CN108461183A - A kind of super soft robot arm cable and its processing method - Google Patents
A kind of super soft robot arm cable and its processing method Download PDFInfo
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- CN108461183A CN108461183A CN201810165583.1A CN201810165583A CN108461183A CN 108461183 A CN108461183 A CN 108461183A CN 201810165583 A CN201810165583 A CN 201810165583A CN 108461183 A CN108461183 A CN 108461183A
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- core
- cable
- robot arm
- directional
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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
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- 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
- H01B13/10—Insulating conductors or cables by longitudinal lapping
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Organic Insulating Materials (AREA)
- Insulated Conductors (AREA)
Abstract
The present invention relates to one super soft robot arm cable, including one or more layers insulated core, restrictive coating is formed with outside outermost layer insulated core, insulated core includes conductor and insulating layer, it is characterised in that：It is surrounded with non-directional polytetrafluoroethylene film outside every layer of insulated core and forms stratum synoviale.The invention further relates to a kind of super soft robot arm cable processing methods.The super soft robot arm cable of the present invention, by the way of the wrapped non-directional polytetrafluoroethylene film of every interlayer in cable core, flexibility is good, service life is long, the bending and torsion that can bear thousands of times or more disclosure satisfy that high speed bending and used simultaneously with the robot arm joint occasion of torsion.
Description
Technical field
The present invention relates to robot field of cables, especially a kind of super soft robot arm cable and its processing
Method.
Background technology
With the fast development of robot building industry, matched robot is risen with electric wire is also fast-developing
Come.Current robot cable market has showed diversified kind, but because of the fast development of robot technology, right
The flexibility requirements of cable are also higher and higher, therefore the super soft grade robot arm cable of market in urgent need is transported for robot high speed
Dynamic position.
Chinese invention patent (CN107680721A) discloses a kind of new-energy automobile high temperature high voltage resistant and surpasses flexible cable,
It includes conductor, insulating layer, polyester belt, woven shield, foil shielding layer, sheath and braiding layer, the institute under the state of section
Conductor, insulating layer, polyester belt, woven shield, foil shielding layer, sheath and braiding layer is stated radially to set from inside to outside successively
It sets, the conductor uses the intersection of ultra-fine copper wire multiple-unit fine pith conductor is regular to be twisted.Which employs " conductor is using super
The regular lay configuration of intersection of thin copper wire multiple-unit fine pith conductor ", makes conductor have the characteristic of highly-flexible, while ensure that electricity
The ability of energy saving, the high current-carrying of cable low-resistance.
As it can be seen that document disclosed above is different from technical solution of the present invention.
In addition, super flexible cable there is problems in the prior art：Using ultra-fine copper wire as conductor, although it is conductive
Performance is fine, but because the mechanical strength of annealed copper wire is not high, causes cable in use due to bearing tension force repeatedly therefrom
Cause conductor to attenuate to make electric conductivity decline, or even generates fatigue fracture.It is soft when simultaneously using fine copper wire stranded conductor
Copper conductor is easy to break when twisted, and serious using the electric conductivity decline of hard copper wire cable when twisted, moreover hard copper wire
Bending resistance is poor, it is easier to is broken in bending process.Since small bore conductor strand generally uses high speed bundle strand mode, lead
It causes conductor single line to remain distorting stress after twisted, in alternating bending in conductor service life can decline, especially
Under conditions of this alternating bending use of robot arm cable, it cannot satisfy the use demand.
Through retrieval, technical solution same as the present invention is not found.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of super soft robot arm cable,
Using wrapped non-directional polytetrafluoroethylene film between every layer of insulated core and between cable core and sheath, interformational sliding is formed
Membrane structure improves the flexibility of cable to reduce interlayer resistance.
The present invention solves its technical problem and is achieved through the following technical solutions：
A kind of super soft robot arm cable, including one or more layers insulated core, outside outermost layer insulated core
Portion is formed with restrictive coating, and insulated core includes conductor and insulating layer, it is characterised in that：It is surrounded with non-directional outside every layer of insulated core
Polytetrafluoroethylene film forms stratum synoviale.
Moreover, being surrounded with not between the outermost layer insulated core and restrictive coating and between isolated from adjacent cable core
It orients polytetrafluoroethylene film and forms stratum synoviale, be sliding between the stratum synoviale and its built-in electrical insulation cable core and exterior insulation cable core
Contact.
Moreover, the non-directional polytetrafluoroethylene (PTFE) film thickness is 0.05mm~0.12mm.
Moreover, the cross-sectional area of conductor is less than 0.2mm2Or insulated core be less than 8 core when, the thickness of non-directional polytetrafluoroethylene film
Degree is 0.05mm~0.08mm.
Moreover, the cross-sectional area of conductor is more than 0.2mm2Or insulated core be more than 8 core when, the thickness of non-directional polytetrafluoroethylene film
Degree is 0.08mm~0.12mm.
Moreover, the conductor is to be twisted the later half fine copper conductors of annealing.
A kind of super soft robot arm cable processing method, it is characterised in that：Include the following steps：
1) conductor strands after annealing：Half annealing processing is carried out after being twisted using fine copper wire, conductor conductivity is after annealing
92-95%；
2) prepares insulated core：Conductive surface after twisted and annealing is formed with insulating layer, several core insulation cable cores arrangements
If forming one layer or dried layer insulated core；
3) the wrapped non-directional polyethylene films of：The wrapped non-directional polyethylene film outside every layer of insulated core.
4) processes restrictive coating：Restrictive coating is squeezed out in the non-directional polyethylene film outer surface of outermost layer insulated core, electricity is made
Cable finished product.
The advantages of the present invention are：
1, super soft robot arm cable of the invention, using the wrapped non-directional polytetrafluoroethylene film of every interlayer
Mode enables cable cable core interlayer in bending to be easy using the very low characteristic of non-directional polytetrafluoroethylene film friction coefficient
Sliding is generated, thus improves the flexibility of cable；Meanwhile it can be to avoid polytetrafluoroethylene film using non-directional polytetrafluoroethylene film
Polytetrafluoroethylene film is made to hold cable core tightly to reduce the flexibility of cable because generating radial contraction after heated.
2, super soft robot arm cable of the invention, for the non-directional polytetrafluoroethylene film for avoiding thickness too small
Mechanical strength it is too low, in processing and the problem of easy to produce elongation in, and do not make because of non-directional polytetrafluoroethylene film
With and increase too much cable diameter and increase cost, non-directional polytetrafluoroethylene (PTFE) film thickness of the invention be 0.05mm~
0.12mm, the cable smaller for conductor specification, core number is less should use slightly thinner non-directional polytetrafluoroethylene film, on the contrary
Use slightly thicker non-directional polytetrafluoroethylene film.General cross-sectional area of conductor 0.2mm2And following or core number is in 8 cores and below
Cable is 0.05mm~0.08mm, cross-sectional area of conductor 0.2mm using the thickness of non-directional polytetrafluoroethylene film2Or more and core number exist
The cable of 8 cores or more is 0.08mm~0.12mm using the thickness of non-directional polytetrafluoroethylene film.
3, super soft robot arm cable of the invention, is processed by the way of the later half annealing of conductor strand and is led
The difficulty of conductor strand can be not only greatly lowered by the conductivity of recovery 92%~95% after annealing in body, conductor, also logical
More than half annealing processes eliminate remaining distorting stress in conductor strand process copper wire, and conductor is made to maintain preferable mechanical strength
The flexibility for having restored material substantially simultaneously, to effectively increase the flexibility and service life of cable.
4, super soft robot arm cable of the invention, using the wrapped non-directional polytetrafluoro of every interlayer in cable core
The mode of vinyl film, flexibility is good, and service life is long, can bear the bending and torsion of thousands of times or more, disclosure satisfy that high speed
It is bent and is used simultaneously with the robot arm joint occasion of torsion.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Reference sign
The outer stratum synoviale of 1- restrictive coatings, 2-, 3- outer layer insulations cable core, stratum synoviale, 5- primary insulations cable core, 6- insulation in 4-
Layer, 7- conductors.
Specific implementation mode
Below by specific embodiment, the invention will be further described, and following embodiment is descriptive, is not limit
Qualitatively, protection scope of the present invention cannot be limited with this.
A kind of super soft robot arm cable, including one or more layers insulated core, in the present embodiment Fig. 1, packet
Two layers of insulated core is included, primary insulation cable core 5 is three cores, and outer layer insulation cable core 3 is ten cores.Shield is formed with outside outer layer insulation cable core
Jacket layer 1, every insulated core includes conductor 7 and insulating layer 6, innovation are：It is indefinite to be surrounded with outside every layer of insulated core
Stratum synoviale is formed to polytetrafluoroethylene film.
The wrapped non-directional polytetrafluoroethylene film in outer layer insulation cable core outer surface between outer layer insulated core and restrictive coating
Form outer stratum synoviale 2.It is indefinite that primary insulation cable core outer surface between internal layer insulated core and outer layer insulation cable core is surrounded with
Interior stratum synoviale 4 is formed to polytetrafluoroethylene film.It is sliding between stratum synoviale and its built-in electrical insulation cable core and exterior insulation cable core
Contact.
By the way of the wrapped non-directional polytetrafluoroethylene film of every interlayer, non-directional polytetrafluoroethylene film friction coefficient is utilized
Very low characteristic enables cable cable core interlayer in bending to easy to produce sliding, thus improves the flexibility of cable；Meanwhile
Use non-directional polytetrafluoroethylene film that can make polytetrafluoro because generating radial contraction after heated to avoid polytetrafluoroethylene film
Vinyl film holds cable core tightly to reduce the flexibility of cable.
Non-directional polytetrafluoroethylene (PTFE) film thickness is 0.05mm~0.12mm.When cross-sectional area of conductor is less than 0.2mm2Or insulated core
When less than 8 core, the thickness of non-directional polytetrafluoroethylene film is 0.05mm~0.08mm.When cross-sectional area of conductor is more than 0.2mm2Or insulation
When cable core is more than 8 core, the thickness of non-directional polytetrafluoroethylene film is 0.08mm~0.12mm.The non-directional for avoiding thickness too small is poly-
The mechanical strength of tetrafluoroethylene is too low, the problem of processing and easy ting produce elongation in.Meanwhile it avoiding because non-directional is poly-
The use of tetrafluoroethylene and increase too much cable diameter and increase cost.
A kind of super soft robot arm cable processing method comprising following steps：
1) conductor strands after annealing：Half annealing processing is carried out after being twisted using fine copper wire, conductor conductivity is after annealing
92-95%；
2) prepares insulated core：Conductive surface after twisted and annealing is formed with insulating layer, several core insulation cable cores arrangements
If forming one layer or dried layer insulated core；
3) the wrapped non-directional polyethylene films of：The wrapped non-directional polyethylene film outside every layer of insulated core.
4) processes restrictive coating：Restrictive coating is squeezed out in the non-directional polyethylene film outer surface of outermost layer insulated core, electricity is made
Cable finished product.
Conductor carries out half annealing processing after being twisted using fine copper wire.Conductor is led by restoring 92%~95% after annealing
The difficulty of conductor strand can be not only greatly lowered in electric rate, also eliminated in conductor strand process copper wire by half annealing process
Remaining distorting stress, and so that conductor is maintained preferable mechanical strength while having restored the flexibility of material substantially, to have
Effect improves the flexibility and service life of cable.
The effect of the present invention can be proved by the contrast test of different samples.Experiment uses 3 samples, sample to be all made of
19 core 40/0.08mm (0.2mm2) structure, the PVC and consistency of thickness of same material is respectively adopted in insulation and sheath；Sample 1 uses
The conductor of common process, not wrapped non-directional polytetrafluoroethylene film；Sample 2 uses the conductor of common process, in first layer cable core
With the wrapped non-directional polytetrafluoroethylene film of difference outside second layer cable core, non-directional polytetrafluoroethylene (PTFE) film thickness is 0.10mm, overlapping
Rate is 31%；Sample 3 is using the conductor of twisted later half annealing way processing, conductivity 94.5%, in first layer cable core and second
Wrapped non-directional polytetrafluoroethylene film, non-directional polytetrafluoroethylene (PTFE) film thickness are 0.10mm respectively outside layer cable core, and Duplication is
31%.The bending of sample and torsion test result are as follows：
| Sample | Number of bends | Number of torsions |
| 1 | 5368294 | 3622833 |
| 2 | 8956755 | 7635241 |
| 3 | 11356040 | 10689512 |
As it can be seen that cable bend number of the present invention and number of torsions significantly improve, effect improves flexibility and the use of cable
Service life.
Though the present invention discloses embodiment and attached drawing, it will be appreciated by those skilled in the art that：This hair is not being departed from
In bright and spirit and scope of the appended claims, various substitutions, changes and modifications be all it is possible, therefore, model of the invention
It encloses and is not limited to embodiment and attached drawing disclosure of that.
Claims (7)
1. a kind of super soft robot arm cable, including one or more layers insulated core, outside outermost layer insulated core
It is formed with restrictive coating, insulated core includes conductor and insulating layer, it is characterised in that：It is poly- that non-directional is surrounded with outside every layer of insulated core
Tetrafluoroethylene forms stratum synoviale.
2. a kind of super soft robot arm cable according to claim 1, it is characterised in that：In the outermost layer
It is surrounded with non-directional polytetrafluoroethylene film between insulated core and restrictive coating and between isolated from adjacent cable core and forms synovial membrane
Layer, is sliding contact between the stratum synoviale and its built-in electrical insulation cable core and exterior insulation cable core.
3. a kind of super soft robot arm cable according to claim 1, it is characterised in that：The non-directional is poly-
Tetrafluoroethene film thickness is 0.05mm~0.12mm.
4. a kind of super soft robot arm cable according to claim 3, it is characterised in that：The cross-sectional area of conductor
Less than 0.2mm2Or insulated core, when being less than 8 core, the thickness of non-directional polytetrafluoroethylene film is 0.05mm~0.08mm.
5. a kind of super soft robot arm cable according to claim 4, it is characterised in that：The cross-sectional area of conductor
More than 0.2mm2Or insulated core, when being more than 8 core, the thickness of non-directional polytetrafluoroethylene film is 0.08mm~0.12mm.
6. a kind of super soft robot arm cable according to claim 1, it is characterised in that：The conductor is to twist
Close the fine copper conductors of later half annealing.
7. a kind of any one of claim 1-6 super soft robot arm cable processing methods, feature exist
In：Include the following steps：
1) conductor strands after annealing：Half annealing processing is carried out after being twisted using fine copper wire, conductor conductivity is 92- after annealing
95%；
2) prepares insulated core：Conductive surface after twisted and annealing is formed with insulating layer, several core insulation cable core arrangement forms
If one layer or dried layer insulated core；
3) the wrapped non-directional polyethylene films of：The wrapped non-directional polyethylene film outside every layer of insulated core；
4) processes restrictive coating：Outermost layer insulated core non-directional polyethylene film outer surface squeeze out restrictive coating, be made cable at
Product.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165583.1A CN108461183A (en) | 2018-02-28 | 2018-02-28 | A kind of super soft robot arm cable and its processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165583.1A CN108461183A (en) | 2018-02-28 | 2018-02-28 | A kind of super soft robot arm cable and its processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108461183A true CN108461183A (en) | 2018-08-28 |
Family
ID=63217553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810165583.1A Pending CN108461183A (en) | 2018-02-28 | 2018-02-28 | A kind of super soft robot arm cable and its processing method |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232994A (en) * | 2019-04-24 | 2019-09-13 | 上海起帆电缆股份有限公司 | The super soft high reliability welding robot feed cable of one kind and preparation method |
| CN111081411A (en) * | 2019-12-09 | 2020-04-28 | 河北碳垣纳米科技有限公司 | Carbon nanotube fiber flexible cable |
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| CN101849204A (en) * | 2007-08-31 | 2010-09-29 | 滕索利特公司 | Fiber-optic cable and method of manufacture |
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| CN107731374A (en) * | 2014-05-22 | 2018-02-23 | 江苏亨通线缆科技有限公司 | Low friction high strength flexible cable |
| CN207966513U (en) * | 2018-02-28 | 2018-10-12 | 深圳讯道实业股份有限公司 | A kind of super soft robot arm cable |
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2018
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Patent Citations (7)
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| CN101849204A (en) * | 2007-08-31 | 2010-09-29 | 滕索利特公司 | Fiber-optic cable and method of manufacture |
| CN201532802U (en) * | 2009-10-14 | 2010-07-21 | 江苏中煤电缆股份有限公司 | Screening-type anti-twisting cable for robots |
| CN102708954A (en) * | 2012-05-19 | 2012-10-03 | 辽宁金环电缆有限公司 | Light and cold-proof screening control cable |
| CN103770351A (en) * | 2014-02-25 | 2014-05-07 | 韩玉新 | Polytetrafluoroethylene film strip processing technology |
| CN107731374A (en) * | 2014-05-22 | 2018-02-23 | 江苏亨通线缆科技有限公司 | Low friction high strength flexible cable |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232994A (en) * | 2019-04-24 | 2019-09-13 | 上海起帆电缆股份有限公司 | The super soft high reliability welding robot feed cable of one kind and preparation method |
| CN111081411A (en) * | 2019-12-09 | 2020-04-28 | 河北碳垣纳米科技有限公司 | Carbon nanotube fiber flexible cable |
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