CN112509732A

CN112509732A - Flexible cable for robot

Info

Publication number: CN112509732A
Application number: CN202011321364.1A
Authority: CN
Inventors: 石学军; 朱卫保; 李远清
Original assignee: Anhui Honghai Cable Co ltd
Current assignee: Anhui Honghai Cable Co ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-03-16

Abstract

The invention discloses a flexible cable for a robot, which comprises a wire core conductor, a sheath, fillers, a wrapping tape, an insulating layer and a shielding layer, wherein the shielding layer is arranged inside the sheath; the preparation process comprises the following steps: carrying out wire drawing treatment on the selected copper metal material through a wire drawing machine; twisting and twisting the plurality of single wires prepared in the step S1 together through a twisting machine, and wrapping an insulating layer on the wire core conductor to obtain an insulating wire core; filling fillers in the gaps of the insulated wire cores obtained in the step S2, respectively wrapping a wrapping tape and a shielding layer on the outer layer, and wrapping a sheath on the outer side of the shielding layer; and after the cable is subjected to insulation test, the cable is coiled into bundles through a glue-removing coiling machine.

Description

Flexible cable for robot

Technical Field

The invention relates to the technical field of flexible cables of robots, in particular to a flexible cable for a robot.

Background

With the continuous development of the automation industry, the whole industrial structure is more automated and intelligent, the promotion of the industrial automation process in China keeps a high growth situation, and the robot cable is a blood vessel and a nerve of the robot and is an important part of the robot. The flexible cable special for the robot with high flexibility, bending resistance and long service life is bound to become a preferred cable for manufacturers of domestic and foreign first-class machinery and mechanical equipment, according to statistics of the international robot alliance (IFR), the annual rate of industrial scale of the Chinese robot in 2013-2017 is increased by nearly 30%, the annual rate of industrial scale of the Chinese robot reaches 42 hundred million dollars in 2017, the sales volume of the robot reaches 14.1 million, and through measurement and calculation, the purchase volume of the domestic robot cable in 2017 is about 8000 million dollars. Although the domestic market demand is large, according to the industry analysis statistics, about 80% of cables come from foreign enterprises such as Japanese and German enterprises, and therefore, the development of flexible cables for domestic robots is of great significance.

Disclosure of Invention

In order to overcome the technical problems, the invention aims to provide a flexible cable for a robot, which is a special cable for the robot with high flexibility, bending resistance and long service life.

The purpose of the invention can be realized by the following technical scheme:

a flexible cable for a robot comprises a core conductor, a sheath, fillers, a wrapping tape, an insulating layer and a shielding layer, wherein the shielding layer is arranged inside the sheath, the wrapping tape is arranged in the shielding layer, four core conductors are arranged inside the wrapping tape, the insulating layer is wrapped outside the core conductors, and a plurality of fillers are arranged in gaps between the four core conductors and the wrapping tape;

the flexible cable for the robot can be prepared by the following steps:

s1, removing impurities from the copper metal material to obtain a base material of the core conductor, and drawing the selected copper metal material to a specified wire diameter by a drawing machine;

s2, twisting and twisting the single wires prepared in the S1 together through a twisting machine, tightly holding and fixing the twisted copper wires by using a clamping piece, twisting the non-circular structure of the processed core conductor into a circular structure, respectively adding a conductor shielding material and an insulating material into an extruder, heating to 150-200 ℃ for melting, and extruding the conductor shielding material and the insulating material onto the core conductor with the circular structure through an extruder, so as to form an insulating layer on the core conductor and obtain an insulating core;

s3, filling the gaps of the insulated wire cores obtained in the step S2 with fillers, respectively wrapping a wrapping tape and a shielding layer on the outer layer, and wrapping a sheath on the outer side of the shielding layer;

s4, after the cable is subjected to insulation test, the cable is coiled into a bundle through a glue removing coiling machine, a motor of the coiling machine drives a coiling roller I and a lead screw to rotate through transmission of a belt wheel and a chain wheel, a glue removing device is installed on the lead screw, the coiling roller I and the coiling roller II drive the cable to be coiled, the cable penetrates through the glue removing device, and a glue removing shovel can shovel off residual plastic colloid on the cable.

As a further scheme of the invention: the glue-removing rolling machine comprises a glue-removing device, a rolling roller I, a mainframe box, a driving chain wheel, a driven belt wheel, a driven chain wheel, a driving belt wheel, a motor, a tensioning frame, a movable base, a rolling roller II, a base, an auxiliary case, a sliding plate and a lead screw, wherein the mainframe box is fixedly arranged on one side of the top of the base, the tensioning frame is fixedly arranged on the top of the mainframe box, the motor is arranged on the top of the tensioning frame, the driving belt wheel is fixedly connected on an output shaft of the motor, a rotating shaft is rotatably connected with the middle of the mainframe box, the driven belt wheel is arranged on one side of the rotating shaft, a belt is sleeved on the driven belt wheel and the driving belt wheel, the rotating shaft penetrates through the mainframe box, the rotating shaft extends to the other side of the mainframe box, the rolling roller I is arranged on the other side of the rotating shaft, base top opposite side fixed mounting has vice quick-witted case, vice quick-witted case leans on quick-witted case one side to rotate to be connected with and rolls up roller two, the slide is installed to one side of quick-witted case and vice quick-witted case, the equal fixedly connected with mounting bracket in top both sides of slide, two rotate between the mounting bracket and be connected with the lead screw, the lead screw leans on one side of quick-witted case to extend to the outside of mounting bracket one side, the lead screw leans on one side fixedly connected with driven sprocket of quick-witted case, the chain has been cup jointed on drive sprocket and the driven sprocket, install movable base on the lead screw, threaded connection between movable base and the lead screw, the top fixedly connected with of lead screw goes mucilage binding and puts, movable base's bottom both sides all rotate and are connected with the runner.

As a further scheme of the invention: the device that strips, including casing, feed roller one, feed roller two, feed inlet, remove to glue shovel, feeding running roller, the department has seted up the feed inlet in the middle of casing one side, the feed inlet is the cylinder, fixedly connected with that the department of the centre of feed inlet removes to glue the shovel, it is circular structure to remove to glue the shovel, feed inlet one side edge position rotates and is connected with the feed running roller, and is a plurality of the feed running roller becomes circular arranging, the middle both sides position of casing rotates and is connected with four feed rollers two, it is connected with four feed rollers one to rotate between the bottom of the opposite side of casing and the top inner wall.

As a further scheme of the invention, the working method of the adhesive-removing rolling machine comprises the following steps:

starting a motor, rotating a driving belt pulley, and driving a driven belt pulley to rotate by the driving belt pulley through belt transmission, so that a driving chain wheel and a winding roller rotate simultaneously; under drive sprocket and driven sprocket's transmission for the lead screw is followed and is rotated, drives movable base and is the motion in the horizontal direction on the slide, has installed the feeding roller one of vertical direction and the feeding roller two on the horizontal direction respectively at the device of removing glue, and the cable gets into to remove the mucilage binding and put the back, under the guide of feeding roller one, feeding roller two and feeding running roller, keeps into rectilinear state, beats a roll roller one and beats a roll roller two and drive the cable removal, removes the contact of the cull on shovel and cable surface, shovels it except.

As a further scheme of the invention: the copper metal material is an oxygen-free bare copper wire.

As a further scheme of the invention: the sheath is made of a high-wear-resistance TPU elastomer material.

As a further scheme of the invention: the filler is a nylon reinforced material.

As a further scheme of the invention: the shielding layer is made of copper wires and adopts a single-layer unidirectional winding structure.

As a further scheme of the invention: the insulating layer is a flexible TPEE elastomer, wherein the thickness of the insulating layer is 0.2mm to 0.25 mm.

The invention has the beneficial effects that:

1. the sheath 2 is made of a high-wear-resistance TPU elastomer material, and the insulating layer is made of a flexible TPEE elastomer, so that the cable can be used at key positions with high torsion and bending frequencies, large amplitude, high speed and the like.

2. In beating a roll and removing mucilage binding and putting, the motor of beating a book machine is through the transmission of band pulley and sprocket, drive the rotation of beating a roll roller and lead screw simultaneously, install the device that removes on the lead screw, beat a roll roller and beat a roll roller two and drive the cable and beat a roll, the cable wears to get rid of mucilage binding and puts, it can shovel the cable and go up remaining plastics colloid on the surface to remove to glue, the appearance quality is improved, the lead screw rotates the horizontal direction that drives the device that removes, the regular winding of cable that makes is on the running roller, avoid the cable to beat a roll confusion, beat an inhomogeneous situation.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the cable construction of the present invention;

FIG. 2 is a schematic view of the internal structure of the photoresist stripping apparatus of the present invention;

FIG. 3 is a schematic view of the structure of the stripping and rolling device of the present invention.

In the figure: 1. a core conductor; 2. a sheath; 3. a filler; 4. wrapping belts; 5. an insulating layer; 6. a shielding layer; 7. a photoresist removing device; 701. a housing; 702. a first feeding roller; 703. a second feeding roller; 704. a feed inlet; 705. removing the glue shovel; 706. a feeding roller; 8. a first coiling roller; 9. a main chassis; 10. a drive sprocket; 11. a driven pulley; 12. a driven sprocket; 13. a drive pulley; 14. a motor; 15. a tension frame; 16. a movable base; 17. a second coiling roller; 18. a base; 19. a sub-chassis; 20. a slide plate; 21. a lead screw; 22. a rotating shaft; 23. a belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, a flexible cable for a robot includes a core conductor 1, a sheath 2, fillers 3, a tape 4, an insulating layer 5, and a shielding layer 6, wherein the shielding layer 6 is disposed inside the sheath 2, the tape 4 is disposed inside the shielding layer 6, four core conductors 1 are disposed inside the tape 4, the insulating layer 5 is wrapped outside the core conductors 1, and a plurality of fillers 3 are disposed in gaps between the four core conductors 1 and the tape 4;

the flexible cable for the robot can be prepared by the following steps:

s1, removing impurities from the copper metal material to obtain a base material of the core conductor 1, and drawing the selected copper metal material to a specified wire diameter by a drawing machine;

s2, twisting and twisting the multiple single wires prepared in the S1 together through a twisting machine, tightly holding and fixing the twisted copper wires by using a clamping piece, twisting the non-circular structure of the processed core conductor 1 into a circular structure, respectively adding a conductor shielding material and an insulating material into an extruder, heating to 150-200 ℃ for melting, and extruding the materials onto the core conductor 1 with the circular structure through the extruder, so as to form an insulating layer 5 on the core conductor 1, thereby obtaining an insulating core;

s3, filling the gap of the insulated wire core obtained in the step S2 with the filler 3, respectively wrapping the outer layer with a wrapping tape 4 and a shielding layer 6, and wrapping the outer side of the shielding layer 6 with a sheath 2;

s4, after the cable is subjected to insulation test, the cable is coiled into a bundle through a glue removing coiling machine, a motor 14 of the coiling machine drives a coiling roller I8 and a lead screw 21 to rotate through transmission of a belt wheel and a chain wheel, a glue removing device 7 is installed on the lead screw 21, the coiling roller I8 and the coiling roller II 17 drive the cable to be coiled, the cable penetrates through the glue removing device 7, and a glue removing shovel 705 can shovel off residual plastic colloid on the cable.

The machine of rolling is made to degumming includes degumming device 7, make a winding roller 8, mainframe box 9, drive sprocket 10, driven pulley 11, driven sprocket 12, drive pulley 13, motor 14, tensioning frame 15, movable base 16, make a winding roller two 17, base 18, vice quick-witted case 19, slide 20, lead screw 21, 18 one side fixed mounting of base has mainframe box 9, the top fixed mounting of mainframe box 9 has tensioning frame 15, motor 14 is installed at tensioning frame 15's top, fixedly connected with drive pulley 13 on motor 14's the output shaft, the centre department of mainframe box 9 rotates and is connected with pivot 22, driven pulley 11 is installed to one side of pivot 22, driven pulley 11 and drive pulley 13 go up the belt 23 that has cup jointed, pivot 22 runs through mainframe box 9, pivot 22 extends to the opposite side of mainframe box 9, the opposite side of pivot 22 is installed and is made a winding roller 8, the position fixedly connected with drive sprocket 10 that lies in between mainframe box 9 and the driven pulley 11 in pivot 22, 18 top opposite side fixedly mounted of base has vice quick-witted case 19, vice quick-witted case 19 leans on mainframe box 9 one side to rotate and is connected with two 17 of the rolls of beating, slide 20 is installed to one side of mainframe box 9 and vice machine case 19, the equal fixedly connected with mounting bracket in top both sides of slide 20, two rotate between the mounting bracket and be connected with lead screw 21, lead screw 21 leans on one side of mainframe box 9 to extend to the outside of mounting bracket one side, lead screw 21 leans on one side fixedly connected with driven sprocket 12 of mainframe box 9, the chain has been cup jointed on drive sprocket 10 and driven sprocket 12, install movable base 16 on the lead screw 21, threaded connection between movable base 16 and the lead screw 21, the top fixedly connected with of lead screw 21 removes mucilage binding and puts 7, the two sides of the bottom of the movable base 16 are rotatably connected with rotating wheels, and the movable base 16 is connected with the sliding plate 20 in a sliding manner through the rotating wheels.

The degumming device 7 comprises a shell 701, a first feeding roller 702, a second feeding roller 703, a feeding port 704, a degumming shovel 705 and a feeding roller 706, wherein the feeding port 704 is arranged in the middle of one side of the shell 701 and is cylindrical, the degumming shovel 705 is fixedly connected to the middle of the feeding port 704, the degumming shovel 705 is of a circular structure, the feeding roller 706 is rotatably connected to the edge of one side of the feeding port 704, the feeding roller 706 is circularly arranged, the four second feeding rollers 703 are rotatably connected to the positions of the two sides in the middle of the shell 701, and the four first feeding rollers 702 are rotatably connected between the bottom of the other side of the shell 701 and the inner wall of the top of the shell 701.

The working method of the adhesive-removing rolling machine comprises the following steps:

starting a motor 14, rotating a driving belt pulley 13, driving the driving belt pulley 13 to drive a driven belt pulley 11 to rotate through a belt 23, and thus simultaneously rotating a driving chain wheel 10 and a first rolling roller 8; under the transmission of the driving chain wheel 10 and the driven chain wheel 12, the screw rod 21 rotates along with the driving chain wheel to drive the movable base 16 to move on the sliding plate 20 in the horizontal direction, the first feeding roller 702 in the vertical direction and the second feeding roller 703 in the horizontal direction are respectively installed on the glue removing device 7, after a cable enters the glue removing device 7, the cable keeps in a linear state under the guide of the first feeding roller 702, the second feeding roller 703 and the feeding roller wheel 706, the first rolling roller 8 and the second rolling roller 17 drive the cable to move, and the glue removing shovel 705 is in contact with residual glue on the surface of the cable to shovel the cable.

The copper metal material is an oxygen-free bare copper wire.

The sheath 2 is made of high-abrasion-resistance TPU elastomer material.

The filler 3 is a nylon reinforced material.

The shielding layer 6 is made of copper wires and adopts a single-layer unidirectional winding structure.

The insulating layer 5 is a flexible TPEE elastomer, wherein the thickness of the insulating layer 5 is 0.2mm to 0.25 mm.

The working principle of the invention is as follows:

1. the sheath 2 is made of a high-wear-resistance TPU elastomer material, and the insulating layer 5 is made of a flexible TPEE elastomer, so that the cable can be used at key positions with high torsion and bending frequencies, large amplitude, high speed and the like.

2. In beating a roll and removing mucilage binding and putting, the motor 14 of beating a book machine drives simultaneously and beats the rotation of a winding roller 8 and lead screw 21 through the transmission of band pulley and sprocket, installs glue removing device 7 on the lead screw 21, beats winding roller 8 and beats winding roller two 17 and drive the cable and beat and roll up, the cable is worn and is passed glue removing device 7, it can shovel remaining plastics colloid on the cable to remove gluey shovel 705, lead screw 21 rotates the horizontal direction that drives glue removing device 7 and removes, avoid the cable to beat and roll up the confusion, the inhomogeneous situation of beating a roll appears.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.

Claims

1. The flexible cable for the robot comprises a core conductor (1), a sheath (2), fillers (3), a wrapping tape (4), an insulating layer (5) and a shielding layer (6), and is characterized in that the shielding layer (6) is arranged inside the sheath (2), the wrapping tape (4) is arranged in the shielding layer (6), four core conductors (1) are arranged inside the wrapping tape (4), the insulating layer (5) wraps the outside of each core conductor (1), and a plurality of fillers (3) are arranged in gaps between the four core conductors (1) and the wrapping tape (4);

the flexible cable for the robot can be prepared by the following steps:

s1, removing impurities from the copper metal material to obtain a base material of the core conductor (1), and drawing the selected copper metal material by a drawing machine to obtain a plurality of single wires;

s2, twisting and twisting the single wires prepared in the S1 together through a twisting machine, holding and fixing the twisted copper wires by using an insulation clamp, twisting the processed wire core conductor (1) into a circular structure, respectively adding a conductor shielding material and an insulation material into an extruder, heating to 150-200 ℃ for melting, and then extruding the materials onto the wire core conductor (1) with the circular structure through an extruder, so as to form an insulation layer (5) on the wire core conductor (1) and obtain an insulation wire core;

s3, filling the gaps of the insulated wire cores obtained in the step S2 with fillers (3), respectively wrapping a wrapping tape (4) and a shielding layer (6) on the outer layer, and wrapping a sheath (2) on the outer side of the shielding layer (6);

s4, after the cable is subjected to insulation test, the cable is coiled into a bundle through a glue removing coiling machine, a motor (14) of the coiling machine is driven by a belt wheel and a chain wheel, a coiling roller I (8) and a lead screw (21) are driven to rotate simultaneously, a glue removing device (7) is installed on the lead screw (21), the coiling roller I (8) and a coiling roller II (17) drive the cable to be coiled, the cable penetrates through the glue removing device (7), and a glue removing shovel (705) can shovel off residual plastic colloid on the cable.

2. The flexible cable for the robot as claimed in claim 1, wherein the glue removing and rolling machine comprises a glue removing device (7), a rolling roller I (8), a main case (9), a driving chain wheel (10), a driven belt pulley (11), a driven chain wheel (12), a driving belt pulley (13), a motor (14), a tensioning frame (15), a movable base (16), a rolling roller II (17), a base (18), an auxiliary case (19), a sliding plate (20) and a lead screw (21), wherein the main case (9) is fixedly installed on one side of the top of the base (18), the tensioning frame (15) is fixedly installed on the top of the main case (9), the motor (14) is installed on the top of the tensioning frame (15), the driving belt pulley (13) is fixedly connected to an output shaft of the motor (14), a rotating shaft (22) is rotatably connected to the middle of the main case (9), driven pulley (11) is installed to one side of pivot (22), belt (23) has been cup jointed on driven pulley (11) and drive pulley (13), mainframe box (9) is run through in pivot (22), pivot (22) extend to the opposite side of mainframe box (9), the opposite side of pivot (22) is installed and is rolled up roller (8), the fixed position that lies in between mainframe box (9) and driven pulley (11) on pivot (22) has drive sprocket (10), base (18) top opposite side fixed mounting has vice quick-witted case (19), vice machine case (19) lean on one side of mainframe box (9) to rotate and be connected with and roll up roller two (17), slide (20) are installed to one side of mainframe box (9) and vice machine case (19), the equal fixedly connected with mounting bracket in top both sides of slide (20), two rotate between the mounting bracket and be connected with lead screw (21), lead screw (21) lean on one side of mainframe box (9) to extend to one side of mounting bracket outside, lead screw (21) lean on one side fixedly connected with driven sprocket (12) of mainframe box (9), the chain has been cup jointed on drive sprocket (10) and driven sprocket (12), install movable base (16) on lead screw (21), threaded connection between movable base (16) and lead screw (21), the top fixedly connected with of lead screw (21) goes mucilage binding and puts (7), the bottom both sides of movable base (16) all rotate and are connected with the runner, sliding connection between movable base (16) through runner and slide (20).

3. The flexible cable for the robot as claimed in claim 2, wherein the stripping device (7) comprises a housing (701), a first feeding roller (702), a second feeding roller (703), a feeding port (704), a stripping shovel (705) and a feeding roller (706), a feed inlet (704) is formed in the middle of one side of the shell (701), the feed inlet (704) is cylindrical, a degumming shovel (705) is fixedly connected in the middle of the feed inlet (704), the degumming shovel (705) is of a circular structure, a feeding roller (706) is rotatably connected to the edge of one side of the feeding port (704), a plurality of feeding rollers (706) are circularly arranged, two sides of the middle of the shell (701) are rotatably connected with four feeding rollers II (703), and four feeding rollers I (702) are rotatably connected between the bottom and the inner wall of the top of the other side of the shell (701).

4. The flexible cable for the robot as claimed in claim 2 or 3, wherein the operation method of the glue removing and rolling machine comprises:

a motor (14) is started, a driving belt pulley (13) rotates, the driving belt pulley (13) drives a driven belt pulley (11) to rotate through the transmission of a belt (23), and therefore a driving chain wheel (10) and a first rolling roller (8) rotate simultaneously; under the transmission of a driving chain wheel (10) and a driven chain wheel (12), a lead screw (21) rotates along with the lead screw to drive a movable base (16) to move on a sliding plate (20) in the horizontal direction, a feeding roller I (702) in the vertical direction and a feeding roller II (703) in the horizontal direction are respectively installed on a glue removing device (7), after a cable enters the glue removing device (7), the cable keeps in a linear state under the guidance of the feeding roller I (702), the feeding roller II (703) and a feeding roller wheel (706), a rolling roller I (8) and a rolling roller II (17) drive the cable to move, a glue removing shovel (705) is in contact with residual glue on the surface of the cable to shovel the cable.

5. The flexible cable for robots as claimed in claim 1, wherein said copper metal material is an oxygen-free bare copper wire.

6. A flexible cable for robots, according to claim 1, characterized in that said sheath (2) is a highly wear resistant TPU elastomer material.

7. A flexible cable for robots according to claim 1, characterized in that said filler (3) is a nylon reinforcement.

8. The flexible cable for the robot as claimed in claim 1, wherein the shielding layer (6) is made of copper wire and has a single-layer unidirectional winding structure.

9. A flexible cable for robots according to claim 1, characterized in that the insulating layer (5) is a flexible TPEE elastomer, wherein the thickness of the insulating layer (5) is 0.2mm to 0.25 mm.