EP2017855B1 - Electrical control cable - Google Patents

Electrical control cable Download PDF

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Publication number
EP2017855B1
EP2017855B1 EP08160117.1A EP08160117A EP2017855B1 EP 2017855 B1 EP2017855 B1 EP 2017855B1 EP 08160117 A EP08160117 A EP 08160117A EP 2017855 B1 EP2017855 B1 EP 2017855B1
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EP
European Patent Office
Prior art keywords
core
cable
control cable
filaments
copper
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Not-in-force
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EP08160117.1A
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German (de)
French (fr)
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EP2017855A2 (en
EP2017855A3 (en
Inventor
Francis Debladis
Laurent Tribut
Stéphane Morice
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Nexans SA
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Nexans SA
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Publication of EP2017855A3 publication Critical patent/EP2017855A3/en
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    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01BCABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B9/00Power cables
    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01BCABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00Insulated conductors or cables characterised by their form
    • H01B7/17Protection against damage caused by external factors, e.g. sheaths or armouring
    • H01B7/18Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
    • H01B7/182Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments
    • H01B7/1825Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments forming part of a high tensile strength core
    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01BCABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00Insulated conductors or cables characterised by their form
    • H01B7/0009Details relating to the conductive cores

Definitions

  • the present invention relates to electrical control cables, or power cables, used to transmit currents.
  • Such cables are used in various fields of the industry, such as for example the automotive industry, where they are assembled into bundles for the power supply of various equipment. These cables must thus be the lightest possible, and have a small footprint while maintaining good mechanical strength.
  • Such cables are conventionally formed by a plurality of copper strands, generally twisted to form a strand so as to increase the flexibility of the cable, and surrounded by an insulating sheath, obtained for example by extrusion.
  • the figure 1 shows an example of such a cable 1, seen in cross section, and made from seven identical copper strands 20 surrounded by an insulating sheath 30 of circular section.
  • the diameter of the cable is typically of the order of 1.6 mm and the copper strands 20 each have a diameter of the order of 0.3 mm.
  • the preceding cable uses a quantity of copper that is oversized compared to the real needs corresponding to the quantity of current to be transmitted by the cable. Specifically, near the half of the copper in the previous cable structure is used to increase the tensile strength of the cable, but also to ensure the effectiveness of crimping.
  • This type of cable can significantly reduce the amount of copper used to the value just necessary for good signal transmission, while maintaining a very good mechanical strength to traction through the use of aramid.
  • the number of strands of copper used remains very important compared to the solution of the figure 1 wherein the copper strands are arranged on a single layer concentric with the central copper strand.
  • EP 1 089 299 a cable structure in which a plurality of strands of conductive material are stranded concentrically around a core composed of a plurality of reinforcing fibers embedded in a metallic material.
  • the manufacture of such a cable is expensive, especially because of the use of a matrix of metallic material for embedding the fibers.
  • Document is also known US 5, 159, 157 a control cable according to the preamble of claim 1, wherein the carbon fibers of the core are secured in a non-metallic unitary structure. More specifically, a petrolatum filling matrix fills all the cavities between the carbon fibers and the conductive material strands. Such a structure remains expensive to manufacture, because of the use of this filling matrix.
  • the present invention aims to provide a cable using the amount of conductive material, typically copper, just necessary for the transmission of the signal, distributed in a limited number of strands, while ensuring reliable crimping of a connector, and manufacturing is the least expensive possible.
  • the figure 3 represents a portion of a cable 1, the end has been stripped to show the internal structure of this cable.
  • cable 1 of the figure 3 comprises a plurality of strands 20 of conductive material, for example copper, extending in the longitudinal direction of a core or central core 40 of mutlifilament polymer, and an outer sheath 30 of insulating material.
  • conductive material for example copper
  • the number of strands 20 used is reduced here since these strands are distributed uniformly and concentrically around the periphery of said core 40, in contact two by two as well as with said heart.
  • these strands 20 are six in number.
  • the total number of copper strands will of course have to be adapted to surround on a single layer the periphery of the core.
  • the filaments of the polymer core 40 for example aramid
  • aramid have been joined together in a non-metallic unitary structure obtained by a simple adhesive coating, glue type, external.
  • Such a step in the manufacturing process is very simple to perform, and therefore does not overly burden the total cost of manufacturing the cable.
  • by removing a portion of the sheath 30 for a crimping operation of a connector there is no risk that the filaments of the core 40 come to interpose between the strands 20 and the connector, even if the strands 20 come away slightly.
  • the non-metallic structure is secured by stranding the helical filaments and wrapping the helix with a matrix or a sheath of non-metallic material.
  • the manufacturing process is a little more complex than the simple coating of an adhesive, but however uses well-known techniques for winding several helical wires followed by sheathing, for example by extrusion.
  • the figure 4 illustrates finally a non-metallic unitary structure 40 according to the embodiment of the invention.
  • the filaments of the heart have been divided into a plurality of subsets (three subsets in the non-limiting case of the figure 4 ).
  • Each subassembly is formed by a plurality, preferably seven filaments 41, helically stranded and placed inside a sheath 42 of insulating material.
  • the three subassemblies thus obtained are then also stranded together to form a global helix.
  • it will be chosen to wind the subsets in a global helix of pitch inverted with respect to the pitch of the helices forming each subgroup.
  • each subset is embedded in a matrix of non-metallic material prior to the formation of the overall helix.
  • each subassembly is glued.
  • the core polymer may be aramid, or high performance polyester, or polyamide, or polyester naphthalate.

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  • Insulated Conductors (AREA)
  • Ropes Or Cables (AREA)
  • Communication Cables (AREA)

Description

La présente invention est relative aux câbles de contrôle électriques, ou câbles d'énergie, utilisés pour transmettre des courants.The present invention relates to electrical control cables, or power cables, used to transmit currents.

De tels câbles sont utilisés dans différents domaines de l'industrie, tels que par exemple l'industrie automobile, où ils sont assemblés en faisceaux pour l'alimentation électrique de différents équipements. Ces câbles doivent ainsi notamment être les plus légers possibles, et présenter un faible encombrement tout en conservant une bonne résistance mécanique.Such cables are used in various fields of the industry, such as for example the automotive industry, where they are assembled into bundles for the power supply of various equipment. These cables must thus be the lightest possible, and have a small footprint while maintaining good mechanical strength.

De tels câbles sont classiquement formés par une pluralité de brins de cuivre, généralement torsadés pour former un toron de façon à augmenter la flexibilité du câble, et entourés par une gaine isolante, obtenue par exemple par extrusion. La figure 1 montre un exemple d'un tel câble 1, vu en coupe transversale, et réalisé à partir de sept brins de cuivre identiques 20 entourés par une gaine isolante 30 de section circulaire. Pour donner un ordre d'idée, le diamètre du câble est typiquement de l'ordre de 1,6 mm et les brins de cuivre 20 présentent chacun un diamètre de l'ordre de 0,3 mm.Such cables are conventionally formed by a plurality of copper strands, generally twisted to form a strand so as to increase the flexibility of the cable, and surrounded by an insulating sheath, obtained for example by extrusion. The figure 1 shows an example of such a cable 1, seen in cross section, and made from seven identical copper strands 20 surrounded by an insulating sheath 30 of circular section. To give an idea, the diameter of the cable is typically of the order of 1.6 mm and the copper strands 20 each have a diameter of the order of 0.3 mm.

D'autres câbles de structure similaire à celle de la figure 1, mais avec un nombre différent de brins de cuivre, par exemple dix-neuf brins, sont également connus.Other cables of similar structure to that of the figure 1 but with a different number of copper strands, for example nineteen strands, are also known.

Les avantages d'un câble selon la structure précédente résident essentiellement dans la simplicité du procédé de fabrication, mais également dans le fait qu'il permet d'avoir un sertissage fiable des connecteurs. En effet, il suffit de dénuder localement le câble en ôtant une portion de la gaine isolante 30 à l'endroit où l'on souhaite placer le connecteur, puis de venir compresser mécaniquement une douille du connecteur autour de la section de câble dénudée. De plus, le cuivre présente intrinsèquement une bonne tenue mécanique à la traction.The advantages of a cable according to the preceding structure lie essentially in the simplicity of the manufacturing process, but also in the fact that it allows to have a reliable crimping of the connectors. Indeed, it suffices to locally strip the cable by removing a portion of the insulating sheath 30 where it is desired to place the connector, then mechanically compress a socket of the connector around the stripped cable section. In addition, copper intrinsically has a good mechanical strength to traction.

En revanche, on s'est aperçu que le câble précédent utilise une quantité de cuivre surdimensionnée par rapport aux besoins réels correspondant à la quantité de courant à transmettre par le câble. Plus précisément, près de la moitié du cuivre dans la structure de câble précédente est utilisée pour augmenter la résistance à la traction du câble, mais aussi pour garantir l'efficacité du sertissage.On the other hand, it has been found that the preceding cable uses a quantity of copper that is oversized compared to the real needs corresponding to the quantity of current to be transmitted by the cable. Specifically, near the half of the copper in the previous cable structure is used to increase the tensile strength of the cable, but also to ensure the effectiveness of crimping.

Or, le cuivre coûte de plus en plus cher et il est important de trouver des nouvelles structures de câbles qui réduisent le plus possible la quantité de cuivre utilisée.Copper is becoming increasingly expensive and it is important to find new cable structures that minimize the amount of copper used.

On connaît déjà différentes solutions de câbles composites dans lesquels on combine des brins de cuivre avec un coeur en matériau non conducteur. Notamment, le document US 7, 145, 082 décrit un câble de contrôle dans lequel une grande quantité de fils conducteurs, par exemple en cuivre, sont toronnés autour d'un coeur ou âme centrale composé d'un polymère mutlifilaments du type fibres d'aramide.Various solutions of composite cables in which copper strands are combined with a core of non-conductive material are already known. In particular, the document US 7, 145, 082 describes a control cable in which a large amount of conductive son, for example copper, are stranded around a core or core core composed of a polymer mutlifilaments type aramid fibers.

Ce type de câble permet de réduire de façon conséquente la quantité de cuivre utilisée à la valeur juste nécessaire pour la bonne transmission du signal, tout en conservant une très bonne tenue mécanique à la traction grâce à l'utilisation de l'aramide. En revanche, le nombre de brins de cuivre utilisé reste très important par rapport à la solution de la figure 1 dans laquelle les brins de cuivre sont disposés sur une seule couche concentrique avec le brin de cuivre central.This type of cable can significantly reduce the amount of copper used to the value just necessary for good signal transmission, while maintaining a very good mechanical strength to traction through the use of aramid. On the other hand, the number of strands of copper used remains very important compared to the solution of the figure 1 wherein the copper strands are arranged on a single layer concentric with the central copper strand.

Le simple remplacement du brin de cuivre central sur la structure de la figure 1 par un coeur en polymère multi filaments tel que celui décrit dans le document US 7, 145,082 n'est pas envisageable car un tel câble n'offrirait pas une garantie suffisante concernant les opérations de sertissage. En effet, une fois un tel câble dénudé pour une opération de sertissage, les brins de cuivre vont s'écarter légèrement l'un par rapport à l'autre, et certains filaments du polymère formant le coeur risquent de s'échapper radialement entre deux brins de cuivre. Cette situation est illustrée de façon schématique sur la figure 2 qui montre une section transversale d'un tel câble après dénudage d'une portion de la gaine isolante 30. Comme on le constate, certains filaments du coeur 40 en polymère multi filaments se retrouvent à l'extérieur de la couronne de brins de cuivre 20. Ainsi, au moment où l'on vient compresser la douille du connecteur autour de la section de câble dénudée, ces filaments vont venir s'interposer entre les brins de cuivre et la douille, diminuant ainsi la surface de contact nécessaire à une bonne transmission du signal électrique.The simple replacement of the central copper strand on the structure of the figure 1 by a multi-filament polymer core such as that described in the document US 7,145,082 is not possible because such a cable would not offer sufficient guarantee concerning the crimping operations. Indeed, once such a stripped cable for a crimping operation, the copper strands will deviate slightly with respect to each other, and some of the core polymer filaments may escape radially between two copper strands. This situation is illustrated schematically in figure 2 which shows a cross section of such a cable after stripping of a portion of the insulating sheath 30. As can be seen, certain filaments of the core 40 of multi-filament polymer are found outside the crown of copper strands 20 So when you just compress the socket of the connector around the stripped cable section, these filaments will come between the copper strands and the socket, thus reducing the contact area necessary for good transmission of the electrical signal.

On connaît d'autre part du document EP 1 089 299 une structure de câble dans lequel une pluralité de brins en matériau conducteur sont toronnés concentriquement autour d'un coeur composé de plusieurs fibres de renfort noyées dans un matériau métallique. La fabrication d'un tel câble est coûteuse, notamment du fait de l'utilisation d'une matrice en matériau métallique pour noyer les fibres.On the other hand, the document is known EP 1 089 299 a cable structure in which a plurality of strands of conductive material are stranded concentrically around a core composed of a plurality of reinforcing fibers embedded in a metallic material. The manufacture of such a cable is expensive, especially because of the use of a matrix of metallic material for embedding the fibers.

On connaît également du document US 5, 159, 157 un câble de contrôle selon le préambule de la revendication 1, dans lequel les fibres de carbone du coeur sont solidarisées en une structure unitaire non métallique. Plus précisément, une matrice de remplissage de type vaseline remplit toutes les cavités entre les fibres de carbone et les brins en matériau conducteur. Une telle structure reste coûteuse à fabriquer, du fait de l'utilisation de cette matrice de remplissage.Document is also known US 5, 159, 157 a control cable according to the preamble of claim 1, wherein the carbon fibers of the core are secured in a non-metallic unitary structure. More specifically, a petrolatum filling matrix fills all the cavities between the carbon fibers and the conductive material strands. Such a structure remains expensive to manufacture, because of the use of this filling matrix.

La présente invention a pour but de proposer un câble utilisant la quantité de matériau conducteur, typiquement de cuivre, juste nécessaire à la transmission du signal, répartie en un nombre limité de brins, tout en garantissant un sertissage fiable d'un connecteur, et dont la fabrication soit la moins coûteuse possible.The present invention aims to provide a cable using the amount of conductive material, typically copper, just necessary for the transmission of the signal, distributed in a limited number of strands, while ensuring reliable crimping of a connector, and manufacturing is the least expensive possible.

Ce but est atteint selon l'invention qui a pour objet un câble de contrôle électrique du type comportant :

  • un coeur comprenant une pluralité de filaments en polymère ;
  • une pluralité de brins en matériau conducteur s'étendant dans la direction longitudinale dudit coeur, répartis uniformément et de manière concentrique sur le pourtour dudit coeur, en contact deux à deux ainsi qu'avec ledit coeur, et
  • une gaine externe isolante,
caractérisé en ce que lesdits filaments sont répartis en une pluralité de sous-ensembles, les filaments d'un même sous-ensemble étant toronnés en hélice, les sous-ensembles étant également toronnés entre eux pour former une hélice globale.This object is achieved according to the invention which relates to an electric control cable of the type comprising:
  • a core comprising a plurality of polymer filaments;
  • a plurality of conductive material strands extending in the longitudinal direction of said core, distributed uniformly and concentrically around the periphery of said core, in two-to-two contact as well as with said core, and
  • an insulating outer sheath,
characterized in that said filaments are distributed in a plurality of subassemblies, the filaments of the same subassembly being stranded in helix, the subsets being also strung together to form a global helix.

L'invention et les avantages qu'elle procure seront mieux compris au vu de la description suivante faite en référence aux figures annexées, dans lesquelles :

  • la figure 1, déjà décrite, illustre une section transversale d'un câble à sept brins de cuivre connu de l'art antérieur ;
  • la figure 2, déjà décrite, illustre une section transversale après dénudage, d'un câble dans lequel le brin central de cuivre a été remplacé par un coeur en polymère mutlifilaments ;
  • la figure 3 illustre la structure d'un autre câble connu ;
  • la figure 4 illustre la structure unitaire non métallique d'un coeur pour un câble selon le mode de réalisation de l'invention.
The invention and the advantages it provides will be better understood from the following description given with reference to the appended figures, in which:
  • the figure 1 , already described, illustrates a cross section of a known seven-strand copper cable of the prior art;
  • the figure 2 , already described, illustrates a cross section after stripping, of a cable in which the central strand of copper has been replaced by a polymer core mutlifilaments;
  • the figure 3 illustrates the structure of another known cable;
  • the figure 4 illustrates the nonmetallic unitary structure of a core for a cable according to the embodiment of the invention.

La figure 3 représente une partie d'un câble 1 , dont l'extrémité a été dénudée pour montrer la structure interne de ce câble.The figure 3 represents a portion of a cable 1, the end has been stripped to show the internal structure of this cable.

Tout comme le câble de l'art antérieur décrit dans le document US 7, 145, 082 , le câble 1 de la figure 3 comporte une pluralité de brins 20 en matériau conducteur, par exemple du cuivre, s'étendant dans la direction longitudinale d'un coeur ou âme centrale 40 en polymère mutlifilaments, ainsi qu'une gaine externe 30 en matériau isolant.Just like the cable of the prior art described in the document US 7, 145, 082 , cable 1 of the figure 3 comprises a plurality of strands 20 of conductive material, for example copper, extending in the longitudinal direction of a core or central core 40 of mutlifilament polymer, and an outer sheath 30 of insulating material.

Cependant, le nombre de brins 20 utilisé est ici réduit puisque ces brins sont répartis uniformément et de manière concentrique sur le pourtour dudit coeur 40, en contact deux à deux ainsi qu'avec le dit coeur. Dans l'exemple non limitatif représenté, ces brins 20 sont au nombre de six. Pour d'autres sections du coeur et des brins, le nombre total de brins de cuivre devra bien entendu être adapté pour entourer sur une seule couche la périphérie du coeur.However, the number of strands 20 used is reduced here since these strands are distributed uniformly and concentrically around the periphery of said core 40, in contact two by two as well as with said heart. In the non-limiting example shown, these strands 20 are six in number. For other sections of the core and the strands, the total number of copper strands will of course have to be adapted to surround on a single layer the periphery of the core.

Les filaments du coeur en polymère 40, par exemple de l'aramide, ont été solidarisés en une structure unitaire non métallique obtenue par un simple revêtement adhésif, de type colle, externe. Une telle étape dans le procédé de fabrication est très simple à réaliser, et ne vient donc pas grever de façon trop importante le coût total de fabrication du câble. En outre, en enlevant une portion de la gaine 30 pour une opération de sertissage d'un connecteur, il n'y a aucun risque que les filaments du coeur 40 viennent s'interposer entre les brins 20 et le connecteur, même si les brins 20 viennent à s'écarter légèrement.The filaments of the polymer core 40, for example aramid, have been joined together in a non-metallic unitary structure obtained by a simple adhesive coating, glue type, external. Such a step in the manufacturing process is very simple to perform, and therefore does not overly burden the total cost of manufacturing the cable. In addition, by removing a portion of the sheath 30 for a crimping operation of a connector, there is no risk that the filaments of the core 40 come to interpose between the strands 20 and the connector, even if the strands 20 come away slightly.

Dans une autre variante de réalisation non représentée, la structure non métallique est solidarisée en toronnant les filaments en hélice et en enveloppant l'hélice par une matrice ou par une gaine en matériau non métallique. Le procédé de fabrication est un peu plus complexe que le simple revêtement d'un adhésif, mais fait cependant appel à des techniques bien connues d'enroulement de plusieurs fils en hélice suivi d'un gainage, par exemple par extrusion.In another embodiment not shown, the non-metallic structure is secured by stranding the helical filaments and wrapping the helix with a matrix or a sheath of non-metallic material. The manufacturing process is a little more complex than the simple coating of an adhesive, but however uses well-known techniques for winding several helical wires followed by sheathing, for example by extrusion.

La figure 4 illustre enfin une structure unitaire non métallique 40 selon le mode de réalisation de l'invention. Ici, les filaments du coeur ont été répartis en une pluralité de sous-ensembles (trois sous-ensembles dans le cas non limitatif de la figure 4). Chaque sous-ensemble est formé par une pluralité, de préférence sept filaments 41, toronnés en hélice et placés à l'intérieur d'une gaine 42 en matériau isolant. Les trois sous-ensembles ainsi obtenus sont ensuite également toronnés entre eux pour former une hélice globale. De manière préférentielle, comme illustré sur la figure 4, on choisira d'enrouler les sous-ensembles selon une hélice globale de pas inversé par rapport au pas des hélices formant chaque sous-groupe. Cela diminue encore mieux le risque que certains filaments puissent s'échapper lors d'une opération de sertissage d'un connecteur. En variante à l'utilisation de la gaine 42, chaque sous-ensemble est noyé dans une matrice en matériau non métallique avant la formation de l'hélice globale. Dans une autre variante, chaque sous-ensemble est encollé.The figure 4 illustrates finally a non-metallic unitary structure 40 according to the embodiment of the invention. Here, the filaments of the heart have been divided into a plurality of subsets (three subsets in the non-limiting case of the figure 4 ). Each subassembly is formed by a plurality, preferably seven filaments 41, helically stranded and placed inside a sheath 42 of insulating material. The three subassemblies thus obtained are then also stranded together to form a global helix. Preferably, as illustrated on the figure 4 , it will be chosen to wind the subsets in a global helix of pitch inverted with respect to the pitch of the helices forming each subgroup. This further reduces the risk that some filaments may escape during a crimping operation of a connector. As an alternative to the use of the sheath 42, each subset is embedded in a matrix of non-metallic material prior to the formation of the overall helix. In another variant, each subassembly is glued.

Dans tous les exemples de réalisation, le polymère du coeur peut être de l'aramide, ou du polyester haute performance, ou du polyamide, ou du polyester naphtalate.In all the exemplary embodiments, the core polymer may be aramid, or high performance polyester, or polyamide, or polyester naphthalate.

Claims (5)

  1. An electric control cable (1) of the type including:
    - a core (40) comprising a plurality of polymeric filaments;
    - a plurality of strands (20) in a conductive material extending in a longitudinal direction of said core, uniformly and concentrically distributed on the perimeter of said core (10), two by two in contact as well as with said core, and
    - an insulating external sheath (30),
    characterized in that said filaments are distributed into a plurality of subsets, the filaments (41) of a same subset being helically twisted, the subsets being also twisted with each other in order to form a global helix.
  2. The control cable (1) according to claim 1, characterizing that the pitch of the global helix of the subsets twisted together is inverted relatively to the pitch of the helices of each subset.
  3. The control cable (1) according to any of claims 1 or 2, characterized in that each subset is either embedded in a non-metal material, or covered with a sheath (42) in a non-metal material, or sized.
  4. The control cable (1) according to any of the preceding claims, characterized in that the conductive material is copper.
  5. The control cable (1) according to any of the preceding claims, characterized in that the polymer of the core (40) is aramide or a high performance polyester, or polyamide, or naphthalate polyester.
EP08160117.1A 2007-07-20 2008-07-10 Electrical control cable Not-in-force EP2017855B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0756639A FR2919105B1 (en) 2007-07-20 2007-07-20 ELECTRICAL CONTROL CABLE.

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EP2017855A2 EP2017855A2 (en) 2009-01-21
EP2017855A3 EP2017855A3 (en) 2014-05-21
EP2017855B1 true EP2017855B1 (en) 2014-12-31

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US (1) US8692120B2 (en)
EP (1) EP2017855B1 (en)
KR (1) KR101448611B1 (en)
CN (1) CN101350235A (en)
ES (1) ES2531935T3 (en)
FR (1) FR2919105B1 (en)

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EP2017855A2 (en) 2009-01-21
CN101350235A (en) 2009-01-21
US20090071688A1 (en) 2009-03-19
EP2017855A3 (en) 2014-05-21
KR20090009723A (en) 2009-01-23
FR2919105A1 (en) 2009-01-23
ES2531935T3 (en) 2015-03-20
FR2919105B1 (en) 2009-10-02
US8692120B2 (en) 2014-04-08
KR101448611B1 (en) 2014-10-08

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