CN110060795A - A kind of novel storage merchandising machine people controls cable and its manufacturing process with high flexibility - Google Patents

Abstract

The invention relates to a novel high-flexibility control cable for a warehouse logistics robot and a manufacturing process thereof, belonging to the technical field of cables. It includes a cable core and a first PTFE wrapping tape, a braided shielding layer, and an outer sheath arranged outside the cable core. The cable core is formed by twisting several groups of twisted cores, and each set of twisted cores consists of two The insulated cores are twisted, and the outer layer of each twisted core is wrapped with a second PTFE wrapping tape; each insulated core is composed of a wire and a modified FEP insulating layer outside the wire. Nylon wire and several ultra-fine alloy copper conductors wound around the nylon wire. The cables prepared by the invention can be matched with control sensors such as speed sensors, temperature sensors, pressure sensors and other control sensors for storage and logistics robots. Wear-resistant, flame-retardant, waterproof, and torsion-resistant.

Description

A new type of highly flexible control cable for warehousing and logistics robot and its manufacturing process

technical field

The invention relates to a novel high-flexibility control cable for a warehouse logistics robot and a manufacturing process thereof, belonging to the technical field of cables.

Background technique

Under the trend of Internet economy and industrial Internetization, the warehousing and logistics industry is ushering in unprecedented development opportunities and brand-new model changes. Among them, the application degree of robot technology has become an important factor to determine the competition and future development of enterprises. Intelligent warehousing Robots are a good example of the infinite possibilities of AI+. At present, the world's leading logistics companies are actively starting the upgrading and transformation of their enterprises, constantly introducing automation systems and catching up with the trend of replacing people with machines, in order to improve efficiency, reduce costs and enhance corporate competitiveness. At present, the application of robot technology in logistics is mainly concentrated in the two operations of packaging and palletizing, loading and unloading, and traditional cables have problems such as excessive mechanical stress, excessive bending radius, weak electrical connection, and deformation and disconnection after repeated bending and twisting. Adapt to the operating conditions of logistics robots. Market feedback urgently needs to develop a highly flexible control cable for warehouse logistics robots that can be matched with speed sensors, temperature sensors, pressure sensors and other control sensors.

SUMMARY OF THE INVENTION

The purpose of the present invention is to aim at the above-mentioned deficiencies of the prior art, to provide a new type of high-flexibility control cable for storage and logistics robots and a manufacturing process thereof. , shock resistance, oil resistance, tensile strength, high and low temperature resistance, corrosion resistance, bending resistance, wear resistance, flame retardant, waterproof, UV resistance, torsion resistance and other high-demand products, such as robotics, manipulators, drag chain control systems, logistics and transportation system, etc.

The technical scheme of the present invention is as follows:

A novel high-flexibility control cable for storage and logistics robots, characterized in that it includes a cable core, a first PTFE wrapping tape, a braided shielding layer, and an outer sheath arranged outside the cable core, and the cable core is composed of several pairs of twisted pairs. The cores are twisted, each group of twisted cores is twisted by two insulated cores, and the outer layer of each twisted core is wrapped with a second PTFE wrapping tape; each insulated core is composed of wires and The modified FEP insulating layer is formed on the outside of the wire, and the wire is composed of a nylon wire and a plurality of ultra-fine alloy copper conductors wound around the nylon wire.

Preferably, the wire is composed of 40 ultra-fine alloy copper conductors with a diameter of 0.08mm wound around a 300D nylon wire.

Preferably, the braided shielding layer is braided by a plurality of ultra-fine silver-plated copper conductors with a diameter of 0.05 mm.

Preferably, the outer sheath is a PUR outer sheath.

Preferably, the twisted cores are 4 groups.

Preferably, in the cable core, spaces between adjacent twisted core groups are filled with nylon fibers.

The above-mentioned manufacturing process of a high-flexibility control cable for a new type of warehouse logistics robot is characterized in that it includes the following steps:

1) Wire

40 ultra-fine alloy copper conductors with a diameter of 0.08mm are wound on the outer layer of a 300D nylon wire to form a wire;

2) Insulation layer

The insulating layer is stretched and wrapped around the conductor with modified FEP to ensure a constant wrapping tightness between the insulating layer and the conductor;

3) Twisted

When twisted, the tension of the two single wires is the same, which makes the twisted pair structure symmetrical and effectively reduces the transmission loss of the twisted pair; and the pitch of each twisted pair group is different, and the inverse difference of the pitch of a single twisted pair group is similar, so as to effectively avoid the difference between the twisted pair groups. Mutual interference and crosstalk to achieve high-quality signal transmission;

4) wrapping

Each pair of twisted cores is wrapped with a layer of PTFE film to tie the wire pairs to ensure that the flexural modulus of the two insulated wire cores in the twisted group is the same when bending, and make full use of the superior self-contained friction coefficient of the PTFE film of ≤0.05. Lubrication performance, each pair of twisted groups will not affect each other during bending;

5) Untwisted cable and high-strength fiber filling:

The cabling pitch ratio is less than or equal to 16, and the adjacent gaps of each paired group are filled with nylon fibers, so that the cable round structure is stable and maintains good flexibility, so as to ensure that when the cable is bent, the inner twisting of the cable can be ensured. The flexural modulus of the group is the same; a layer of PTFE film is wrapped around the core of the cable, which plays a role of tying and prevents the deformation of the core caused by the loosening of the cable;

6) Braided shield

A plurality of ultra-fine silver-plated copper conductors with a diameter of 0.05mm are used for braiding outside the cladding layer of the cable core, which is used to shield the interference of the outer electromagnetic wave to the cable, and can maintain the flexibility of the cable;

7) Outer sheath

Using PUR as the outer sheath material of the cable is semi-extruded and coated on the braided shielding layer to ensure a constant coating tightness between the outer sheath and the cable core, thereby effectively absorbing the extrusion force and The radial pressure generated by torsion ensures that repeated bending will not cause broken conductors or broken wires or damaged cables.

Preferably, in step 3), a twisted pair structure with a 35% untwisting rate is adopted, so that during the twisting process of the single wire, the rotation and twisting rate of the single wire is almost zero. The single wire tension is consistent, making the twisted pair structure symmetrical and effectively reducing the transmission loss of the twisted pair.

Preferably, in step 5), each pair is twisted and formed into a cable by using a cage stranding machine with a 35% untwist rate, so that the pitch of each pair remains unchanged after the cable is formed, and the internal stresses cancel each other out.

The cables prepared by the invention can be matched with control sensors such as speed sensors, temperature sensors, pressure sensors and other control sensors for storage and logistics robots. Wear-resistant, flame-retardant, waterproof, and torsion-resistant.

Description of drawings

Fig. 1 is the structural schematic diagram of the high-flexibility control cable for the novel storage and logistics robot of the present invention;

In the picture: 1 first PTFE wrapping tape, 2 braided shielding layer, 3 outer sheath, 4 second PTFE wrapping tape, 5 modified FEP insulating layer, 6 nylon wire, 7 ultra-fine alloy copper conductor, 8 nylon wire fiber.

Detailed ways

As shown in the figure, a new type of highly flexible control cable for warehousing and logistics robots includes a cable core and a first PTFE wrapping tape 1, a braided shielding layer 2, and an outer sheath 3 arranged outside the cable core. The cable core consists of several groups of The twisted cores are twisted, each set of twisted cores is twisted by two insulated cores, and the outer layer of each twisted core is wrapped with a second PTFE wrapping tape 4; It is composed of a wire and a modified FEP insulating layer 5 outside the wire. The wire is composed of a nylon wire 6 and several ultra-fine alloy copper conductors 7 wound around the nylon wire. The spaces between adjacent twisted core groups are filled with nylon filament fibers 8 .

A manufacturing process of a new type of high-flexibility control cable for a warehouse logistics robot, the specific steps are as follows:

1. The conductor is made of 40 Φ0.08 ultra-fine alloy copper conductors and a 300D nylon wire that meet the requirements of VDE 0259 CLASS6. The advantages are good flexibility, good roundness, excellent bending performance, and bending radius ≧ 2*OD, dynamic bending times ≧ 30 million times continuous wire.

2. The insulation adopts special modified FEP which is soft, oil-resistant, tensile-resistant, high-low temperature resistant, corrosion-resistant, bending-resistant, wear-resistant, flame-retardant, waterproof, UV-resistant, torsion-resistant, and has good electrical properties as the cable insulation material, and With the stretching and wrapping insulation technology, the wrapping tightness between the insulation and the conductor is guaranteed to be constant, thereby effectively absorbing the extrusion force and the radial pressure generated by the twisting of the cable when the cable is bent, and ensuring that the conductor will not be broken after repeated bending. or insulation damage, and the insulation thickness is determined according to the requirements of UL758.

3. Twisting: 35% back-twisting twisting structure is adopted, so that the twisting rate of single-wire rotation is almost zero during the twisting process of single-wire. The twisted pair structure is made symmetrical and the transmission loss of the twisted pair is effectively reduced. In addition, the pitches of each paired pair group are different, and the reciprocal difference of the pitches of a single paired pair group is approximately equal, thereby effectively avoiding mutual interference and crosstalk between each paired pair group and achieving high-quality signal transmission.

4. Wrapping: wrap each pair of stranded wires with a layer of PTFE film to tie the wire pairs to ensure that the flexural modulus of the two core wires in the twisted pair group is the same when bending, and make full use of the PTFE film friction coefficient ≤ 0.05 Excellent self-lubricating performance, each pair of twisted groups will not affect each other during bending.

5. Untwisted cable formation and high-strength fiber filling: The cage stranding machine with 35% untwisted rate is used for each pair of twisted groups to make untwisted cables, so that the pitch of each pair of twisted cables will remain unchanged and the internal stress will cancel each other out. . The cabling pitch is less than or equal to 16 times. Nylon fiber is used to fill the adjacent gaps of each paired pair group, so that the cable round structure is stable and maintains good flexibility, thus ensuring that when the cable is bent, the four pairs in the cable The flexural modulus of the groups is the same. A layer of PTFE film is wrapped around the core of the cable, which plays a role of tightening and prevents the deformation of the core caused by the loosening of the cable.

6. Braided shield

A plurality of Φ0.05 ultra-fine silver-plated copper conductors meeting the requirements of VDE 0259 CLASS6 are used for braiding outside the cladding layer of the cable core, which is used to shield the interference of the outer electromagnetic wave to the cable, and can maintain the flexibility of the cable.

7: The sheath is made of PUR with excellent properties such as softness, oil resistance, shock resistance, tensile strength, high and low temperature resistance, corrosion resistance, bending resistance, wear resistance, flame retardant, waterproof, UV resistance, torsion resistance, and resilience. Layer material and semi-extrusion coating technology to ensure a constant coating tightness between the sheath and the cable core, thus effectively absorbing the extrusion force and the radial pressure generated by the torsion when the cable is bent, ensuring that Repeated bending will not cause broken conductors or broken cables or damaged cables.

The cable that the present invention makes, its characteristic is as follows:

1. Working temperature: -60℃-135℃.

2. Working voltage: 12V-600V.

3. Flexibility test: load 450g, ±90°, bending radius 20mm, swing speed: 30 times/MIN, 35 million times without interruption.

4. Torsion test: load 900g, ±180°, torsion frequency: 30 times/min, 5 million times without any deformation.

5. Bending test: 3 rotating shafts 120mm, load 500g, frequency: 12 times/min, 5 million times without any deformation.

6. Characteristic impedance: 100±10Ω.

7. Attenuation: 22dB/100m, 100MHZ.

8. Return loss: 20.1dB, 100MHZ.

9. Flame retardant properties: VW-1.

10. Min. Bending Radius: 5*Finished Outer Diameter.

Claims (9)

1. a kind of novel storage merchandising machine people controls cable with high flexibility, characterized in that including cable core and be set to cable core Outer the first PTFE twining package tape (1), woven shield (2), oversheath (3), the cable core it is twisted by several groups pair twist core and At every group of pair twist core is formed by two insulated wire cores pair twists, and each pair twist core outer layer is surrounded with the 2nd PTFE twining package tape (4)；Every insulated wire cores are made of the modification FEP insulating layer (5) outside conducting wire and conducting wire, and the conducting wire is by a nylon yarn (6), several superfine alloy copper conductors (7) being wound in outside the nylon yarn are constituted.

2. a kind of novel storage merchandising machine people according to claim 1 controls cable with high flexibility, characterized in that described Conducting wire is made of the nylon yarn that the superfine alloy copper conductor that 40 diameters are 0.08mm is wound in a 300D.

3. a kind of novel storage merchandising machine people according to claim 1 controls cable with high flexibility, characterized in that described Woven shield is woven by the ultra-fine silver-plated copper conductor that more diameters are 0.05mm.

4. a kind of novel storage merchandising machine people according to claim 1 controls cable with high flexibility, characterized in that described Oversheath is PUR oversheath.

5. a kind of novel storage merchandising machine people according to claim 1 controls cable with high flexibility, characterized in that described Pair twist core is 4 groups.

6. a kind of novel storage merchandising machine people according to claim 5 controls cable with high flexibility, characterized in that described In cable core, the gap between neighboring twisted pairs core group is filled with nylon silk fiber (8).

7. the system that a kind of novel storage merchandising machine people according to claim 1 to 6 controls cable with high flexibility Make technique, characterized in that the following steps are included:

1) conducting wire

The superfine alloy copper conductor that 40 diameters are 0.08mm is wound in a 300D nylon yarn outer layer, constitutes conducting wire；

2) insulating layer

Insulating layer stretch using modified FEP and is coated on outside conductor, it is ensured that the cladding tightness between insulating layer and conductor is permanent It is fixed；

3) pair twist

Two single line uniform tension in order when pair twist, so that pair twist symmetrical configuration, is effectively reduced twisted pair wire transmission loss；And each pair twist group Pitch is different, and single pair twist group pitch difference reciprocal is approximate, so that interfering with each other between effectively avoiding each pair twist group and cross-talk, reach The signal of high quality transmits；

4) wrapped

It by one layer of PTFE film wrapped outside each pair twist core, plays and tightens line pair, it is ensured that two insulated wires in pair twist group when bending Chip bending modulus is identical, and makes full use of the superior self-lubricating property of film friction coefficient≤0.05 PTFE, when bending each pair twist It will not influence each other between group；

5) back twist stranding and high strength fibre filling:

Laying up pitch ratio is less than or equal to 16, is filled in the adjacent gap of each pair twist group using nylon silk fiber, so that cable Rounded configurations are stable and keep good flexibility, so as to ensure in cable bend, pair twist group bending modulus phase in cable Together；Wrapped one layer of PTFE film, plays the role of tightening, prevents cable from loosely core being caused to deform outside cable core；

6) woven shield

More diameters are used to be woven outside cable core wrapping layer for the ultra-fine silver-plated copper conductor of 0.05mm, it is outer for shielding Interference of the layer electromagnetic wave to cable, and the flexibility of cable can be kept；

7) oversheath

Using PUR as cable half extrusion cladding of jacket material in woven shield, it is ensured that oversheath and cable core it Between cladding tightness it is constant, the radial pressure that the extruding force that generates when to effectively absorbing cable bend and torsion generate, It ensure that alternating bending is not in disconnected conductor fracture of wire or cable damaged phenomenon.

8. a kind of novel storage merchandising machine people according to claim 7 controls the manufacturing process of cable with high flexibility, It is characterized in, in step 3), using 35% back twist rate pair twist structure, so that single line is being twisted in the process, single line rotation plus torsion rate are almost It is zero, by the tension force and feedback system of single line precision, so that two single line uniform tension in order when pair twist, so that pair twist structure pair Claim, twisted pair wire transmission loss is effectively reduced.

9. a kind of novel storage merchandising machine people according to claim 7 controls the manufacturing process of cable with high flexibility, It is characterized in, in step 5), each pair twist group is subjected to back twist stranding using the cage winch of 35% back twist rate, so that each pair twist group stranding Back pitch is constant, and internal stress is cancelled out each other.