these composite cables can be insufficient with resistance to twisting property, in machine
In the alternating bending of device people, twisting action, these composite cables are also easy to produce damage, i.e., using short life.
The content of the invention
The technical purpose of the present invention is：Particularity and existing composite cable for above-mentioned intelligent industrial equipment are not
Foot, there is provided a kind of compact-sized, tension, resist bending, it is resistance to reverse, the robot composite cable of service life length, and this is multiple
Close the preparation method of cable.
The present invention realizes its technical purpose the technical scheme adopted is that a kind of robot composite cable, described compound
Cable has total cable core and the outer belting layer and external sheath layer that are coated on outside total cable core；Total cable core is mainly by least one
Root Pneumatic Transmission pipe, at least a signal cable and at least a power cable is twisted, the twisted gap of total cable core
Interior to be filled with outer filler, the signal cable and power cable are twisted by more insulated wire cores respectively, the signal
The direction of lay of the insulated wire cores of cable and power cable is identical with the direction of lay of total cable core respectively.Further, it is described outer
Filler is dacron thread, aramid fiber yarn and/or cotton thread；The outer belting layer is lapping structure, the wrapped Duplication ＞ of non-woven fabrics
25%；The external sheath layer is the extrusion structure of TPE material, TPU materials or PVC material.
One of preferably, total cable core is by the identical or different letter of two Pneumatic Transmission pipes, two root architectures
Number cable and the identical or different power cable of three root architectures are twisted, in the lay configuration of total cable core, two air pressure transmissions
Dynamic axial centre symmetrical molding of the pipe along total cable core, axial centre symmetrical molding of two signal cables along total cable core, two electricity
Axial centre symmetrical molding of the power cable along total cable core.
One of preferably, the signal cable is mainly coated on the band outside cable core by cable core and from inside to outside
Layer, screen layer and restrictive coating composition, the cable core of the signal cable are mainly twisted by more pair twist units, every pair twist
Unit has two insulated wire cores twisted together, and the conductor of every insulated wire cores is mainly by some copper wires and some
Aramid fiber yarn is twisted, and the direction of lay of the insulated wire cores is identical with the cable core direction of lay of signal cable, the signal electricity
The cable core of cable is twisted in gap and is filled with filler；And/or the signal cable is mainly coated on by cable core and from inside to outside
Belting layer, screen layer outside cable core and restrictive coating composition, the cable core of the signal cable is mainly by more pair twist units and extremely
Few single insulated wire cores are twisted, and every pair twist unit has two insulated wire cores twisted together, every insulated wire
The conductor of core is mainly twisted by some copper wires and some aramid fiber yarns, the direction of lay and signal of the insulated wire cores
The cable core direction of lay of cable is identical, and the cable core of the signal cable, which is twisted in gap, is filled with filler.Further, it is described
Filler is dacron thread, aramid fiber yarn and/or cotton thread；The belting layer is around the aluminium-plastic tape being wrapped in outside cable core, the aluminium
The wrapped Duplication ＞ 25% of plastic composite strip；The screen layer is the mixture of the tinned copper wire and aramid fiber yarn that are tiltedly wrapped in outside cable core,
The oblique bag density ＞ 90% of the screen layer；The restrictive coating is lapping structure, the wrapped Duplication ＞ 25% of tension non-woven fabrics, or
Person, the restrictive coating are the extrusion structure of TPE material, TPU materials or PVC material.
One of preferably, the power cable is mainly coated on the band outside cable core by cable core and from inside to outside
Layer, screen layer and restrictive coating composition, the cable core of the power cable are mainly twisted by more insulated wire cores, often thoroughly do away with edge
The conductor of core is mainly twisted by some copper wires, and the direction of lay of the insulated wire cores and the cable core of power cable twist
Conjunction direction is identical, and the cable core of the power cable, which is twisted in gap, is filled with filler.Further, the insulated wire cores are led
Body is to be twisted to form again by stranded copper wire strand, and per share copper wire strand is twisted by some copper wires, the stranded copper wire
The direction of lay that direction is same as per share copper wire strand is twisted again.The filler is dacron thread, aramid fiber yarn and/or cotton thread；It is described
Belting layer is around the aluminium-plastic tape being wrapped in outside cable core, the wrapped Duplication ＞ 25% of the aluminium-plastic tape；The screen layer
For the tinned copper wire and the mixture of aramid fiber yarn being tiltedly wrapped in outside cable core, the oblique bag density ＞ 90% of the screen layer；The restrictive coating
For the lapping structure of tension non-woven fabrics, wrapped Duplication ＞ 25%, or, the restrictive coating is TPE material, TPU materials or PVC
The extrusion structure of material.
A kind of preparation method of above-mentioned robot composite cable, comprises the following steps：
Step 1. mixes some copper wires for requiring specification and aramid fiber yarn, is twisted by 10~12 times of lay ratio
Close, the signal transmission conductor of flexible tension is made；
Some copper wires for requiring specification are twisted into strand by 10~12 times of lay ratio, then setting by power transmission conductor
Meter structure is twisted multiply strand by 10~12 times of lay ratio again, and power transmission conductor is made；
Step 2. distinguishes extruded insulation layer on signal transmission conductor and power transmission conductor, and signal transmission insulation is made respectively
Core and power transmission insulated wire cores；
Step 3. presses the cable core design structure of signal-transmitting cable, prepares signal cable, specifically includes the following steps：
1. two signals transmission insulated wire cores in step 2 are twisted by by 6~8 times of lay ratio, direction of lay and letter
The direction of lay of number transmission conductor is identical, and pair twist unit is made；This step is repeated, more pair twist units are made；
2. by step 1. in more pair twist units be twisted by 8~10 times of lay ratio, direction of lay and signal transmit
The direction of lay of conductor is identical, and filler is added in stranding process, and the cable core of signal cable is made；And/or by step 1. in
More pair twist units and step 2 in the insulated wire cores of at least signal transmission be twisted by 8~10 times of lay ratio,
Direction of lay is identical with the direction of lay of signal transmission conductor, and filler is added in stranding process, and the cable of signal cable is made
Core；
3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, signal cable is made；
Step 4. presses the cable core design structure of power transmission cable, prepares power cable, specifically includes the following steps：
1. more power transmission insulated wire cores in step 2 are twisted by by 6~8 times of lay ratio, direction of lay and electricity
Power transmission conductor direction of lay is identical, and filler is added in stranding process, and the cable core of power cable is made；
2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, power cable is made；
Step 5. will according to an at least signal cable made from step 3, according to an at least power cable made from step 4,
And at least Pneumatic Transmission pipe prepared is twisted by 8~10 times of lay ratio, direction of lay and signal cable/electric power
The cable core direction of lay of cable is identical, and filler is added in stranding process, and total cable core is made；When signal cable is more,
The structure of these signal cables is identical or different, when power cable be more when, these power cables structure it is identical or different；
Carry out the shaping of outer belting layer and external sheath layer successively outside total cable core, collection Pneumatic Transmission, power transmission and signal is made
It is transmitted in integral composite cable.Further, the filler is dacron thread, aramid fiber yarn and/or cotton thread；The belting layer is
Around the aluminium-plastic tape being wrapped in outside corresponding cable core, the wrapped Duplication ＞ 25% of the aluminium-plastic tape；The screen layer is oblique
The tinned copper wire and the mixture of aramid fiber yarn being wrapped in outside corresponding cable core, the oblique bag density ＞ 90% of the screen layer；The restrictive coating
For the lapping structure of tension non-woven fabrics, wrapped Duplication ＞ 25%, or, the restrictive coating is TPE material, TPU materials or PVC
The extrusion structure of material；The outer belting layer is lapping structure, the wrapped Duplication ＞ 25% of non-woven fabrics；The external sheath layer is
The extrusion structure of TPE material, TPU materials or PVC material.
The method have the benefit that：
1. the present invention composite cable effectively, stably, compactly collect Pneumatic Transmission, power transmission and signal transmission function in
One, its cabling structure can make product have excellent a pliability and tensile strength, and the performance of resist bending and resistance to torsion is good（Through
Experiment, the resistance to bend(ing) of composite cable of the present invention can be able to reach more than 10,000,000 times with resistance to twisting property）, it is under arms
During service life length, particularly suitable alternating bending, twisting action robot use；
2. in total cable core lay configuration of the composite cable of the present invention, two Pneumatic Transmission pipes are with the axial centre pair of total cable core
Claim twisted shaping, axial centre symmetrical molding of two signal cables along total cable core, axial direction of two power cables along total cable core
Central Symmetry is molded, in this way, can not only be advantageous to compact-sizedization of total cable core, and can make air pressure, signal and electric power
Conveying realize that stability is transmitted well, this is especially the most notable with Pneumatic Transmission pipe, symmetrically two twisted Pneumatic Transmissions
Pipe is able to ensure that Pneumatic Transmission stress equalization in use and compression is smaller, efficiently avoid because by imbalance
The damage of Pneumatic Transmission pipe caused by compressing, effectively further improve the whole service life of composite cable；
3. the preparation method of the present invention proposes that its is with strong points for the composite cable of the present invention；In preparation method, lead to
Cross corresponding conductor by the twisted of specific lay ratio, and each conductor, each cable core and total cable core are pressed into the twisted of unified direction, together
When be accompanied by reinforcement material in corresponding conductor and cable core so that prepared composite cable effectively realize collection Pneumatic Transmission,
Power transmission and the function of signal transmission obtain the composite cable of compact-sizedization, the composite cable is using process in one
Middle stability is good, has the excellent performance of excellent pliability and structural strength, resist bending and resistance to torsion（Through experiment, the present invention
The resistance to bend(ing) of composite cable can be able to reach more than 10,000,000 times with resistance to twisting property）, tensile property is good, service life
It is long.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the structural representation of signal cable one in Fig. 1.
Fig. 3 is the structural representation of signal cable two in Fig. 1.
Fig. 4 is the structural representation of power cable one in Fig. 1.
Fig. 5 is the structural representation of power cable two in Fig. 1.
Code name implication in figure：1-Pneumatic Transmission pipe；2-signal cable one；21-pair twist unit；22-conductor；23-absolutely
Edge layer；24-filler；25-belting layer；26-screen layer；27-restrictive coating；3-signal cable two；31-pair twist unit；
32-conductor；33-insulating barrier；34-filler；35-belting layer；36-screen layer；37-restrictive coating；38-mono- insulated wire
Core；4-power cable one；41-conductor；42-insulating barrier；43-filler；44-belting layer；45-screen layer；46-shield
Jacket layer；5-power cable two；51-conductor；52-insulating barrier；53-filler；54-belting layer；55-screen layer；56—
Restrictive coating；6-outer filler；7-outer belting layer；8-external sheath layer.
Embodiment
The present invention is a kind of composite cable for integrating Pneumatic Transmission, power transmission and signal and transmitting these three functions,
And the preparation method of the composite cable.The composite cable of the present invention is especially suitable for robot, naturally it is also possible to suitable for it
Its intelligent industrial equipment.The technology contents of the present invention are described in detail with multiple embodiments below, wherein the knot of embodiment 1
Close accompanying drawing-i.e. Fig. 1 to Fig. 5 and carry out detailed, specific clear explanation, other embodiments are not drawn individually, but agent technology point is still
It can refer to the accompanying drawing of embodiment 1.
Embodiment 1
Shown in Figure 1, the present invention has total cable core and the outer belting layer 7 and external sheath layer 8 that are coated on outside total cable core；Outsourcing
Belt 7 is that the lapping structure of non-woven fabrics, its wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically
Depending on design requirement；External sheath layer 8 is the extrusion structure of TPE material, and it is coated on the outer belting layer 7 of total cable core, certainly,
External sheath layer 8 can also use TPU materials or PVC material extrusion molding, and the selection of specific material is also depending on design requirement.Always
Cable core is by two Pneumatic Transmission pipes, 1, two signal cable（That is signal cable 1, signal cable 23）With three power cables
（That is power cable 1, power cable 25, power cable 1 are two）It is twisted, in the lay configuration of total cable core, electricity
Power cable 25 is placed in the middle, axial centre symmetrical molding of two Pneumatic Transmission pipes 1 along total cable core, two signal cables（That is signal electricity
Cable 1, signal cable 23）Along the axial centre symmetrical molding of total cable core, two power cables（That is two power cables 1）
Along the axial centre symmetrical molding of total cable core.Outer filler 6 filled with wiring harness structure in the twisted gap of total cable core, this is outer to fill out
The mixture that thing 6 is dacron thread, aramid fiber yarn and cotton thread is filled, can also be the two in dacron thread, aramid fiber yarn and cotton thread certainly
Mixture, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement.Aforementioned signal electricity
Cable and power cable are formed by thoroughly doing away with edge conductor strand respectively more, the strand of the insulated electric conductor of these signal cables and power cable
It is identical with the direction of lay of total cable core respectively to close direction.
Now signal cable 1, signal cable two, power cable 1 and power cable 25 in total cable core are made respectively as follows
It is specific to introduce.
It is shown in Figure 2, signal cable 1 be mainly be coated on by cable core and from inside to outside outside cable core belting layer 25,
Screen layer 26 and restrictive coating 27 form.Wherein, belting layer 25 is around the aluminium-plastic tape being wrapped in outside cable core, the aluminium-plastic tape
Wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer 26
For the tinned copper wire and the mixture of aramid fiber yarn being tiltedly wrapped in outside cable core belting layer 25, the oblique bag density ＞ 90% of the screen layer 26,
Such as oblique bag density is 90%, 94% or 98% etc., specifically depending on design requirement.Restrictive coating 27 is around being wrapped in outside screen layer 26
Tension non-woven fabrics lapping structure, its wrapped Duplication ＞ 25%, for example, wrapped Duplication be 25%, 30% or 35% etc., specifically
Depending on design requirement；Certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, have
Depending on stereoscopic design requirement.The cable core of signal cable 1 is mainly what is be twisted by four pair twist units 21, and they are twisted
The filler 24 of wiring harness structure is filled with gap, the outer filler 24 is the mixture of dacron thread, aramid fiber yarn and cotton thread, certainly
It can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be one in dacron thread, aramid fiber yarn and cotton thread
Kind material, specifically depending on design requirement；Every pair twist unit 21 has two insulated wire cores twisted together, often thoroughly does away with edge
Core is mainly by conductor 22 and is coated on its outside insulating barrier 23 and forms, if the conductor 22 of every insulated wire cores mainly by
Dry root copper wire and some aramid fiber yarns are twisted, and the direction of lay of the insulated wire cores should twist with the cable core of signal cable 1
It is identical to close direction.
It is shown in Figure 3, signal cable 23 be mainly be coated on by cable core and from inside to outside outside cable core belting layer 35,
Screen layer 36 and restrictive coating 37 form.Wherein, belting layer 35 is around the aluminium-plastic tape being wrapped in outside cable core, the aluminium-plastic tape
Wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer 36
For the tinned copper wire and the mixture of aramid fiber yarn being tiltedly wrapped in outside cable core belting layer 35, the oblique bag density ＞ 90% of the screen layer 36,
Such as oblique bag density is 90%, 94% or 98% etc., specifically depending on design requirement.Restrictive coating 37 is around being wrapped in outside screen layer 36
Tension non-woven fabrics lapping structure, its wrapped Duplication ＞ 25%, for example, wrapped Duplication be 25%, 30% or 35% etc., specifically
Depending on design requirement；Certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, have
Depending on stereoscopic design requirement.The cable core of signal cable 23 is mainly twisted by four pair twist units 31 and a single insulated wire cores 38
Close what is formed, the filler 34 of wiring harness structure is filled with their twisted gap, the outer filler 34 is dacron thread, aramid fiber yarn
With the mixture of cotton thread, it can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread certainly, can also be terylene
A kind of material in silk, aramid fiber yarn and cotton thread, specifically depending on design requirement；Every pair twist unit 31 has what is twisted together
Two insulated wire cores, every insulated wire cores are mainly to be made up of the insulating barrier 33 outside with it is coated on of conductor 32, often thoroughly do away with edge
Core（The insulated wire cores of insulated wire cores and single insulated wire cores 38 including pair twist unit 31）Conductor mainly by some copper
Silk and some aramid fiber yarns are twisted, the insulated wire cores（Insulated wire cores and single insulated wire cores 38 including pair twist unit 31
Insulated wire cores）Direction of lay should be identical with the cable core direction of lay of signal cable 23.
It is shown in Figure 4, power cable 1 be mainly be coated on by cable core and from inside to outside outside cable core belting layer 44,
Screen layer 45 and restrictive coating 46 form.Wherein, belting layer 44 is around the aluminium-plastic tape being wrapped in outside cable core, the aluminium-plastic tape
Wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer 45
For the tinned copper wire and the mixture of aramid fiber yarn being tiltedly wrapped in outside cable core belting layer 44, the oblique bag density ＞ 90% of the screen layer 45,
Such as oblique bag density is 90%, 94% or 98% etc., specifically depending on design requirement.Restrictive coating 46 is around being wrapped in outside screen layer 45
Tension non-woven fabrics lapping structure, its wrapped Duplication ＞ 25%, for example, wrapped Duplication be 25%, 30% or 35% etc., specifically
Depending on design requirement；Certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, have
Depending on stereoscopic design requirement.The cable core of power cable 1 is mainly to be twisted by four insulated wire cores, between they twisted
The filler 43 of wiring harness structure is filled with gap, the outer filler 43 is the mixture of dacron thread, aramid fiber yarn and cotton thread, certainly also
It can be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be one kind in dacron thread, aramid fiber yarn and cotton thread
Material, specifically depending on design requirement；Every insulated wire cores are mainly by conductor 41 and are coated on its 42 groups outside of insulating barrier
Into, and the conductor 41 of every insulated wire cores is mainly what is twisted again by stranded copper wire strand, per share copper wire strand is by some
Root copper wire is twisted, and the multiple strand direction of stranded copper wire is same as the direction of lay of per share copper wire strand, per share copper wire strand
Direction of lay is identical with the cable core direction of lay of power cable 1.
It is shown in Figure 5, power cable 25 be mainly be coated on by cable core and from inside to outside outside cable core belting layer 54,
Screen layer 55 and restrictive coating 56 form.Wherein, belting layer 54 is around the aluminium-plastic tape being wrapped in outside cable core, the aluminium-plastic tape
Wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer 55
For the tinned copper wire and the mixture of aramid fiber yarn being tiltedly wrapped in outside cable core belting layer 54, the oblique bag density ＞ 90% of the screen layer 55,
Such as oblique bag density is 90%, 94% or 98% etc., specifically depending on design requirement.Restrictive coating 56 is around being wrapped in outside screen layer 55
Tension non-woven fabrics lapping structure, its wrapped Duplication ＞ 25%, for example, wrapped Duplication be 25%, 30% or 35% etc., specifically
Depending on design requirement；Certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, have
Depending on stereoscopic design requirement.The cable core of power cable 25 is mainly to be twisted by six roots of sensation insulated wire cores, between they twisted
The filler 53 of wiring harness structure is filled with gap, the outer filler 53 is the mixture of dacron thread, aramid fiber yarn and cotton thread, certainly also
It can be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be one kind in dacron thread, aramid fiber yarn and cotton thread
Material, specifically depending on design requirement；Every insulated wire cores are mainly by conductor 51 and are coated on its 52 groups outside of insulating barrier
Into, and the conductor 51 of every insulated wire cores is mainly what is twisted again by stranded copper wire strand, per share copper wire strand is by some
Root copper wire is twisted, and the multiple strand direction of stranded copper wire is same as the direction of lay of per share copper wire strand, per share copper wire strand
Direction of lay is identical with the cable core direction of lay of power cable 25.
The preparation method of composite cable of the present invention, comprises the following steps：
Copper bar is pulled to the monofilament for requiring specification by step 1. by drawing equipment, copper are small to draw equipment etc. in copper；
Some copper wires for requiring specification and aramid fiber yarn are mixed, are twisted by 11 times of lay ratio, direction of lay
It is set as left-hand, the tension force of each disk tool is consistent during unwrapping wire, and the signal transmission conductor of flexible tension is made；
Some copper wires for requiring specification are twisted into strand by 11 times of lay ratio, direction of lay is set as left-hand；Then, press
The design structure of power transmission conductor（Such as 1+6 regular structures, or 1+6+12 regular structures）By multiply strand by 11 times
Lay ratio carries out multiple strand, and direction of lay is set as left-hand, should be used when twisting again and carry the cage winch of back-twist device or with actively
The spiral arm list of unwrapping wire function is turned round machine and carried out；Power transmission conductor is made；
Step 2. distinguishes extruded insulation layer on signal transmission conductor and power transmission conductor, and signal transmission insulation is made respectively
Core and power transmission insulated wire cores；
Step 3. presses the cable core design structure of signal-transmitting cable one, prepares signal cable one, specifically includes the following steps：
1. two signals transmission insulated wire cores in step 2 are twisted by by 7 times of lay ratio, direction of lay passes with signal
The direction of lay of conductor department is identical, twisted to be processed realization using the pair twist equipment with back-twist device, and pair twist unit is made；
This step is repeated, more pair twist units are made；
2. by step 1. in four pair twist units be twisted by 9 times of lay ratio, direction of lay and signal transmission conductor
Direction of lay it is identical, the filler of wiring harness structure is added in stranding process, ensure made signal cable one cable core it is anti-
Performance and rounding performance are drawn, it is twisted that realization is processed using the cabling device with back-twist device or active unwrapping wire function；Before
The mixture that filler is dacron thread, aramid fiber yarn and cotton thread is stated, can also be the two in dacron thread, aramid fiber yarn and cotton thread certainly
Mixture, can also be a kind of material in dacron thread, aramid fiber yarn and cotton thread, specifically regarding design requirement depending on, obtained signal
The cable core of cable one；
3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Signal cable one is made；
Step 4. presses the cable core design structure of signal-transmitting cable two, prepares signal cable two, specifically includes the following steps：
1. two signals transmission insulated wire cores in step 2 are twisted by by 7 times of lay ratio, direction of lay passes with signal
The direction of lay of conductor department is identical, twisted to be processed realization using the pair twist equipment with back-twist device, and pair twist unit is made；
This step is repeated, more pair twist units are made；
2. by step 1. in four pair twist units and step 2 in the insulated wire cores transmitted of a signal press 9 times of pitch diameter
Than being twisted, direction of lay is identical with the direction of lay of signal transmission conductor, and filling out for wiring harness structure is added in stranding process
Thing is filled, ensures the tensile property and rounding performance of the cable core of made signal cable two, twisted use carries back-twist device or active
The cabling device of unwrapping wire function is processed realization；Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, certainly also
It can be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be one kind in dacron thread, aramid fiber yarn and cotton thread
Material, specifically depending on design requirement, the cable core of signal cable two is made；
3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Signal cable two is made；
Step 5. presses the cable core design structure of power transmission cable one, prepares power cable one, specifically includes：
1. four power transmission insulated wire cores in step 2 are twisted by by 7 times of lay ratio, direction of lay passes with electric power
Conductor department direction of lay is identical, and the filler of wiring harness structure is added in stranding process, ensures the cable core of made power cable one
Tensile property and rounding performance, it is twisted that reality is processed using the cabling device with back-twist device or active unwrapping wire function
It is existing；Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be in dacron thread, aramid fiber yarn and cotton thread certainly
The mixture of the two, can also be a kind of material in dacron thread, aramid fiber yarn and cotton thread, specifically regarding design requirement depending on, make
Obtain the cable core of power cable one；
2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Power cable one is made；
Step 6. presses the cable core design structure of power transmission cable two, prepares power cable two, specifically includes：
1. the six roots of sensation power transmission insulated wire cores in step 2 are twisted by by 7 times of lay ratio, direction of lay passes with electric power
Conductor department direction of lay is identical, and the filler of wiring harness structure is added in stranding process, ensures the cable core of made power cable two
Tensile property and rounding performance, it is twisted that reality is processed using the cabling device with back-twist device or active unwrapping wire function
It is existing；Foregoing outer filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be dacron thread, aramid fiber yarn and cotton thread certainly
In the mixture of the two, can also be a kind of material in dacron thread, aramid fiber yarn and cotton thread, specifically depending on design requirement,
The cable core of power cable two is made；
2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Power cable two is made；
Step 7. will according to a signal cable one made from step 3, according to a signal cable two made from step 4, according to
Two power cables one made from step 5, according to a power cable two made from step 6 and two air pressure transmissions prepared
Dynamic pipe is combined, and the structure combined makes power cable two placed in the middle, and two Pneumatic Transmission pipe symmetry arrangements are in electric power
The periphery of cable two, signal cable one and the symmetry arrangement of signal cable two are in the periphery of power cable two, two power cables one
Symmetry arrangement is in the periphery of power cable two；By combine two Pneumatic Transmission pipes, two signal cables and three electricity
Power cable is twisted by 9 times of lay ratio, and direction of lay is identical with the cable core direction of lay of signal cable/power cable,
The filler of wiring harness structure is added in stranding process, ensures the tensile property and rounding performance of made total cable core, it is twisted to use band
The cabling device for having active unwrapping wire function is processed realization；Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread,
Certainly it can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be in dacron thread, aramid fiber yarn and cotton thread
A kind of material, specifically depending on design requirement；Total cable core is made；
Carry out the shaping of outer belting layer and external sheath layer successively outside total cable core；Wherein, outer belting layer is non-woven fabrics around inclusion
Structure, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically depending on design requirement；External sheath layer
For the extrusion structure of TPE material, TPU materials or PVC material, the selection of specific material is depending on design requirement；In this way, collection is made
Pneumatic Transmission, power transmission and signal are transmitted in integral composite cable.
Embodiment 2
The present invention has total cable core and the outer belting layer and external sheath layer that are coated on outside total cable core；Outer belting layer is non-woven fabrics
Lapping structure, its wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically depending on design requirement；
External sheath layer is the extrusion structure of TPE material, and it is coated on the outer belting layer of total cable core, and certainly, external sheath layer can also be adopted
With TPU materials or PVC material extrusion molding, the selection of specific material is also depending on design requirement.Total cable core is by an air pressure
Transmission tube, a signal cable and three root architecture identical power cables are twisted, and are filled with the twisted gap of total cable core
The outer filler of wiring harness structure, the outer filler are the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be terylene certainly
The mixture of the two in silk, aramid fiber yarn and cotton thread, can also be a kind of material in dacron thread, aramid fiber yarn and cotton thread, specifically
Depending on design requirement.Aforementioned signal cable and power cable are twisted by more insulated wire cores respectively, these signals electricity
The direction of lay of the insulated wire cores of cable and power cable is identical with the direction of lay of total cable core respectively.
Now make following specific introduction respectively to signal cable in total cable core and power cable.
Signal cable is mainly coated on belting layer, screen layer and restrictive coating group outside cable core by cable core and from inside to outside
Into.Wherein, belting layer is the wrapped Duplication ＞ 25% of the aluminium-plastic tape around the aluminium-plastic tape being wrapped in outside cable core, such as
Wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer is tiltedly to be wrapped in outside cable core belting layer
The mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of the screen layer, such as oblique bag density are 90%, 94% or 98%
Deng specifically depending on design requirement.Restrictive coating is the lapping structure around the tension non-woven fabrics being wrapped in outside screen layer, and its is wrapped heavy
Folded rate ＞ 25%, such as wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement；Certainly, the restrictive coating also may be used
To be the extrusion structure using TPE material, TPU materials or PVC material, specifically depending on design requirement.The cable core of signal cable
Mainly it is twisted by four pair twist units, the filler of wiring harness structure is filled with their twisted gap, this is outer fills out
The mixture that thing is dacron thread, aramid fiber yarn and cotton thread is filled, can also be the two mixed in dacron thread, aramid fiber yarn and cotton thread certainly
Compound, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement；Every pair twist unit
With two insulated wire cores twisted together, every insulated wire cores are mainly by conductor and are coated on its outside insulating barrier group
Into the conductor of every insulated wire cores is mainly twisted by some copper wires and some aramid fiber yarns, the strand of the insulated wire cores
Closing direction should be identical with the cable core direction of lay of signal cable.
Power cable is mainly coated on belting layer, screen layer and restrictive coating group outside cable core by cable core and from inside to outside
Into.Wherein, belting layer is the wrapped Duplication ＞ 25% of the aluminium-plastic tape around the aluminium-plastic tape being wrapped in outside cable core, such as
Wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer is tiltedly to be wrapped in outside cable core belting layer
The mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of the screen layer, such as oblique bag density are 90%, 94% or 98%
Deng specifically depending on design requirement.Restrictive coating is the lapping structure around the tension non-woven fabrics being wrapped in outside screen layer, and its is wrapped heavy
Folded rate ＞ 25%, such as wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement；Certainly, the restrictive coating also may be used
To be the extrusion structure using TPE material, TPU materials or PVC material, specifically depending on design requirement.The cable core of power cable
Mainly it is twisted by four insulated wire cores, the filler of wiring harness structure is filled with their twisted gap, this is outer fills out
The mixture that thing is dacron thread, aramid fiber yarn and cotton thread is filled, can also be the two mixed in dacron thread, aramid fiber yarn and cotton thread certainly
Compound, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement；Every insulated wire cores
Mainly it is made up of conductor insulating barrier outside with it is coated on, and the conductor of every insulated wire cores is mainly by stranded copper wire stock
What line twisted again, per share copper wire strand is twisted by some copper wires, and the multiple strand direction of stranded copper wire is same as per share
The direction of lay of copper wire strand, the direction of lay of per share copper wire strand are identical with the cable core direction of lay of power cable.
The preparation method of composite cable of the present invention, comprises the following steps：
Copper bar is pulled to the monofilament for requiring specification by step 1. by drawing equipment, copper are small to draw equipment etc. in copper；
Some copper wires for requiring specification and aramid fiber yarn are mixed, are twisted by 12 times of lay ratio, direction of lay
It is set as left-hand, the tension force of each disk tool is consistent during unwrapping wire, and the signal transmission conductor of flexible tension is made；
Some copper wires for requiring specification are twisted into strand by 12 times of lay ratio, direction of lay is set as left-hand；Then, press
The design structure of power transmission conductor（Such as 1+6 regular structures, or 1+6+12 regular structures）By multiply strand by 12 times
Lay ratio carries out multiple strand, and direction of lay is set as left-hand, should be used when twisting again and carry the cage winch of back-twist device or with actively
The spiral arm list of unwrapping wire function is turned round machine and carried out；Power transmission conductor is made；
Step 2. distinguishes extruded insulation layer on signal transmission conductor and power transmission conductor, and signal transmission insulation is made respectively
Core and power transmission insulated wire cores；
Step 3. presses the cable core design structure of signal-transmitting cable, prepares signal cable, specifically includes the following steps：
1. two signals transmission insulated wire cores in step 2 are twisted by by 8 times of lay ratio, direction of lay passes with signal
The direction of lay of conductor department is identical, twisted to be processed realization using the pair twist equipment with back-twist device, and pair twist unit is made；
This step is repeated, more pair twist units are made；
2. by step 1. in four pair twist units be twisted by 10 times of lay ratio, direction of lay and signal transmission conductor
Direction of lay it is identical, the filler of wiring harness structure is added in stranding process, ensures the tension of the cable core of made signal cable
Performance and rounding performance, it is twisted that realization is processed using the cabling device with back-twist device or active unwrapping wire function；It is foregoing
Filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be the two in dacron thread, aramid fiber yarn and cotton thread certainly
Mixture, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement, signal electricity is made
The cable core of cable；
3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Signal cable is made；
Step 4. presses the cable core design structure of power transmission cable, prepares power cable, specifically includes the following steps：
1. four power transmission insulated wire cores in step 2 are twisted by by 8 times of lay ratio, direction of lay passes with electric power
Conductor department direction of lay is identical, and the filler of wiring harness structure is added in stranding process, ensures the cable core of made signal cable
Tensile property and rounding performance, it is twisted that realization is processed using the cabling device with back-twist device or active unwrapping wire function；
Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be two in dacron thread, aramid fiber yarn and cotton thread certainly
The mixture of person, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement, electricity is made
The cable core of power cable；
2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Power cable is made；
Step 5. will be according to a signal cable made from step 3, according to three power cables made from step 4 and prepare
A Pneumatic Transmission pipe combine；By combine Pneumatic Transmission pipe, a signal cable and three electricity
Power cable is twisted by 10 times of lay ratio, and direction of lay is identical with the cable core direction of lay of signal cable/power cable,
The filler of wiring harness structure is added in stranding process, ensures the tensile property and rounding performance of made total cable core, it is twisted to use band
The cabling device for having active unwrapping wire function is processed realization；Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread,
Certainly it can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be in dacron thread, aramid fiber yarn and cotton thread
A kind of material, specifically depending on design requirement；Total cable core is made；
Carry out the shaping of outer belting layer and external sheath layer successively outside total cable core；Wherein, outer belting layer is non-woven fabrics around inclusion
Structure, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically depending on design requirement；External sheath layer
For the extrusion structure of TPE material, TPU materials or PVC material, the selection of specific material is depending on design requirement；In this way, collection is made
Pneumatic Transmission, power transmission and signal are transmitted in integral composite cable.
Embodiment 3
The present invention has total cable core and the outer belting layer and external sheath layer that are coated on outside total cable core；Outer belting layer is non-woven fabrics
Lapping structure, its wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically depending on design requirement；
External sheath layer is the extrusion structure of TPE material, and it is coated on the outer belting layer of total cable core, and certainly, external sheath layer can also be adopted
With TPU materials or PVC material extrusion molding, the selection of specific material is also depending on design requirement.Total cable core is by two air pressure
Transmission tube, two root architecture identical signal cables and three root architecture identical power cables are twisted, in the twisted of total cable core
In structure, a power cable is placed in the middle, axial centre symmetrical molding of two Pneumatic Transmission pipes along total cable core, two signal cables
Along the axial centre symmetrical molding of total cable core, axial centre symmetrical molding of remaining two power cables along total cable core.Total cable core
Twisted gap in be filled with wiring harness structure outer filler, the outer filler be dacron thread, aramid fiber yarn and cotton thread mixture,
Certainly it can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, can also be in dacron thread, aramid fiber yarn and cotton thread
A kind of material, specifically depending on design requirement.Aforementioned signal cable and power cable are twisted by more insulated wire cores respectively
Form, the direction of lay of the insulated wire cores of these signal cables and power cable is identical with the direction of lay of total cable core respectively.
Now make following specific introduction respectively to signal cable in total cable core and power cable.
Signal cable is mainly coated on belting layer, screen layer and restrictive coating group outside cable core by cable core and from inside to outside
Into.Wherein, belting layer is the wrapped Duplication ＞ 25% of the aluminium-plastic tape around the aluminium-plastic tape being wrapped in outside cable core, such as
Wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer is tiltedly to be wrapped in outside cable core belting layer
The mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of the screen layer, such as oblique bag density are 90%, 94% or 98%
Deng specifically depending on design requirement.Restrictive coating is the lapping structure around the tension non-woven fabrics being wrapped in outside screen layer, and its is wrapped heavy
Folded rate ＞ 25%, such as wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement；Certainly, the restrictive coating also may be used
To be the extrusion structure using TPE material, TPU materials or PVC material, specifically depending on design requirement.The cable core of signal cable
Mainly it is twisted by four pair twist units and a single insulated wire cores, wiring harness structure is filled with their twisted gap
Filler, the outer filler be dacron thread, aramid fiber yarn and cotton thread mixture, can also be certainly dacron thread, aramid fiber yarn and
The mixture of the two in cotton thread, can also be a kind of material in dacron thread, aramid fiber yarn and cotton thread, specifically regard design requirement and
It is fixed；Every pair twist unit has two insulated wire cores twisted together, and every insulated wire cores mainly by conductor and are coated on
Its outside insulating barrier composition, every insulated wire cores（The insulated wire cores of insulated wire cores and single insulated wire cores including pair twist unit）
Conductor mainly be twisted by some copper wires and some aramid fiber yarns, the insulated wire cores（Include the insulation of pair twist unit
The insulated wire cores of core and single insulated wire cores）Direction of lay should be identical with the cable core direction of lay of signal cable.
Power cable is mainly coated on belting layer, screen layer and restrictive coating group outside cable core by cable core and from inside to outside
Into.Wherein, belting layer is the wrapped Duplication ＞ 25% of the aluminium-plastic tape around the aluminium-plastic tape being wrapped in outside cable core, such as
Wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement.Screen layer is tiltedly to be wrapped in outside cable core belting layer
The mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of the screen layer, such as oblique bag density are 90%, 94% or 98%
Deng specifically depending on design requirement.Restrictive coating is the lapping structure around the tension non-woven fabrics being wrapped in outside screen layer, and its is wrapped heavy
Folded rate ＞ 25%, such as wrapped Duplication is 25%, 30% or 35% etc., specifically depending on design requirement；Certainly, the restrictive coating also may be used
To be the extrusion structure using TPE material, TPU materials or PVC material, specifically depending on design requirement.The cable core of power cable
Mainly it is twisted by six roots of sensation insulated electric conductor, the filler of wiring harness structure is filled with their twisted gap, this is outer fills out
The mixture that thing is dacron thread, aramid fiber yarn and cotton thread is filled, can also be the two mixed in dacron thread, aramid fiber yarn and cotton thread certainly
Compound, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement；Every insulated wire cores
Mainly it is made up of conductor insulating barrier outside with it is coated on, and the conductor of every insulated wire cores is mainly by stranded copper wire stock
What line twisted again, per share copper wire strand is twisted by some copper wires, and the multiple strand direction of stranded copper wire is same as per share
The direction of lay of copper wire strand, the direction of lay of per share copper wire strand are identical with the cable core direction of lay of power cable.
The preparation method of composite cable of the present invention, comprises the following steps：
Copper bar is pulled to the monofilament for requiring specification by step 1. by drawing equipment, copper are small to draw equipment etc. in copper；
Some copper wires for requiring specification and aramid fiber yarn are mixed, are twisted by 10 times of lay ratio, direction of lay
It is set as left-hand, the tension force of each disk tool is consistent during unwrapping wire, and the signal transmission conductor of flexible tension is made；
Some copper wires for requiring specification are twisted into strand by 10 times of lay ratio, direction of lay is set as left-hand；Then, press
The design structure of power transmission conductor（Such as 1+6 regular structures, or 1+6+12 regular structures）By multiply strand by 10 times
Lay ratio carries out multiple strand, and direction of lay is set as left-hand, should be used when twisting again and carry the cage winch of back-twist device or with actively
The spiral arm list of unwrapping wire function is turned round machine and carried out；Power transmission conductor is made；
Step 2. distinguishes extruded insulation layer on signal transmission conductor and power transmission conductor, and signal transmission insulation is made respectively
Core and power transmission insulated wire cores；
Step 3. presses the cable core design structure of signal-transmitting cable, prepares signal cable, specifically includes the following steps：
1. two signals transmission insulated wire cores in step 2 are twisted by by 6 times of lay ratio, direction of lay passes with signal
The direction of lay of conductor department is identical, twisted to be processed realization using the pair twist equipment with back-twist device, and pair twist unit is made；
This step is repeated, more pair twist units are made；
2. by step 1. in four pair twist units and step 2 in the insulated wire cores transmitted of a signal press 8 times of pitch diameter
Than being twisted, direction of lay is identical with the direction of lay of signal transmission conductor, and filling out for wiring harness structure is added in stranding process
Thing is filled, ensures the tensile property and rounding performance of the cable core of made signal cable, twisted use carries back-twist device or active release
The cabling device of line function is processed realization；Foregoing filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, also may be used certainly
To be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread, a kind of material in dacron thread, aramid fiber yarn and cotton thread can also be
Material, specifically depending on design requirement, the cable core of signal cable is made；
3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively；Wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Signal cable is made；
Step 4. presses the cable core design structure of power transmission cable, prepares power cable, specifically includes the following steps：
1. the six roots of sensation power transmission insulated wire cores in step 2 are twisted by by 6 times of lay ratio, direction of lay passes with electric power
Conductor department direction of lay is identical, and the filler of wiring harness structure is added in stranding process, ensures the cable core of made power cable
Tensile property and rounding performance, it is twisted that realization is processed using the cabling device with back-twist device or active unwrapping wire function；
Foregoing outer filler is the mixture of dacron thread, aramid fiber yarn and cotton thread, can also be in dacron thread, aramid fiber yarn and cotton thread certainly
The mixture of the two, a kind of material in dacron thread, aramid fiber yarn and cotton thread is can also be, specifically depending on design requirement, be made
The cable core of power cable；
2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, wherein, belting layer is aluminium
Plastic composite strip, for belting layer around being wrapped in outside cable core, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc.,
Specifically depending on design requirement；Screen layer is the mixture of tinned copper wire and aramid fiber yarn, the oblique bag density ＞ 90% of screen layer, example
Such as oblique bag density is 90%, 94% or 98%, specifically depending on design requirement；Restrictive coating is tension non-woven fabrics, and restrictive coating is around being wrapped in
Outside screen layer, its wrapped Duplication ＞ 25%, such as wrapped Duplication be 25%, 30% or 35% etc., specifically regard design requirement and
Fixed, certainly, the restrictive coating can also be the extrusion structure using TPE material, TPU materials or PVC material, specifically regarding design requirement
Depending on；Power cable is made；
Step 5. will be according to two signal cables made from step 3, according to three power cables made from step 4 and prepare
Two Pneumatic Transmission pipes combine, the structure combined makes a power cable placed in the middle, two Pneumatic Transmission pipes
Symmetry arrangement is in the periphery of power cable placed in the middle, and two signal cable symmetry arrangements are in the periphery of power cable placed in the middle, residue two
Root power cable symmetry arrangement is in the periphery of power cable placed in the middle；By combine two Pneumatic Transmission pipes, two signals
Cable and three power cables are twisted by 8 times of lay ratio, and the cable core of direction of lay and signal cable/power cable is twisted
Direction is identical, and the filler of wiring harness structure is added in stranding process, ensures the tensile property and rounding performance of made total cable core,
It is twisted that realization is processed using the cabling device with active unwrapping wire function；Foregoing filler is dacron thread, aramid fiber yarn and cotton
The mixture of line, it can also be the mixture of the two in dacron thread, aramid fiber yarn and cotton thread certainly, can also be dacron thread, virtue
A kind of material in synthetic fibre silk and cotton thread, specifically depending on design requirement；Total cable core is made；
Carry out the shaping of outer belting layer and external sheath layer successively outside total cable core；Wherein, outer belting layer is non-woven fabrics around inclusion
Structure, wrapped Duplication ＞ 25%, such as wrapped Duplication are 25%, 30% or 35% etc., specifically depending on design requirement；External sheath layer
For the extrusion structure of TPE material, TPU materials or PVC material, the selection of specific material is depending on design requirement；In this way, collection is made
Pneumatic Transmission, power transmission and signal are transmitted in integral composite cable.
Various embodiments above is only to illustrate the present invention, rather than its limitations；Although with reference to the various embodiments described above to this hair
It is bright to be described in detail, it will be understood by those within the art that：The present invention still can be to the various embodiments described above
In concrete technical scheme modify, or to which part technical characteristic carry out equivalent substitution, and these modification or replace
Change, the essence of appropriate technical solution is departed from the spirit and scope of the present invention.
Claims (10)
- A kind of 1. robot composite cable, it is characterised in that：The composite cable has total cable core and is coated on outside total cable core The outer belting layer in portion（7）And external sheath layer（8）；Total cable core is mainly by an at least Pneumatic Transmission pipe（1）, at least one Signal cable and at least a power cable is twisted, outer filler is filled with the twisted gap of total cable core（6）, institute Stating signal cable and power cable is twisted by more insulated wire cores respectively, the insulation of the signal cable and power cable The direction of lay of core is identical with the direction of lay of total cable core respectively.
- 2. robot composite cable according to claim 1, it is characterised in that：Total cable core is by two Pneumatic Transmissions Pipe（1）, the identical or different signal cable of two root architectures and the identical or different power cable of three root architectures be twisted, total In the lay configuration of cable core, two Pneumatic Transmission pipes（1）Along the axial centre symmetrical molding of total cable core, two signal cables are along always The axial centre symmetrical molding of cable core, axial centre symmetrical molding of two power cables along total cable core.
- 3. robot composite cable according to claim 1 or claim 2, it is characterised in that：The signal cable is mainly by cable The core and belting layer being coated on from inside to outside outside cable core, screen layer and restrictive coating composition, the cable core of the signal cable are mainly It is twisted by more pair twist units, every pair twist unit has two insulated wire cores twisted together, every insulated wire cores Conductor be mainly twisted by some copper wires and some aramid fiber yarns, the direction of lays of the insulated wire cores and signal electricity The cable core direction of lay of cable is identical, and the cable core of the signal cable, which is twisted in gap, is filled with filler；And/or the signal Belting layer, screen layer and the restrictive coating that cable is mainly coated on outside cable core by cable core and from inside to outside form, the signal electricity Mainly by more pair twist units and at least, a single insulated wire cores are twisted the cable core of cable, and every pair twist unit has twisted Two insulated wire cores together, the conductors of every insulated wire cores it is mainly twisted by some copper wires and some aramid fiber yarns and Into the direction of lay of the insulated wire cores is identical with the cable core direction of lay of signal cable, and the cable core of the signal cable is twisted Filler is filled with gap.
- 4. robot composite cable according to claim 3, it is characterised in that：The filler is dacron thread, aramid fiber yarn And/or cotton thread；The belting layer is around the aluminium-plastic tape being wrapped in outside cable core, the wrapped Duplication ＞ of the aluminium-plastic tape 25%；The screen layer is the mixture for being tiltedly wrapped in tinned copper wire and aramid fiber yarn outside cable core, the oblique bag density ＞ of the screen layer 90%；The restrictive coating is lapping structure, the wrapped Duplication ＞ 25% of tension non-woven fabrics, or, the restrictive coating is TPE materials The extrusion structure of material, TPU materials or PVC material.
- 5. robot composite cable according to claim 1 or claim 2, it is characterised in that：The power cable is mainly by cable The core and belting layer being coated on from inside to outside outside cable core, screen layer and restrictive coating composition, the cable core of the power cable are mainly It is twisted by more insulated wire cores, the conductor of every insulated wire cores is mainly twisted by some copper wires, the insulation The direction of lay of core is identical with the cable core direction of lay of power cable, and the cable core of the power cable, which is twisted in gap, to be filled with Filler.
- 6. robot composite cable according to claim 5, it is characterised in that：The conductor of the insulated wire cores is by multiply Copper wire strand twists again to be formed, and per share copper wire strand is twisted by some copper wires, the multiple strand direction phase of the stranded copper wire It is same as the direction of lay of per share copper wire strand.
- 7. robot composite cable according to claim 5, it is characterised in that：The filler is dacron thread, aramid fiber yarn And/or cotton thread；The belting layer is around the aluminium-plastic tape being wrapped in outside cable core, the wrapped Duplication ＞ of the aluminium-plastic tape 25%；The screen layer is the mixture for being tiltedly wrapped in tinned copper wire and aramid fiber yarn outside cable core, the oblique bag density ＞ of the screen layer 90%；The restrictive coating is lapping structure, the wrapped Duplication ＞ 25% of tension non-woven fabrics, or, the restrictive coating is TPE materials The extrusion structure of material, TPU materials or PVC material.
- 8. robot composite cable according to claim 1, it is characterised in that：The outer filler（6）For dacron thread, virtue Synthetic fibre silk and/or cotton thread；The outer belting layer（7）For the lapping structure of non-woven fabrics, wrapped Duplication ＞ 25%；The external sheath layer （8）For the extrusion structure of TPE material, TPU materials or PVC material.
- 9. a kind of preparation method of the robot composite cable of claim 1 or 2, comprises the following steps：Step 1. mixes some copper wires for requiring specification and aramid fiber yarn, is twisted by 10~12 times of lay ratio Close, the signal transmission conductor of flexible tension is made；Some copper wires for requiring specification are twisted into strand by 10~12 times of lay ratio, then setting by power transmission conductor Meter structure is twisted multiply strand by 10~12 times of lay ratio again, and power transmission conductor is made；Step 2. distinguishes extruded insulation layer on signal transmission conductor and power transmission conductor, and signal transmission insulation is made respectively Core and power transmission insulated wire cores；Step 3. presses the cable core design structure of signal-transmitting cable, prepares signal cable, specifically includes the following steps：1. two signals transmission insulated wire cores in step 2 are twisted by by 6~8 times of lay ratio, direction of lay and letter The direction of lay of number transmission conductor is identical, and pair twist unit is made；This step is repeated, more pair twist units are made；2. by step 1. in more pair twist units be twisted by 8~10 times of lay ratio, direction of lay and signal transmit The direction of lay of conductor is identical, and filler is added in stranding process, and the cable core of signal cable is made；And/or by step 1. in More pair twist units and step 2 in the insulated wire cores of at least signal transmission be twisted by 8~10 times of lay ratio, Direction of lay is identical with the direction of lay of signal transmission conductor, and filler is added in stranding process, and the cable of signal cable is made Core；3. step 2. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, signal cable is made；Step 4. presses the cable core design structure of power transmission cable, prepares power cable, specifically includes the following steps：1. more power transmission insulated wire cores in step 2 are twisted by by 6~8 times of lay ratio, direction of lay and electricity Power transmission conductor direction of lay is identical, and filler is added in stranding process, and the cable core of power cable is made；2. step 1. in cable core outside carry out the shaping of belting layer, screen layer and restrictive coating successively, power cable is made；Step 5. will according to an at least signal cable made from step 3, according to an at least power cable made from step 4, And at least Pneumatic Transmission pipe prepared is twisted by 8~10 times of lay ratio, direction of lay and signal cable/electric power The cable core direction of lay of cable is identical, and filler is added in stranding process, and total cable core is made；When signal cable is more, The structure of these signal cables is identical or different, when power cable be more when, these power cables structure it is identical or different；Carry out the shaping of outer belting layer and external sheath layer successively outside total cable core, collection Pneumatic Transmission, power transmission and signal is made It is transmitted in integral composite cable.
- 10. the preparation method of robot composite cable according to claim 9, it is characterised in that：The filler is to wash Synthetic fibre silk, aramid fiber yarn and/or cotton thread；The belting layer be around the aluminium-plastic tape being wrapped in outside corresponding cable core, it is described plastic-aluminum combined The wrapped Duplication ＞ 25% of band；The screen layer is the mixture for the tinned copper wire and aramid fiber yarn being tiltedly wrapped in outside corresponding cable core, institute State the oblique bag density ＞ 90% of screen layer；The restrictive coating is lapping structure, the wrapped Duplication ＞ 25% of tension non-woven fabrics, or Person, the restrictive coating are the extrusion structure of TPE material, TPU materials or PVC material；The outer belting layer is wrapped for non-woven fabrics Structure, wrapped Duplication ＞ 25%；The external sheath layer is the extrusion structure of TPE material, TPU materials or PVC material.
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| CN201710766881.1A CN107507673A (en) | 2017-08-31 | 2017-08-31 | Robot composite cable and preparation method thereof |
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| CN201710766881.1A CN107507673A (en) | 2017-08-31 | 2017-08-31 | Robot composite cable and preparation method thereof |
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| CN111199812A (en) * | 2018-11-19 | 2020-05-26 | 深圳市联嘉祥科技股份有限公司 | Robot arm is with twisting reverse flexible cable |
| CN113793721A (en) * | 2021-09-17 | 2021-12-14 | 远东电缆有限公司 | Combined cable for industrial automatic robot arm |
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