CN113871092A

CN113871092A - Flame-retardant wear-resistant anti-torsion anti-electromagnetic interference cable for robot body and production method thereof

Info

Publication number: CN113871092A
Application number: CN202111043080.5A
Authority: CN
Inventors: 石磊; 卢柱; 应志鹏; 薛世鹏; 赵明; 邵志康; 朱杭忠
Original assignee: ZHEJIANG WANMA GROUP SPECIAL ELECTRON CABLE CO Ltd
Current assignee: ZHEJIANG WANMA GROUP SPECIAL ELECTRON CABLE CO Ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2021-12-31
Anticipated expiration: 2041-09-07
Also published as: CN113871092B

Abstract

The invention discloses a flame-retardant wear-resistant anti-torsion anti-electromagnetic interference cable for a robot body and a production method thereof. The polypropylene foaming yarn filling line is located at the center, six inner core wires are arranged around the inner polypropylene foaming yarn filling line and are twisted into a cable, a polytetrafluoroethylene oriented film wrapping tape is wrapped around the outer periphery of the cable, a copper foil wire shielding layer is wrapped around the wrapping tape in a one-way mode, an extrusion-level halogen-free conductive inner sheath shielding layer is wrapped around the copper foil wire shielding layer, a non-woven fabric wrapping tape is wrapped around the halogen-free conductive inner sheath shielding layer, a halogen-free flame-retardant polyurethane inner sheath is wrapped around the non-woven fabric wrapping tape, and a transparent wear-resistant polyurethane outer sheath is wrapped around the polyurethane inner sheath. The invention is used for the robot body data transmission cable in a complex electromagnetic environment, and has very high electromagnetic shielding efficiency to solve the problem of electromagnetic compatibility generated in the long-term torsion application process; has flame retardance and high wear resistance in the application process of narrow space.

Description

Flame-retardant wear-resistant anti-torsion anti-electromagnetic interference cable for robot body and production method thereof

Technical Field

The invention relates to a data transmission cable in an industrial field complex electromagnetic environment and a production method thereof, in particular to a flame-retardant wear-resistant torsion-resistant anti-electromagnetic interference data transmission cable for a robot body and a production method thereof.

Background

Industrial robots are multi-joint manipulator devices that operate in accordance with a predetermined program setting and have multiple degrees of freedom, and are widely used in the fields of automobile manufacturing, industrial automation, industrial precision equipment, and the like. The industrial robot receives the instruction of the computer and sets the work of assembling, painting, grabbing, spot welding, displacing and the like according to the instruction, and the work state of stability, high efficiency, high speed and accuracy is kept in the motion process. The information transmission needs to be carried out between the command sending and the robot receiving by means of a robot cable, and the cable structure and the operation state determine that the cable structure is a main interference source in the complex electromagnetic environment of an industrial field and is more susceptible to the electromagnetic interference of the external environment, so that the wear-resisting, weather-resisting and mechanical torsion stress resisting adaptive capacity of the cable of the industrial robot and the stable signal transmission capacity are kept to play a vital role in the safety of the production field and the reliable operation of the mechanical arm.

Because the industrial robot needs to adopt large-gyration axial torsion action operation in an actual application environment according to a set program, the metal winding shielding layer is continuously opened and closed under the torsion stress in the repeated motion process, and the shielding efficiency is reduced. The outer sheath of the cable for the industrial robot can directly contact the equipment body, such as a nylon material rotating shaft joint or a metal pipe body, so that the outer sheath of the cable needs to have excellent wear resistance and mechanical stress resistance, the service life of the cable is effectively prolonged, and meanwhile, the operation flexibility and efficiency of robot design can be further promoted.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a flame-retardant wear-resistant torsion-resistant anti-electromagnetic interference cable for a robot body and a production method thereof. The invention is used for the robot body data transmission cable in a complex electromagnetic environment, and has very high electromagnetic shielding efficiency to solve the problem of electromagnetic compatibility generated in the long-term torsion application process; has flame retardance and high wear resistance in the application process of narrow space.

The invention adopts the following technical scheme:

the utility model provides a fire-retardant wear-resisting antitorque commentaries on classics anti electromagnetic interference cable for robot body:

the cable comprises a polypropylene foaming yarn filling line, a copper-tin alloy wire, a polytetrafluoroethylene oriented film wrapping tape, a copper foil wire shielding layer, a halogen-free conductive inner sheath shielding layer, a non-woven fabric wrapping tape, a halogen-free flame-retardant polyurethane inner sheath and a transparent wear-resistant polyurethane outer sheath; the polypropylene foaming yarn filling line is located the center of cable, the output heart yearn behind the TPE mixture is given as security out to copper tin alloy silk transposition conductor, two heart yearns are twisted in pairs and are arranged the back and form interior heart yearn, six interior heart yearns are arranged around the polypropylene foaming yarn filling line and are twisted into the cable, be six pairs behind two liang of pair twists of heart yearns promptly, six pairs of periphery cladding polytetrafluoroethylene oriented film band outside the heart yearn, polytetrafluoroethylene oriented film out-of-band winding copper foil silk shielding layer, give as security out the electrically conductive inner sheath shielding layer of halogen-free outside the copper foil silk shielding layer, wrap up the non-woven fabrics band outside the electrically conductive inner sheath shielding layer of halogen-free, give as security out the outer sheath of transparent wear-resisting polyurethane of halogen-free polyurethane of inner sheath further.

The thickness of the copper-tin alloy wire is as follows: 0.08 mm.

The TPE mixture is halogen-free, high in mechanical strength and low in dielectric constant, halogen-free means that the material does not contain halogen element fluorine, chlorine, bromine and astatine, and burning of human respiratory tracts cannot be caused due to release of halogen acid gas in the material burning process. The high mechanical strength means that the breaking tensile strength is more than 30MPa, the low dielectric constant means that the product is designed to be used for a robot body encoder or high-frequency high-speed signal transmission, therefore, the insulating material not only needs to have the high mechanical strength for coping with long-term torsion application, but also needs to have the characteristic of continuous stability and low delay in the high-frequency high-speed signal transmission process, the relative dielectric constant of the material is 2.4-2.6, and is far lower than that of a common insulating material such as polyvinyl chloride, and the dielectric constant is usually 3.2-3.8.

The TPE mixture is a blend of which the chemical components take PP polypropylene as a hard chain segment and SEBS styrene-ethylene-butylene-styrene block copolymer as a soft chain segment and PPO polyphenyl ether is added.

The halogen-free flame retardant polyurethane inner sheath is prepared by mixing thermoplastic polyurethane, a styrene elastomer grafted by maleic anhydride, an amino-grafted styrene elastomer, an ethylene acrylate copolymer and a halogen-free high-efficiency expansion P-N (phosphorus nitrogen) compound flame retardant; the thermoplastic polyurethane, the maleic anhydride grafted styrene elastomer, the amino grafted styrene elastomer, the ethylene acrylate copolymer and the halogen-free high-efficiency expanded P-N (phosphorus-nitrogen) compound flame retardant are prepared from the following components in percentage by mass: 40-50: 7-12: 3-5: 4-8: 15 to 30.

The transparent wear-resistant polyurethane outer sheath is prepared by mixing thermoplastic polyurethane, a maleic anhydride grafted styrene elastomer, an amino grafted styrene elastomer, an ethylene acrylate copolymer and an anti-hydrolysis agent, wherein the mass fraction ratio of the thermoplastic polyurethane, the maleic anhydride grafted styrene elastomer, the amino grafted styrene elastomer, the ethylene acrylate copolymer and the anti-hydrolysis agent is as follows: 55-65: 10-15: 5-8: 6-12: 1.2 to 1.8.

The copper-tin alloy wire stranded conductor and the TPE mixture form a core wire structure; the copper foil wire shielding layer and the halogen-free conductive inner sheath shielding layer form a shielding structure; the halogen-free flame-retardant polyurethane inner sheath and the transparent wear-resistant polyurethane outer sheath form a sheath structure.

Use of said cable for data transmission.

Secondly, a production method of the flame-retardant, wear-resistant, torsion-resistant and electromagnetic interference-resistant cable for the robot body comprises the following steps:

the method comprises the following steps:

1) preparing an inner core wire: preparing an inner conductor by stranding copper-tin alloy wires, and preparing an insulating layer by coating a TPE mixture outside the copper-tin alloy wires to form a core wire;

2) preparing a twisted wire pair: twelve core wires are grouped and twisted pairwise to form six inner core wires, each pair of wires are twisted by adopting a small pitch, the twisting pitches are distinguished, dislocation in the signal transmission process is ensured, mutual crosstalk is avoided, all the inner core wires are produced in a untwisting mode, and torsional stress is completely eliminated;

the small pitch means that the pitch from the crest to the crest of the twisted pair is about 8 times the outer diameter of the twist. The method is characterized in that the twisting pitches are distinguished, specifically, the pitches of each pair of lines are differentiated during design, the precision control of twisting distance is guaranteed, and the probability of occurrence of sound transmission between adjacent lines of lines is reduced through a cross effect.

3) Preparing a finished cable: the polypropylene foaming yarn filling line is positioned in the center, the six inner core wires are distributed around the six inner core wires in a dispersed manner, the six inner core wires are wrapped by the polytetrafluoroethylene oriented film wrapping tape to complete cabling, the six inner core wires are all produced in a untwisting mode during cabling to eliminate torsional stress, internal pores of the six inner core wires are completely and tightly filled by the polypropylene foaming yarn of the polypropylene foaming yarn filling line after cabling is completed, and the six inner core wires cannot be displaced;

the polypropylene foaming yarns are formed by combining foaming polypropylene monofilaments and are characterized in that the polypropylene foaming yarns can be pressed to reduce the volume during compression, and the polypropylene foaming yarns can be fluffy, dispersed and fixed into an internal structure of a cable after pressure is released.

4) Preparing a metal shielding layer: the copper foil wire shielding layer is spirally coated on the cabling wire of the six-pair internal core wire by adopting a winding process, the winding direction is consistent with the cabling direction, and the shielding rate is not less than 95%;

5) preparing a halogen-free conductive inner sheath shielding layer: compounding and superposing the halogen-free conductive inner sheath shielding layer and the metal copper foil wire shielding layer into a whole by adopting a melt extrusion process, and then coating the metal copper foil wire shielding layer outside the copper foil wire shielding layer; then, coating the non-woven fabric outside the copper foil wire shielding layer;

6) preparing a double-layer sheath: the halogen-free flame-retardant polyurethane inner sheath and the transparent wear-resistant polyurethane outer sheath are extruded and fused into a whole by adopting a parallel arrangement double extruder, and then are coated outside the non-woven fabric wrapping band.

In the step 5), the halogen-free conductive inner sheath shielding layer is formed by dispersing and mixing superfine nickel-zinc-copper ferrite in the SEBS elastomer copolymer, wherein the mixing and adding proportion of the nickel-zinc-copper ferrite is 15% of the total mass of the SEBS elastomer copolymer and the nickel-zinc-copper ferrite, namely the SEBS elastomer copolymer has the mass content of 85%, the nickel-zinc-copper ferrite has the mass content of 15%, and the shielding effectiveness is 40-50 dB.

The SEBS elastomer copolymer mixed with the ferrite is obtained by closely extruding and preparing in a copper foil wire shielding layer, a 38 chromium molybdenum aluminum added tungsten carbide coating is adopted for an extrusion screw, and a double-alloy tungsten carbide/nickel-based alloy is adopted for an extrusion screw cylinder inner cylinder body, so that the processing difficulty caused by the ferrite can be avoided, and the service life of equipment can be shortened.

In the step 6), the halogen-free flame-retardant polyurethane inner sheath is black, and is characterized by being halogen-free, high in flame retardance and high in bending modulus, the transparent wear-resistant polyurethane outer sheath is transparent, and is characterized by being high in oil resistance and friction resistance.

6) in, the inside and outside layer polyurethane material is once given as security out through the two extruder of parallel arrangement, give as security out the back of accomplishing at the nothing steamed flame retardant polyurethane inner sheath, give as security out transparent wear-resisting polyurethane oversheath at once when the surface still is soft state to guarantee that two-layer material fuses together, the tangent plane is only discernable through the colour.

The innovation of the invention is that:

generally, a metal shielding material is used for directly weaving or winding the electric wire and the cable in an electromagnetic compatibility technology, the shielding efficiency is good and the performance is stable in static application, but the metal shielding structure is subjected to opening and closing displacement and is easy to break in a torsional motion state, so that the shielding efficiency is reduced, and the signal transmission reliability is reduced. According to the invention, the high-conductivity ultrafine ferrite material is dispersed and added in the SEBS elastomer copolymer in the halogen-free conductive inner sheath shielding layer and is wrapped on the metal shielding layer in an extrusion manner to be integrated, so that the electromagnetic wave radiation interference resistance and the digital communication information leakage prevention capability of the cable in the robot twisting process are enhanced.

The metal shielding material used by the electric wire and the electric cable is a monofilament copper conductor, and in order to enhance the bending-resistant and twisting-resistant strength and the service life of the metal shielding layer, the copper foil wire material is adopted to replace the monofilament copper conductor to serve as the metal shielding material. The copper foil silk structure is the hollow cylinder structure that the heliciform winding formed outside the dacron silk for the slice copper foil, can release internal stress along the distortion direction when the distortion is used, compares the solid cylindrical structure of monofilament copper conductor and can possess stronger resistant crooked resistant distortion performance.

The cable sheath for the robot body needs to have the characteristics of flame retardance, wear resistance, weather resistance, high mechanical strength and the like, the formula of the material is restricted by comprehensive properties in the practical application process, balance is difficult to carry out, and the overall cost of the material is increased while the properties are continuously added and overlapped.

According to the invention, the robot body is divided into an inner layer and an outer layer by the cable sheath, two sheath materials of the halogen-free flame-retardant polyurethane inner sheath and the transparent wear-resistant polyurethane outer sheath are prepared by adopting different treatment modes, the two material formulas are designed in a differentiation manner and respectively protrude independent characteristics, the inner layer is high in flame retardance and bending resistance modulus, the outer layer is high in oil resistance and friction resistance, and the inner layer and the outer layer are extruded and fused into a whole at the same time, so that the overall performance is integrated.

Drawings

FIG. 1 is a schematic structural view of a flame-retardant, wear-resistant, torsion-resistant, and electromagnetic interference-resistant cable for a robot body according to the present invention;

in the figure: the cable comprises a polypropylene foaming yarn filling line (1), copper-tin alloy wires (2), a TPE mixture (3), polytetrafluoroethylene oriented film wrapping bands (4), a copper foil wire shielding layer (5), a halogen-free conductive inner sheath shielding layer (6), non-woven fabric wrapping bands (7), a halogen-free flame-retardant polyurethane inner sheath (8) and a transparent wear-resistant polyurethane outer sheath (9).

Detailed Description

The present invention will be further described with reference to the following examples.

As shown in fig. 1, the concrete implementation includes a polypropylene foamed yarn filling thread 1, a copper-tin alloy wire 2, a halogen-free high-mechanical-strength low-dielectric-constant TPE mixture 3, a polytetrafluoroethylene oriented film tape 4, a copper foil wire shielding layer 5, a halogen-free conductive inner sheath shielding layer 6, a non-woven fabric tape 7, a halogen-free flame-retardant polyurethane inner sheath 8, and a transparent wear-resistant polyurethane outer sheath 9; the polypropylene foaming yarn filling line 1 is located at the center, the core wire is produced after the TPE mixture 3 with halogen-free high mechanical strength and low dielectric constant is extruded by the copper-tin alloy wire stranded conductor 2, the core wire is twisted in pairs to form six pairs, the six pairs of core wires are arranged around the polypropylene foaming yarn filling line 1 and are stranded into a cable, the periphery of the six pairs of core wires is coated with polytetrafluoroethylene oriented film wrapping belts 4, the polytetrafluoroethylene oriented film wrapping belts 4 are wound with copper foil wire shielding layers 5, the halogen-free conductive inner sheath shielding layers 6 are extruded outside the copper foil wire shielding layers 5, the halogen-free conductive inner sheath shielding layers 6 are wrapped with non-woven fabric wrapping belts 7, the halogen-free flame-retardant polyurethane inner sheaths 8 are extruded outside the non-woven fabric wrapping belts 7, and the transparent wear-resistant polyurethane outer sheaths 9 are further extruded outside the halogen-free flame-retardant polyurethane inner sheaths 8.

The embodiment of the invention comprises the following steps:

step a:

preparing an inner core wire: the inner core wire is stranded by adopting copper-tin alloy wires 2 to prepare an inner conductor, and a halogen-free TPE mixture 3 with high mechanical strength and low dielectric constant is selected to prepare an insulating layer;

step b:

preparing a twisted wire pair: twelve internal core wires are grouped to be twisted in pairs, each pair of wires is twisted by adopting a small pitch, the twisted pitches are distinguished, dislocation in the signal transmission process is ensured, mutual crosstalk is avoided, all the core wires are produced in a untwisting mode, and torsional stress is completely eliminated;

step c:

preparing a finished cable: the polypropylene foaming yarn filling line 1 is located at the center, six inner core wires are dispersedly distributed on the periphery, the six inner core wires are wrapped by the polytetrafluoroethylene oriented film wrapping tape 4 to complete cabling, the six inner core wires are all produced in a untwisting mode to eliminate torsional stress during cabling, the internal pores of the six inner core wires are completely filled by the polypropylene foaming yarn filling line tightly after cabling is completed, and the six inner core wires cannot be displaced.

Step d:

preparing a metal shielding layer: the copper foil wire shielding layer 5 is spirally coated on the cabling wire by adopting a winding process, the winding direction is consistent with the cabling direction, and the shielding rate is not less than 95%;

step e:

preparing a halogen-free conductive inner sheath shielding layer: the halogen-free conductive inner sheath shielding layer 6 is formed by dispersing and mixing ultrafine nickel-zinc-copper ferrite in SEBS elastomer copolymer, the mixing proportion of the ferrite is 15% of the total amount, and the shielding effectiveness is 40-50 dB. The SEBS elastomer copolymer mixed with the ferrite is required to be tightly extruded on a copper foil wire shielding layer, in order to avoid processing difficulty caused by the ferrite and reduce the service life of equipment, a 38 chromium molybdenum aluminum added tungsten carbide coating is adopted by an extrusion screw, and a double-alloy tungsten carbide/nickel-based alloy is adopted by an extrusion screw cylinder inner cylinder body.

Then, coating the non-woven fabric outside the copper foil wire shielding layer 5;

step f:

preparing a double-layer sheath: the halogen-free flame-retardant polyurethane inner sheath 8 is black, the material is characterized by halogen-free high flame-retardant high bending modulus, the transparent wear-resistant polyurethane outer sheath 9 is transparent, the material is characterized by high oil resistance and friction resistance, and the inner layer and the outer layer of polyurethane material are made of the same base material resin. Inside and outside layer polyurethane material is once given as security out through the two extruder of parallel arrangement, does not have steamed flame retardant polyurethane inner sheath 8 and gives as security out the completion back, gives as security out transparent wear-resisting polyurethane oversheath 9 at once when the surface still is soft attitude to guarantee that two-layer material fuses as an organic whole, the tangent plane is only accessible colour to be discerned.

In this example, a Torsion Test was performed according to TUV 2PfG 2577Annex G2D Tosion Test, the Torsion angle was + -180 degrees, the length of freedom of the sample was 0.5m, the Test speed was 60 times/min, and the transfer impedance Test was performed according to TUV 2PfG 2577 after 1000 ten thousand consecutive Torsion tests, and the Test results were as follows:

the test data of the transfer impedance of the test sample line before the torsion test is 158m omega/m AVG @30MHz, the test data of the transfer impedance after the torsion test is carried out for 1000 ten thousand times is 182m omega/m AVG @30MHz, the test sample line is dissected to a metal shielding layer, the wire breakage rate of the copper foil wire is 32%, and the transfer impedance after the torsion test is increased by 15.19% compared with the measured data before the torsion test.

In this example, a test was performed according to JB _ T10696.6 in accordance with the sheath scrub test, wherein the test load is 1kg, the scrub stroke of the angle iron is 250mm, the scrub speed is 0.1m/s, and the sheath skin thickness loss was measured after 2000 consecutive reciprocal scrub tests, and the test results are as follows:

the measurement size of the test sample wire before scraping and grinding is 9.0mm AVG, the measurement diameter of the test sample wire after 2000 times of load-bearing angle iron scraping and grinding tests is 8.8mm AVG, the loss of a scraping and grinding area is 0.2mm, and the thickness of the test sample wire after scraping and grinding tests is reduced by 20% compared with the standard thickness of a standard sheath.

Comparative example 1

The metal shielding layer is changed from single-layer copper foil wire winding and halogen-free conductive inner sheath shielding layer to double-layer copper foil wire winding, and the double-layer sheath preparation is changed to single-layer sheath preparation.

Step a:

step b:

step c:

Step d:

preparing a metal shielding layer: the copper foil wire shielding layer is firstly spirally coated on the cabling wire by adopting a winding process, the winding direction is consistent with the cabling direction, and the shielding rate is not less than 95%; after the first layer of winding is finished, winding the second layer of copper foil wire shielding layer again, wherein the shielding rate is not less than 95% as well;

step e:

preparing a single-layer sheath: the halogen-free flame-retardant polyurethane sheath material formula needs to meet core indexes, has no halogen, high oil resistance, high flame retardance and high bending modulus, and is finished by single-layer extrusion at one time.

the test data of the transfer impedance of the test sample line before the torsion test is 146m omega/m AVG @30MHz, the test data of the transfer impedance after the torsion test is carried out for 1000 ten thousand times is 275m omega/m AVG @30MHz, the test sample line is dissected to the metal shielding layer, the wire breakage rate of the double-layer copper foil wire is 32%, and the transfer impedance after the torsion test is increased by 88.36% compared with the measured data before the torsion test.

the measurement size of the test sample wire before scraping and grinding is 9.0mm AVG, the measurement diameter of the test sample wire after 2000 times of load-bearing angle iron scraping and grinding tests is 8.5mm AVG, the loss of a scraping and grinding area is 0.5mm, and the thickness of the test sample wire after scraping and grinding tests is reduced by 50% compared with the standard thickness of a standard sheath.

By performing transfer impedance test analysis on the embodiment and the comparative example 1, the shielding effectiveness of the copper foil wire shielding layer composite halogen-free conductive inner sheath shielding layer scheme after high-strength torsion test can be determined, and the scheme is superior to a double-layer copper foil wire winding shielding layer, so that the remarkable technical effect is achieved.

Through angle iron scraping and grinding test analysis of the embodiment and the comparative example 1, the wear resistance of the scheme of adopting the double-layer sheath and carrying out differential design on the inner layer material formula and the outer layer material formula can be determined, the scheme is superior to the scheme of a single formula of a single-layer sheath, and the remarkable technical effect is achieved.

The above description is only one embodiment of the present invention, and not intended to limit the scope of the invention, and all equivalent changes or modifications made by the constructions, features, and principles described in the claims of the present invention should be included in the claims of the present invention.

Claims

1. The utility model provides a robot is anti electromagnetic interference cable of antitorque commentaries on classics with fire-retardant wear-resisting which characterized in that:

the cable comprises a polypropylene foaming yarn filling line (1), a copper-tin alloy wire (2), a polytetrafluoroethylene oriented film wrapping tape (4), a copper foil wire shielding layer (5), a halogen-free conductive inner sheath shielding layer (6), a non-woven fabric wrapping tape (7), a halogen-free flame-retardant polyurethane inner sheath (8) and a transparent wear-resistant polyurethane outer sheath (9);

polypropylene foaming yarn filling line (1) is located the center of cable, output heart yearn behind TPE mixture (3) is given as security out in copper tin alloy silk transposition conductor (2), two heart yearns are twisted pair and are arranged the back and form interior heart yearn, six interior heart yearns are arranged around polypropylene foaming yarn filling line (1) and are twisted into the cable, six outer periphery cladding polytetrafluoroethylene oriented film band (4) of heart yearn, polytetrafluoroethylene oriented film band (4) outer winding copper foil silk shielding layer (5), copper foil silk shielding layer (5) are given as security out halogen-free electrically conductive inner sheath shielding layer (6), halogen-free electrically conductive inner sheath shielding layer (6) outer parcel non-woven fabrics band (7), non-woven fabrics band (7) outer halogen-free flame retardant polyurethane inner sheath (8) of giving as security out, halogen-free flame retardant polyurethane inner sheath (8) are given as security out transparent wear-resistant polyurethane oversheath (9) further outward.

2. The flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 1, wherein: the TPE mixture (3) is a blend of PP polypropylene as a hard segment and SEBS styrene-ethylene-butylene-styrene block copolymer as a soft segment and added with PPO polyphenylene oxide.

3. The flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 1, wherein: the halogen-free flame-retardant polyurethane inner sheath (8) is prepared by mixing thermoplastic polyurethane, a styrene elastomer grafted by maleic anhydride, an amino-grafted styrene elastomer, an ethylene acrylate copolymer and a halogen-free high-efficiency expansion P-N (phosphorus nitrogen) compound flame retardant; the thermoplastic polyurethane, the maleic anhydride grafted styrene elastomer, the amino grafted styrene elastomer, the ethylene acrylate copolymer and the halogen-free high-efficiency expanded P-N (phosphorus-nitrogen) compound flame retardant are prepared from the following components in percentage by mass: 40-50: 7-12: 3-5: 4-8: 15 to 30.

4. The flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 1, wherein: the transparent wear-resistant polyurethane outer sheath (9) is prepared by mixing thermoplastic polyurethane, a maleic anhydride grafted styrene elastomer, an amino grafted styrene elastomer, an ethylene acrylate copolymer and an anti-hydrolysis agent, wherein the mass fraction ratio of the thermoplastic polyurethane, the maleic anhydride grafted styrene elastomer, the amino grafted styrene elastomer, the ethylene acrylate copolymer and the anti-hydrolysis agent is as follows: 55-65: 10-15: 5-8: 6-12: 1.2 to 1.8.

5. The flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 1, wherein:

the copper-tin alloy wire stranded conductor (2) and the TPE mixture (3) form a core wire structure; the copper foil wire shielding layer (5) and the halogen-free conductive inner sheath shielding layer (6) form a shielding structure; the halogen-free flame-retardant polyurethane inner sheath (8) and the transparent wear-resistant polyurethane outer sheath (9) form a sheath structure.

6. The use of the flame-retardant, abrasion-resistant, torsion-resistant, electromagnetic interference-resistant cable for a robot body according to claim 1, wherein: use of said cable for data transmission.

7. The production method of the flame-retardant, wear-resistant, torsion-resistant and electromagnetic interference-resistant cable applied to the robot body as claimed in any one of claims 1 to 5 is characterized in that:

the method comprises the following steps:

1) preparing an inner core wire: the inner core wire is stranded by adopting a copper-tin alloy wire (2) to prepare an inner conductor, and a TPE mixture (3) is selected to cover the copper-tin alloy wire (2) to prepare an insulating layer, so that the core wire is formed;

2) preparing a twisted wire pair: pairwise twisting twelve core wires in groups to form six inner core wires, wherein each pair of wires is twisted by adopting a small pitch, the twisting pitches are distinguished, and all the inner core wires are produced in a untwisting mode;

3) preparing a finished cable: the polypropylene foaming yarn filling line (1) is positioned in the center, six inner core wires are distributed around the center in a dispersed manner, and are wrapped by a polytetrafluoroethylene oriented film wrapping tape (4) to complete cabling, all the six inner core wires are produced in a untwisting mode during cabling, and after cabling is completed, the inner pores of the six inner core wires are completely and tightly filled by the polypropylene foaming yarn of the polypropylene foaming yarn filling line (1);

4) preparing a metal shielding layer: the copper foil wire shielding layer (5) is spirally coated on the cabling wire of the six pairs of inner core wires by adopting a winding process, and the winding direction is consistent with the cabling direction;

5) preparing a halogen-free conductive inner sheath shielding layer: the halogen-free conductive inner sheath shielding layer (6) is compounded and superposed with the metal copper foil wire shielding layer into a whole by adopting a melt extrusion process, and then the metal copper foil wire shielding layer is coated outside the copper foil wire shielding layer (5); then, coating the non-woven fabric outside the copper foil wire shielding layer (5);

6) preparing a double-layer sheath: the halogen-free flame-retardant polyurethane inner sheath (8) and the transparent wear-resistant polyurethane outer sheath (9) are extruded and fused into a whole by adopting a parallel arrangement double extruder, and then are coated outside the non-woven fabric belting (7).

8. The method for producing the flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 7, wherein the method comprises the following steps: in the step 5), the halogen-free conductive inner sheath shielding layer (6) is formed by dispersing and mixing nickel-zinc-copper ferrite in the SEBS elastomer copolymer, the mixing and adding proportion of the nickel-zinc-copper ferrite is 15% of the total mass of the SEBS elastomer copolymer and the nickel-zinc-copper ferrite, and the shielding effectiveness is 40-50 dB.

9. The method for producing the flame-retardant, wear-resistant, torsion-resistant, electromagnetic interference-resistant cable for the robot body according to claim 7, wherein the method comprises the following steps: 6) in, the inside and outside layer polyurethane material is given as security out through parallel arrangement two extruder once, give as security out the completion back in no halogen flame retardant polyurethane inner sheath (8), give as security out transparent wear-resisting polyurethane oversheath (9) at once when the surface still is soft promptly to guarantee that two-layer material fuses together.