CN114613530B

CN114613530B - Robot cable

Info

Publication number: CN114613530B
Application number: CN202210170615.3A
Authority: CN
Inventors: 李桑蒿; 陈炎炎; 杨奇锋; 文维益; 贺自成
Original assignee: Hunan Valin Wire and Cable Co Ltd
Current assignee: Hunan Valin Wire and Cable Co Ltd
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2023-09-01
Anticipated expiration: 2042-02-24
Also published as: CN114613530A

Abstract

The invention provides a robot cable, which comprises a jacket, a live wire, a zero wire, a ground wire, a signal wire, an air pipe for conveying gas and a hydraulic pipeline for conveying fluid, wherein the live wire, the zero wire, the ground wire and the signal wire are arranged in the jacket. According to the invention, the hydraulic pipe and the air pipe are combined into the communication cable and the power cable to form the water-electricity-gas composite cable, so that the water-electricity-gas integration is realized, and the cable is applied to robots and other devices, so that the internal space of the robots and the devices is greatly saved; the arrangement of the insulating material meets the use environment of frequent bending movement on the premise of ensuring the insulating performance; the raw materials of the cable jacket have excellent wear resistance.

Description

Robot cable

Technical Field

The invention belongs to the technical field of cables, and particularly relates to a robot cable.

Background

In modern industrial production, many processes require simultaneous supply of electricity, gas and other fluids, such as in spray painting processes, where the spray painting device requires gas, spray painting raw materials, and electricity, etc. when spraying with air. In the prior art, separate pipelines, wires and the like are needed for gas supply and paint spraying raw material supply, and the pipelines can complicate and mess the paint spraying device, so that the occupied space of the paint spraying device is increased.

Disclosure of Invention

Aiming at the problems existing in the prior art, the invention aims to provide a robot cable, which combines a hydraulic pipe and an air pipe into a communication cable and a power cable to form a water-electricity-gas composite cable, so as to realize water-electricity-gas integration, and the cable is applied to robots and other devices, thereby greatly saving the internal space of the robots and the devices; the arrangement of the insulating material meets the use environment of frequent bending movement on the premise of ensuring the insulating performance; the raw materials of the cable jacket have excellent wear resistance.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

a robotic cable comprising a sheath and live, neutral, ground, signal lines within the sheath, as well as a gas pipe for conveying gas and a hydraulic line for conveying fluid.

As a further improvement of the above technical scheme:

the insulation layers of the live wire, the zero wire and the ground wire are made of soft PVC insulation materials, the soft PVC insulation materials are composed of various raw materials, and the raw materials of the soft PVC insulation materials comprise, but are not limited to, polyvinyl chloride resin, dibutyl phthalate, calcium-zinc composite stabilizer, filler, colorant, antioxidant, methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer.

The soft PVC insulating material consists of polyvinyl chloride resin, dibutyl phthalate, calcium zinc composite stabilizer, filler, colorant, antioxidant, methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer, wherein the mass ratio of the polyvinyl chloride resin, dibutyl phthalate, calcium zinc composite stabilizer, filler, colorant, antioxidant, methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer is

68～72:16～20:0.9～1.1:0.3～0.5:0.05～0.1:0.1～0.3:0.2～0.4:8～12。

The signal wire comprises a polyester layer II, a woven shielding layer, a polyester layer I and two signal wire cores, wherein the woven shielding layer, the polyester layer I and the two signal wire cores are wrapped in the polyester layer II, the woven shielding layer and the polyester layer I are sequentially arranged from outside to inside, and the two signal wire cores are positioned in the polyester layer I.

The two signal wire cores are twisted in pairs, namely 2X 0.5 communication wires are twisted in pairs, the cable-forming pitch diameter ratio is 10-12, the direction is right, a layer of polyester tape is wound after the cable is formed, the covering rate is controlled to be 15-25%, tin-plated copper wires are adopted to weave and shield after the twisted tape is twisted in pairs, the wire gauge is 16X 5X 0.15, the pitch is 16, the weaving density is not less than 80%, the polyester tape is wound outside the polyester tape after weaving, a weaving shielding layer is formed, the covering rate is controlled to be not less than 15%, and the polyester layer is wrapped outside the weaving shielding layer.

The hydraulic pipeline comprises four layers from inside to outside, wherein the four layers are an inner adhesive layer, a middle adhesive layer, a steel wire weaving layer and an outer adhesive layer in sequence, the inner adhesive layer, the middle adhesive layer and the outer adhesive layer are all made of synthetic rubber, and the steel wire weaving layer is formed by weaving steel wires.

The fire wire, the zero line, the ground wire, the signal wire, the air pipe and the hydraulic pipeline are twisted into a cable, the outermost layer is twisted to the right, the hydraulic pipeline is taken as the center, and the fire wire, the zero line, the ground wire, the signal wire and the air pipe are wound on the hydraulic pipeline.

The jacket is composed of a variety of materials including, but not limited to, polytetrahydrofuran ether, calcium powder, APP, MCA, 1010, OP wax.

The coat consists of six raw materials of polytetrahydrofuran ether, calcium powder, APP, MCA, 1010 and OP wax, wherein the mass ratio of the polytetrahydrofuran ether to the calcium powder to the APP to the MCA to the 1010 to the OP wax is 65-70:3-8:15-23:5-10:0.2-0.8:0.1-0.5.

The beneficial effects of the invention are as follows: the hydraulic pipe and the air pipe are combined into the communication cable and the power cable to form a water-electricity-gas composite cable, so that water-electricity-gas integration is realized, and the cable is applied to robots and other devices, so that the internal space of the robots and the devices is greatly saved; the insulating material has the raw materials and the proportion that the elongation at break of the insulating material is more than or equal to 270 percent, the tensile strength is more than or equal to 18Mpa, and the volume resistivity is more than or equal to 2.7 x 10 ¹² The use environment of frequent bending movement is satisfied on the premise of ensuring the insulation performance; the cable jacket has excellent wear resistance by adopting the raw material composition and the proportion, and the Taber abrasion value is 0.35-0.5mg; the elongation at break is more than or equal to 550%; the tensile strength is more than or equal to 50Mpa; the oil-resistant, low-temperature-resistant, weather-resistant and ozone-resistant performance is excellent; is suitable for the technological environments such as paint spraying and the like.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic cross-sectional view of the present invention.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

A robot cable, as shown in fig. 1 and 2, comprises a jacket 7, a live wire 1, a neutral wire 2, a ground wire 3, an air pipe 4, a signal wire 5 and a hydraulic pipeline 6 which are positioned in the jacket 7.

The live wire 1 comprises a conductor I and an insulating layer I which is covered outside the conductor I.

The zero line 2 comprises a second conductor and a second insulating layer wrapping the second conductor.

The ground wire 3 includes a conductor three and an insulating layer three surrounding the conductor three.

The signal wire 5 comprises a second polyester layer 54, a woven shielding layer wrapped in the second polyester layer 54, a first polyester layer and two signal wire cores 51. The second polyester layer 54, the woven shielding layer and the first polyester layer are sequentially arranged from outside to inside, namely, the woven shielding layer is positioned between the second polyester layer 54 and the first polyester layer. Two signal wire cores 51 are located in one of the polyester layers.

The two signal wire cores 51 are twisted in pairs, namely 2X 0.5 communication wires are twisted in pairs, the cable-forming pitch diameter ratio is 10-12, the direction is right, a layer of polyester tape is wound after the cable is formed, a polyester layer I is formed, and the covering rate is controlled to be 15-25%. After the twisted pair of belts are adopted for braiding shielding, a tinned copper wire gauge is adopted for 16 x 5 x 0.15, the pitch is 16, the braiding density is not less than 80%, the braided pair of belts are wound outside a polyester layer I after braiding, a braided shielding layer is formed, and the lap ratio is controlled to be not less than 15%. Finally, a second polyester layer 54 is wrapped around the woven shield.

The signal wire core 51 includes a conductor four and an insulating layer four surrounding the conductor four.

In this embodiment, the live wire 1 is 2.5 square, the neutral wire 2 is 2.5 square, and the ground wire 3 is 2.5 square.

Conductors of the live wire 1, the zero wire 2, the ground wire 3 and the signal wire 5, namely a conductor I, a conductor II, a conductor III and a conductor IV all accord with the regulations of 6 copper conductors in GB/T3956-2008, the pitch diameter ratio is not more than 12 times, the twisting appearance is round, and the defects such as strand jumping and strand scattering are avoided.

The first insulating layer, the second insulating layer and the third insulating layer are made of soft PVC insulating materials. The soft PVC insulating material is composed of various raw materials, wherein the raw materials of the soft PVC insulating material comprise, but are not limited to, polyvinyl chloride resin, dibutyl phthalate, a calcium-zinc composite stabilizer, a filler, a colorant, an antioxidant, a methyl methacrylate/acrylate copolymer processing aid and ethylene propylene diene monomer rubber.

In the embodiment, the raw materials of the soft PVC insulating material comprise polyvinyl chloride resin, dibutyl phthalate, a calcium-zinc composite stabilizer, a filler, a colorant, an antioxidant, a methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer. The weight ratio of the polyvinyl chloride resin to the dibutyl phthalate to the calcium zinc composite stabilizer to the filler to the colorant to the antioxidant to the methyl methacrylate/acrylic ester copolymer processing aid to the ethylene propylene diene monomer rubber is 68-72:16-20:0.9-1.1:0.3-0.5:0.05-0.1:0.1-0.3:0.2-0.4:8-12. Preferably, the mass ratio is 70:18:1:0.4:0.1:0.2:0.3:10. The elongation at break of the PVC insulating material obtained according to the raw material proportion is more than or equal to 270 percent, the tensile strength is more than or equal to 18Mpa, and the volume resistivity is more than or equal to 2.7 x 10 ¹² The use environment of frequent bending movement is satisfied under the premise of ensuring the insulation performance.

In the embodiment, the first insulating layer, the second insulating layer and the third insulating layer are insulated by adopting soft PVC insulating materials in an extrusion mode, and are produced in an extrusion mode, and the nominal thickness is 0.8mm. Preferably, the first insulating layer is red, the second insulating layer is black, and the third insulating layer is yellow-green.

In the embodiment, during production, polyvinyl chloride resin, dibutyl phthalate, a calcium-zinc composite stabilizer, a filler, a colorant, an antioxidant, a methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer are put into a high-speed mixer for mixing according to a mass ratio of 70:18:1:0.4:0.1:0.2:0.3:10 for about 8 minutes. Heating the mixed material, feeding the mixed material into an extruder when the temperature of the mixed material reaches about 110 ℃, setting the temperature of the extruder to 140-160 ℃, plasticizing the material uniformly and completely in the extruder, and then granulating, cooling, screening and packaging.

The insulating layer of the signal wire core 51, namely the insulating layer four, is produced by adopting high-density polyethylene in an extrusion mode, the colors of the insulating layers of the two signal wire cores 51 are respectively red and white, and the nominal thickness is 0.5mm. The average thickness of insulation should not be less than the nominal thickness, and the thinnest value of insulation thickness should not be less than 90% -0.1 mm of nominal thickness.

The air pipe 4 is a round pipe. The air pipe is made of PVC pipe, the air pipe 4 is an air pipeline, the inner diameter of the air pipe 4 is 4+/-0.5 mm, the outer diameter of the air pipe is 6+/-0.5 mm, and the maximum pressure which can be born is 0.8-1 Mpa.

In this embodiment, the robot is a paint spraying robot for spraying paint on a wall. The gas in the gas pipe 4 provides pressure for the paint spray.

In this embodiment, the inner diameter of the air pipe 4 is 4mm, the outer diameter is 6mm, and the maximum pressure that can be borne is 1Mpa.

The hydraulic line 6 is a circular tube, and is a line through which a liquid or other fluid flows. The hydraulic pipeline 6 comprises four layers from inside to outside, namely an inner adhesive layer, a middle adhesive layer, a steel wire braiding layer and an outer adhesive layer. The inner adhesive layer, the middle adhesive layer and the outer adhesive layer are all made of synthetic rubber, and the steel wire braiding layers are formed by braiding steel wires. The steel wire braiding layer is a framework layer of the hydraulic pipeline 6 and plays a role in reinforcing the hydraulic pipeline 6. The inner adhesive layer is resistant to liquid, bears the pressure of a conveying medium, and protects the steel wire braiding layer from erosion. The outer adhesive layer is weather-proof, and the outer adhesive layer protects the steel wire braiding layer from being damaged. The inner diameter of the hydraulic pipeline 6 is 6.5 plus or minus 0.5mm, the outer diameter is 13.5 plus or minus 0.5mm, and the maximum bearing pressure is 22-25 Mpa.

In this embodiment, the hydraulic line 6 is used for conveying paint raw materials for spray painting. In this embodiment, the hydraulic line 6 has an inner diameter of 6.5mm and an outer diameter of 13.5mm.

The two ends of the hydraulic pipeline 6 are respectively connected with a joint, and the joint is a 1/4 joint.

The insulated wire core should be twisted into a cable, namely, a live wire 1, a zero line 2, a ground wire 3, a signal line 5, an air pipe 4 and a hydraulic pipeline 6 are twisted into a cable, the outermost layer is twisted to the right, specifically, the hydraulic pipeline 6 is taken as the center, the live wire 1, the zero line 2, the ground wire 3, the signal line 5 and the air pipe 4 are wound around the hydraulic pipeline 6, and the pitch diameter ratio is about 2. Filling is performed with a suitable cotton rope. And (3) winding a layer of plain non-woven fabric belt after the insulating wire core is cabled, wherein the lap rate is not less than 25%, and the belt is not accurate to leak the bag, and is folded and curled.

The jacket 7 is sleeved outside the stranded cable structure, and the jacket 7 is composed of a plurality of raw materials, wherein the raw materials of the jacket 7 comprise, but are not limited to, polytetrahydrofuran (called polytetrahydrofuran ether), calcium powder, APP, MCA, 1010 and OP wax. Wherein APP refers to ammonium polyphosphate and 1010 refers to polyamide.

In this embodiment, the outer sleeve 7 is composed of six raw materials including polytetrahydrofuran ether, calcium powder, APP, MCA, 1010 and OP wax, wherein the mass ratio of the polytetrahydrofuran ether, the calcium powder, the APP, the MCA, 1010 and the OP wax is 65-70:3-8:15-23:5-10:0.2-0.8:0.1-0.5, and preferably, in this embodiment, the mass ratio is 68.1:5:18:8:0.6:0.3. During production and processing, heating polytetrahydrofuran ether to 120 ℃, adding calcium powder, APP and MAC, stirring until all the components are dissolved, adding 1010 and OP wax, reducing the temperature to 100 ℃, standing for 2min, pouring the solution on a heating plate at 130-180 ℃ for 2h, taking out, and cooling to room temperature to obtain the finished product.

The composition of the raw materials of the outer sleeve 7 ensures that the outer sleeve 7 has excellent wear resistance, and the Taber wear value is 0.35-0.5mg; the elongation at break is more than or equal to 550%; the tensile strength is more than or equal to 50Mpa; and has excellent oil resistance, low temperature resistance, weather resistance and ozone resistance.

In this embodiment, the outer sleeve 7 is yellow in color, and has an average thickness of not less than 2.0mm and a thinnest thickness of not less than 1.6mm.

The cable external diameter of this scheme is 23.4 + -1.0 mm.

Finally, what is necessary here is: the above embodiments are only for further detailed description of the technical solutions of the present invention, and should not be construed as limiting the scope of the present invention, and some insubstantial modifications and adjustments made by those skilled in the art from the above description of the present invention are all within the scope of the present invention.

Claims

1. A robot cable, characterized in that the cable comprises a jacket (7) and a live wire (1), a neutral wire (2), a ground wire (3), a signal wire (5) which are positioned in the jacket (7), and an air pipe (4) for conveying gas and a hydraulic pipeline (6) for conveying fluid; the insulation layers of the live wire (1), the zero wire (2) and the ground wire (3) are made of soft PVC insulation materials, wherein the soft PVC insulation materials consist of polyvinyl chloride resin, dibutyl phthalate, calcium zinc composite stabilizer, filler, colorant, antioxidant, methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer, and the mass ratio of the polyvinyl chloride resin, dibutyl phthalate, calcium zinc composite stabilizer, filler, colorant, antioxidant, methyl methacrylate/acrylic ester copolymer processing aid and ethylene propylene diene monomer is 68-72:16-20:0.9-1.1:0.3-0.5:0.05-0.1:0.3:0.2-0.4:8-12; the signal wire (5) comprises a polyester layer II (54), a woven shielding layer, a polyester layer I and two signal wire cores (51) which are wrapped in the polyester layer II (54), wherein the polyester layer II (54), the woven shielding layer and the polyester layer I are sequentially arranged from outside to inside, and the two signal wire cores (51) are positioned in the polyester layer I; the two signal wire cores (51) are twisted in pairs, namely 2X 0.5 communication wires are twisted in pairs, the ratio of the cabling pitch diameter is 10-12, the direction is right, a layer of polyester tape is wound after cabling, a first polyester layer is formed, the covering rate is controlled to be 15-25%, tin-plated copper wires are adopted for braiding and shielding after the twisted pair is wound, the wire gauge is 16 x 5 x 0.15, the pitch is 16, the braiding density is not less than 80%, the wire gauge is wound outside the first polyester layer after braiding, a braiding shielding layer is formed, the covering rate is controlled to be not less than 15%, and a second polyester layer (54) is wrapped outside the braiding shielding layer; the hydraulic pipeline (6) comprises four layers from inside to outside, namely an inner adhesive layer, a middle adhesive layer, a steel wire weaving layer and an outer adhesive layer, wherein the inner adhesive layer, the middle adhesive layer and the outer adhesive layer are all made of synthetic rubber, and the steel wire weaving layer is formed by weaving steel wires; the cable is formed by twisting a live wire (1), a zero line (2), a ground wire (3), a signal wire (5), an air pipe (4) and a hydraulic pipeline (6), wherein the outermost layer is twisted to the right, and the live wire (1), the zero line (2), the ground wire (3), the signal wire (5) and the air pipe (4) are wound on the hydraulic pipeline (6) by taking the hydraulic pipeline (6) as the center.

2. The robot cable according to claim 1, characterized in that the jacket (7) consists of a plurality of raw materials, the raw materials of the jacket (7) comprising polytetrahydrofuran ether, calcium powder, ammonium polyphosphate, MCA, polyamide, OP wax.

3. The robot cable according to claim 2, wherein the outer sleeve (7) is composed of six raw materials of polytetrahydrofuran ether, calcium powder, ammonium polyphosphate, MCA, polyamide and OP wax, and the mass ratio of the polytetrahydrofuran ether, the calcium powder, the ammonium polyphosphate, the MCA, the polyamide and the OP wax is 65-70:3-8:15-23:5-10:0.2-0.8:0.1-0.5.