EP3633692B1 - Cable for robot - Google Patents
Cable for robot Download PDFInfo
- Publication number
- EP3633692B1 EP3633692B1 EP17911707.2A EP17911707A EP3633692B1 EP 3633692 B1 EP3633692 B1 EP 3633692B1 EP 17911707 A EP17911707 A EP 17911707A EP 3633692 B1 EP3633692 B1 EP 3633692B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- insert
- cable
- core
- binding tape
- inner core
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 18
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- 239000011347 resin Substances 0.000 claims description 10
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- 229920000728 polyester Polymers 0.000 claims description 5
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- 229920002943 EPDM rubber Polymers 0.000 description 4
- 239000004698 Polyethylene Substances 0.000 description 4
- 229920001903 high density polyethylene Polymers 0.000 description 4
- 239000004700 high-density polyethylene Substances 0.000 description 4
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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Images
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
- H01B9/02—Power cables with screens or conductive layers, e.g. for avoiding large potential gradients
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
- H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
- H01B7/182—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments
- H01B7/1825—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring comprising synthetic filaments forming part of a high tensile strength core
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/02—Disposition of insulation
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
- H01B9/006—Constructional features relating to the conductors
Definitions
- the present invention relates to a cable for a robot, and more particularly, to a cable, for a robot, which has significantly improved durability against repeated torsion and a long bending life and thus is applicable as an industrial robot.
- an industrial robot performs various tasks such as welding, painting, and conveying in a machine part production line.
- Such an industrial robot is connected to a central control unit or the like via a cable for a robot, and is supplied with necessary power and transmit or receive information necessary for various tasks via the cable.
- the industrial robot is continuously moving or making actions and thus fatigue load such as tension, torsion, bending or the like is repeatedly applied to the cable, for a robot, connected to the industrial robot.
- US 5 122 622 A describes an electrical cable includes a central bearing part having a plurality of high-tensile plastic filaments. A rubber sheathing encloses the bearing part. An inner and outer conductor are twisted onto the sheathed bearing part and are disposed concentrically to one another. The inner and outer conductors each include stranded wires.
- US 4 538 022 A describes a cables where conductors are elastically fixed to a structural element of the cable. The conductor insulation is joined in a material-bonded manner to the structural element which consists of a soft elastomer.
- JPS5864012U and JP2012146591A Further prior art may also be found in JPS5864012U and JP2012146591A .
- the present invention is directed to providing a cable for a robot, which is capable of significantly increasing durability and a fatigue life even when used in an environment where torsion or bending frequently occurs.
- the outer core may comprise a second conductor with a plurality of second wire rods twisted at a predetermined second pitch; a core part with a plurality of second conductors twisted at a predetermined third pitch; and a second insulating layer on an outer side of the core part, wherein the second pitch is 15 to 50 times an outer diameter of the second conductor, and the third pitch is 10 to 30 times an outer diameter of the core part.
- an increase rate of yield strength of the first wire rods of the inner core and the second wire rods of the outer core may be in a range of 1% to 30%.
- the unsintered fluororesin may comprise an unsintered polytetrafluoroethylene (PTFE) resin.
- PTFE polytetrafluoroethylene
- a coefficient of friction of each of the inner binding tape and the outer binding tape may be in a range of 0.05 to 0.2.
- an outer diameter of the first insert and an outer diameter of the second insert respectively correspond to an outer diameter of the inner core and an outer diameter of the outer core.
- the outer diameter of the first insert may be 80% to 120% of that of the inner core, and the outer diameter of the second insert may be 80% to 120% of that of the outer core.
- the first insert and the second insert are formed by twisting elastic yarn, respectively.
- the elastic yarn may comprise polyester yarn.
- the cable may further comprise an additional binding tape between the shielding layer and the sheath.
- the additional binding tape may comprise an unsintered polytetrafluoroethylene (PTFE) resin.
- PTFE polytetrafluoroethylene
- the sheath may be formed by tube type extrusion.
- a cable for a robot, comprising: a plurality of inner cores on an outer circumferential surface of a center insert having a round cross-section; an inner binding tape for binding outsides of the inner cores; a plurality of outer cores on an outer circumferential surface of the inner binding tape; an outer binding tape for binding outsides of the outer cores; a shielding layer on an outer side of the outer binding tape; and a sheath on an outer side of the shielding layer, wherein the inner binding tape and the outer binding tape are formed of an unsintered fluororesin and wherein a coefficient of friction of each of the inner binding tape and the outer binding tape is in a range of 0.05 to 0.2.
- the durability and fatigue life thereof can be remarkably increased even when used in an environment in which torsion or bending frequently occurs.
- the durability thereof is improved to minimize process interruptions at an industrial site, thereby minimizing losses due to the process interruptions.
- FIG. 1 is a cross-sectional view of an inner structure of a cable 100 for a robot according to the present invention.
- the cable 100 for a robot includes a center insert 20, at least one inner core 10 surrounding the center insert 20, at least one first insert 22 surrounding the center insert 20 and disposed between the at least one inner core 10, an inner binding tape 30 surrounding the at least one inner core 10 and the at least one first insert 22 to bind them, and formed of an unsintered fluororesin, at least one outer core 40 surrounding an outer side of the inner binding tape 30, at least one second insert 50 disposed on an outer side of the inner binding tape 30, an outer binding tape 32 for binding the outer core 40 and the second insert 50 and formed of an unsintered fluororesin, a shielding layer 60 disposed on an outer side of the outer binding tape 32, and a sheath 70 disposed on an outer side of the shielding layer 60.
- the inner core 10 may be configured for communication to exchange information with the outside, and the outer core 40 may be configured for power supply.
- the inner core 10 includes a first conductor 13 with a plurality of first wire rods 12 twisted at a predetermined first pitch, and a first insulating layer 14 provided on an outer side of the first conductor.
- the first wire rod 12 may be formed of a material such as copper, and the first insulating layer 14 covering the first conductor 13 with the first wire rods 12 may be formed of polyethylene (PE), high-density polyethylene (HDPE), or the like.
- PE polyethylene
- HDPE high-density polyethylene
- tensile stress may remain in the first wire rods 12.
- the tensile stress remaining in the first wire rods 12 after the formation of the inner core 10 indicates that tensile pre-strain is high.
- yield strength of the first wire rods 12 may be increased, for example, by 30% or more.
- the damage caused to the first wire rods 12 may be represented by a resistance change rate (%) which changes a resistance.
- FIG. 2 is a graph showing resistance change rates according to the number of times of torsion of an example of the present invention and a comparative example.
- the example refers to a wire rod, an increase rate of yield strength of which was in a range 1% to 30% after the formation of the inner core 10.
- the comparative example refers to a wire rod, an increase rate of yield strength of which was greater than 30% after the formation of the inner core 10.
- the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%).
- the resistance change rate of the example was approximately 7%, i.e., it was very low.
- damage such as cracks occurred to a relatively very small degree, and an increase rate of yield strength was 30% or less, i.e., in a range of 1% to 30%, due to relatively low tensile pre-strain.
- a fatigue life increases as tensile pre-strain is relatively smaller after processing of a wire rod and may be predicted indirectly by an increase rate of yield strength or a resistance change rate after the processing of the wire rod.
- the fatigue life may be increased by determining the increase rate of yield strength or the resistance change rate according to a predetermined threshold after the processing of the wire rod.
- a predetermined threshold For example, in the present invention, an increase rate of yield strength of 1% to 30%, i.e., 30% or less, or a resistance change rate of 1% to 25%, i.e., 25% or less, after the processing of the wire rod may be set as a threshold.
- the present inventors conducted an experiment to identify factors affecting a resistance change rate of a wire rod.
- the result of the experiment is illustrated in FIG. 3 .
- FIG. 3 is a graph showing resistance change rates according to the number of times of torsion of an example of the present invention and comparative examples .
- the example refers to wire rods obtained by forming each of conductors by twisting a plurality of wire rods at a predetermined pitch ('aggregate type') and forming a core part by twisting the conductors at a predetermined pitch ('composite type').
- the comparative examples were each obtained by forming each conductor by twisting a plurality of wire rods at a predetermined pitch ('aggregate type').
- the total outer diameters of the example and the comparative examples were the same.
- the pitch of the wire rods of comparative example 1 was greater than that of the wire rods of comparative example 2.
- the pitch of the wire rods of comparative example 1 was approximately 18 mm
- the pitch of the wire rods of comparative example 2 was approximately 12 mm.
- the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%).
- the resistance change rate (%) of the wire rods of the example, which was obtained by aggregate type and composite type processings, versus an increase in the number of times or torsion is remarkably greater than those of the comparative examples.
- the resistance change rate (%) exceeded about 25% when the number of times of torsion exceeded 2,000.
- the first conductor 13 of the inner core 10 may be formed by the aggregate type processing.
- the first pitch of the first wire rod 12 is 15 to 30 times the outer diameter of the first conductor 13.
- a resistance change rate of the first wire rod 12 is greater than 25% or an increase rate of yield strength is greater than 30%.
- the first pitch of the first wire rod 12 is greater than 30 times the outer diameter of the first conductor 13 the first pitch is extremely long and prevents the first conductor 13 from being appropriately formed in a round shape.
- the increase rate of the yield strength of the first wire 12 of the inner core 10 is in a range of 1% to 30% and thus the resistance change rate (%) is in a range of 1% to 25%.
- the center insert 20 is provided in a center of the inner core 10.
- the center insert 20 maintains a round shape of the cable 100 for a robot, together with the first insert 22 and the second insert 50 to be described later.
- An insert of a cable of a related art is formed of a PVC string, polyethylene (PE), ethylene propylene diene monomer (EPDM), or the like.
- Table 1 below shows a result of measuring a resistance of the inner core 10 after a torsion test was conducted 500,000 times on an example and a comparative example having the same structure.
- the center insert 20, the first insert 22, and the second insert 50 of the example were each manufactured by twisting elastic yarn, i.e.., polyester yarn, and those of the comparative example were each formed of an EPDM.
- Inner cores 1 to 5 represent the at least one inner core 10 of FIG. 1 , to which arbitrary numbers are assigned.
- resistance (m ⁇ ) of comparative example resistance (m ⁇ ) of example inner core 1 18.27 7.1 inner core 2 18.05 7.6 inner core 3 37.5 8.2 inner core 4 16.06 7.1 inner core 5 28.07 7.5
- a threshold may vary depending on a place where a cable was installed, a work process, a customer request, or the like but was set to about 8.25 m ⁇ .
- resistance values of all the inner cores of the comparative example were greater than or equal to the threshold and thus did not satisfy a reference value.
- a maximum resistance value of the example was 8.2 m ⁇ and thus all resistance values satisfied the reference value.
- the inserts were formed of highly elastic yarn to deliver only relatively low stress to the inner cores even when torsion or the like was applied, thereby preventing an increase of a resistance value due to internal stress damage.
- At least one of the center insert 20, the first insert 22, or the second insert 50 may be formed by twisting elastic yarn.
- the elastic yarn may be polyester yarn.
- the center insert 20 was located at a center, and at least one inner core 10 and the first insert 22 were disposed along the outer side of the center insert 20.
- the first insert 22 preferably has an outer diameter corresponding to that of the inner core 10.
- the outer diameter of the inner core 10 may be determined according to a working environment to which the cable 100 for a robot is applied, the outer diameter of the first insert 22 is preferably determined to correspond to that of the inner core 10.
- the outer diameter of the first insert 22 may be 80% to 120% of that of the inner core 10.
- the outer diameter of the first insert 22 When the outer diameter of the first insert 22 is relatively extremely large, pressure may be applied to the inner core 10 when torsion is applied thereto and thus the first conductor 13 of the inner core 10 may be damaged, e. g., broken. When the outer diameter of the first insert 22 is relatively extremely small, the round shape may not be achieved.
- the inner binding tape 30 surrounds the inner core 10 and the first insert 22 to bind them and maintains the round shape.
- nonwoven fabric or a sintered fluororesin is used as a binding tape.
- the strength and coefficient of friction of the sintered fluororesin are relatively high and thus stress cannot be absorbed and is transferred to an inner core when torsion or the like is applied to the cable.
- the inner core may be damaged by friction between the binding tape and the inner core.
- the inner binding tape 30 is formed of an unsintered fluorine resin having a relatively low coefficient of friction and strong lubricity.
- the unsintered fluororesin may be an unsintered polytetrafluoroethylene (PTFE) resin.
- PTFE polytetrafluoroethylene
- the inner binding tape 30 may be configured to have a coefficient of friction between 0.05 and 0.2. The binding tape 30 of the coefficient of friction may slip softly when torsion is applied to the cable and thus frictional damage between the binding tape 30 and the outer core 40 may be minimized, thereby greatly improving the durability of the cable.
- FIG. 4 is a graph showing the difference between a coefficient of friction when a binding tape B according to the present invention was applied and a coefficient of friction when a binding tape A of a related art was applied,
- the binding tape B of the present invention was formed of an unsintered polytetrafluoroethylene (PTFE) resin, and the binding tape A of the related art was formed of a sintered fluororesin.
- PTFE polytetrafluoroethylene
- a coefficient of friction was approximately 0.146 ⁇ when the binding tape A of the related art was applied, whereas a coefficient of friction was approximately 0.092 ⁇ and decreased by about 37% when the binding tape B of the present invention was applied.
- FIG. 5 is a graph comparing a change of a pull-out force of an example of the present invention with that of a pull-out force of a comparative example.
- an example represents a case in which the inner binding tape 30 was formed of an unsintered polytetrafluoroethylene (PTFE) resin
- a comparative example represents a case in which a sintered fluororesin was used as a binding tape.
- a pull-out force is defined as a force N required due to friction with an outer core when an inner core was pulled out. That is, a friction force between an inner core and the outer core due to the inner binding tape 30 increases as the pull-out force is relatively large but decreases as the pull-out force decreases as the pull-out force is relatively small.
- the horizontal axis represents a length (mm) by which the inner core was pulled out
- the vertical axis represents a required force N.
- a required force decreases as a length by which the inner core is pulled out increases.
- the required force was 30 to 35 N when the length by which the inner core was pulled out was about 100 mm.
- the required force was lower than that of the comparative example.
- the required force was about 15 N and decreased to about 50% to 57% of that of the comparative example.
- At least one outer core 40 and at least one second insert 50 are provided on an outer side of the inner binding tape 30.
- the outer core 40 may be formed by the aggregate type and complex type processings.
- the outer core 40 may include a second conductor 43 with a plurality of second wire rods 42 twisted at a predetermined second pitch, a core part 45 with a plurality of second conductors 43 twisted at a predetermined third pitch, and a second insulating layer 44 provided on an outer side of the core part 45.
- the second pitch is 15 to 50 times an outer diameter of the second conductor 43
- the third pitch is 10 to 30 times an outer diameter of the core part 45.
- an increase rate of the yield strength of the second wire 42 of the outer core 40 is in a range of 1% to 30% and a resistance change rate (%) is in a range of 1% to 25%.
- the second insert 50 has an outer diameter corresponding to that of the outer core 40.
- the outer diameter of the second insert 50 may be 80 to 120% of that of the outer core 40.
- the second insert 50 is formed by twisting elastic yarn, and the elastic yarn may be polyester yarn.
- the second insert 50 is substantially the same as the first insert 22 described above and thus a redundant description thereof will be omitted.
- outer cores 40 and one second insert 50 are illustrated in the drawing, the numbers of outer cores 40 and second inserts 50 are merely examples and may be appropriately changed.
- the outer binding tape 32 binds the outer core 40 and the second insert 50 and is formed of an unsintered fluororesin.
- the unsintered fluororesin may an unsintered polytetrafluoroethylene (PTFE) resin, and a coefficient of friction of the outer binding tape 32 may be in a range of 0.05 and 0.2.
- the outer binding tape 32 is substantially the same as the inner binding tape 30 described above and thus a redundant description thereof will be omitted.
- the shielding layer 60 is provided on an outer side of the outer binding tape 32.
- the shielding layer 60 may be in the form of a metal tape or braid formed of a material such as copper, aluminum, a copper alloy, or an aluminum alloy.
- the shielding layer 60 maintains communication characteristics of a communication cable by electromagnetic shielding or protects the cable from external impacts.
- the sheath 70 is provided on an outer side of the shielding layer 60.
- the sheath 70 may be an outermost layer of the cable 100 for a robot, and prevents the above-described inner components from being exposed to the outside and protects the inner components from external impacts.
- a sheath is molded by fully filled type extrusion but in this case, pressure marks may be caused on an inner conductor or a shielding layer due to the sheath after the extrusion.
- the sheath 70 is extrusion molded by tube type extrusion.
- the tube type extrusion is a process of inserting the inner components into the sheath 70 prepared in advance in the form of a tube and thus pressure marks may be prevented from occurring on the inner conductor or the shielding layer due to the sheath 70 after extrusion.
- an additional binding tape 34 may be further provided between the shielding layer 60 and the sheath 70.
- an internal frictional force may be further reduced when torsion, bending, or the like is applied to the cable 100 for a robot.
- the additional binding tape 34 is formed of an unsintered polytetrafluoroethylene (PTFE) resin and has a coefficient of friction between 0.05 and 0.2.
- PTFE polytetrafluoroethylene
- FIG. 6 is a graph showing resistance change rates (%) according to the number of times of torsion of an example of the present invention and a comparative example.
- the example refers to a cable having the same configuration as that of FIG. 1 described above
- the comparative example refers to a cable in which high-density polyethylene (HDPE) or an EPDM was applied as an insert, a sintered fluororesin was applied as a binding tape, and a sheath was formed by fully filled type extrusion.
- the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%).
- the resistance change rate exceeded 25% which was a reference value when the number of times of torsion reached approximately 20,000 to 25,000.
- the resistance change rate did not exceed 5.0% and was far less than 25% which was the reference value even when the number of times of torsion was greater than 50,000.
Description
- The present invention relates to a cable for a robot, and more particularly, to a cable, for a robot, which has significantly improved durability against repeated torsion and a long bending life and thus is applicable as an industrial robot.
- In general, an industrial robot performs various tasks such as welding, painting, and conveying in a machine part production line. Such an industrial robot is connected to a central control unit or the like via a cable for a robot, and is supplied with necessary power and transmit or receive information necessary for various tasks via the cable.
- However, during the tasks, the industrial robot is continuously moving or making actions and thus fatigue load such as tension, torsion, bending or the like is repeatedly applied to the cable, for a robot, connected to the industrial robot.
- In this case, a conductor of the cable for a robot may be broken, and thus, considerable time and cost losses may occur for replacement of cables when the production line is stopped due to the broken of the conductor. Therefore, there is a need for a cable, for a robot, which ensures high durability.
US 5 122 622 A describes an electrical cable includes a central bearing part having a plurality of high-tensile plastic filaments. A rubber sheathing encloses the bearing part. An inner and outer conductor are twisted onto the sheathed bearing part and are disposed concentrically to one another. The inner and outer conductors each include stranded wires.
US 4 538 022 A describes a cables where conductors are elastically fixed to a structural element of the cable. The conductor insulation is joined in a material-bonded manner to the structural element which consists of a soft elastomer. - Further prior art may also be found in
JPS5864012U JP2012146591A - In order to address the above problem, the present invention is directed to providing a cable for a robot, which is capable of significantly increasing durability and a fatigue life even when used in an environment where torsion or bending frequently occurs.
- According to an aspect of the present invention, there is provided a cable for a robot according to the features of
independent claim 1. - According to another aspect of the present invention, the outer core may comprise a second conductor with a plurality of second wire rods twisted at a predetermined second pitch; a core part with a plurality of second conductors twisted at a predetermined third pitch; and a second insulating layer on an outer side of the core part, wherein the second pitch is 15 to 50 times an outer diameter of the second conductor, and the third pitch is 10 to 30 times an outer diameter of the core part.
- According to another aspect of the present invention, an increase rate of yield strength of the first wire rods of the inner core and the second wire rods of the outer core may be in a range of 1% to 30%.
- According to another aspect of the present invention, the unsintered fluororesin may comprise an unsintered polytetrafluoroethylene (PTFE) resin.
- According to another aspect of the present invention, a coefficient of friction of each of the inner binding tape and the outer binding tape may be in a range of 0.05 to 0.2.
- According to another aspect of the present invention, And an outer diameter of the first insert and an outer diameter of the second insert respectively correspond to an outer diameter of the inner core and an outer diameter of the outer core.
- According to another aspect of the present invention, the outer diameter of the first insert may be 80% to 120% of that of the inner core, and the outer diameter of the second insert may be 80% to 120% of that of the outer core.
- According to the invention, the first insert and the second insert are formed by twisting elastic yarn, respectively.
- According to another aspect of the present invention, the elastic yarn may comprise polyester yarn.
- According to another aspect of the present invention, the cable may further comprise an additional binding tape between the shielding layer and the sheath.
- According to another aspect of the present invention, the additional binding tape may comprise an unsintered polytetrafluoroethylene (PTFE) resin.
- According to another aspect of the present invention, the sheath may be formed by tube type extrusion.
- According to the invention, there is a cable, for a robot, comprising: a plurality of inner cores on an outer circumferential surface of a center insert having a round cross-section; an inner binding tape for binding outsides of the inner cores; a plurality of outer cores on an outer circumferential surface of the inner binding tape; an outer binding tape for binding outsides of the outer cores; a shielding layer on an outer side of the outer binding tape; and a sheath on an outer side of the shielding layer, wherein the inner binding tape and the outer binding tape are formed of an unsintered fluororesin and wherein a coefficient of friction of each of the inner binding tape and the outer binding tape is in a range of 0.05 to 0.2.
- According to a cable for a robot according to the present invention, the durability and fatigue life thereof can be remarkably increased even when used in an environment in which torsion or bending frequently occurs.
- In addition, according to the cable for a robot according to the present invention, the durability thereof is improved to minimize process interruptions at an industrial site, thereby minimizing losses due to the process interruptions.
-
-
FIG. 1 is a cross-sectional view of an inner structure of a cable for a robot according to the present invention, -
FIGS. 2 and 3 are graphs each showing a resistance change rate according to the number of times of torsion of an example of the present invention and comparative examples, -
FIG. 4 is a graph showing the difference between a coefficient of friction when a binding tape according to the present invention is applied and a coefficient of friction when a binding tape of a related art is applied, -
FIG. 5 is a graph comparing a change of a pull-out force of an example of the present invention with that of a pull-out force of a comparative example, and -
FIG. 6 is a graph showing a resistance change rate (%) according to the number of times of torsion of each of an example of the present invention and a comparative example. - Hereinafter, a cable for a robot according to the present invention will be described in detail with reference to the accompanying drawings.
-
FIG. 1 is a cross-sectional view of an inner structure of acable 100 for a robot according to the present invention. - Referring to
FIG. 1 , thecable 100 for a robot includes acenter insert 20, at least oneinner core 10 surrounding the center insert 20, at least one firstinsert 22 surrounding thecenter insert 20 and disposed between the at least oneinner core 10, an innerbinding tape 30 surrounding the at least oneinner core 10 and the at least one first insert 22 to bind them, and formed of an unsintered fluororesin, at least oneouter core 40 surrounding an outer side of the innerbinding tape 30, at least onesecond insert 50 disposed on an outer side of the innerbinding tape 30, an outerbinding tape 32 for binding theouter core 40 and thesecond insert 50 and formed of an unsintered fluororesin, ashielding layer 60 disposed on an outer side of the outerbinding tape 32, and asheath 70 disposed on an outer side of theshielding layer 60. - In the
cable 100 for a robot, theinner core 10 may be configured for communication to exchange information with the outside, and theouter core 40 may be configured for power supply. - The
inner core 10 includes a first conductor 13 with a plurality offirst wire rods 12 twisted at a predetermined first pitch, and a firstinsulating layer 14 provided on an outer side of the first conductor. - The
first wire rod 12 may be formed of a material such as copper, and the firstinsulating layer 14 covering the first conductor 13 with thefirst wire rods 12 may be formed of polyethylene (PE), high-density polyethylene (HDPE), or the like. - However, when the above-described process is performed on the
first wire rods 12 to form theinner core 10, tensile stress may remain in thefirst wire rods 12. As such, the tensile stress remaining in thefirst wire rods 12 after the formation of theinner core 10 indicates that tensile pre-strain is high. In this case, yield strength of thefirst wire rods 12 may be increased, for example, by 30% or more. - As such, when the yield strength of the
first wire rods 12 is increased, the fatigue life of thefirst wire rods 12 decreases and thus damage such as cracks may occur in thefirst wire rods 12. The damage caused to thefirst wire rods 12 may be represented by a resistance change rate (%) which changes a resistance. - That is, when the resistance change rate (%) is relatively high, it means that damage such as cracks occurred in the
first wire rods 12 to a large degree and may lead to breaking of wires in severe cases. -
FIG. 2 is a graph showing resistance change rates according to the number of times of torsion of an example of the present invention and a comparative example. The example refers to a wire rod, an increase rate of yield strength of which was in arange 1% to 30% after the formation of theinner core 10. The comparative example refers to a wire rod, an increase rate of yield strength of which was greater than 30% after the formation of theinner core 10. In the graph ofFIG. 2 , the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%). - As illustrates in
FIG. 2 , even when the number of times of torsion exceeds 10,000, the resistance change rate of the example was approximately 7%, i.e., it was very low. In the case of the wire rod of the example, damage such as cracks occurred to a relatively very small degree, and an increase rate of yield strength was 30% or less, i.e., in a range of 1% to 30%, due to relatively low tensile pre-strain. - In contrast, in the case of the comparative example, when the number of times of torsion exceeded 10,000, a resistance change rate was approximately 13% or more and thus was relatively very large. This means that in the case of the wire rod of the comparative example, damage such as cracks occurred to a relatively very large degree, and an increase rate of yield strength was greater than 30% or less due to relatively high tensile pre-strain.
- Accordingly, it can be seen that a fatigue life increases as tensile pre-strain is relatively smaller after processing of a wire rod and may be predicted indirectly by an increase rate of yield strength or a resistance change rate after the processing of the wire rod.
- Therefore, the fatigue life may be increased by determining the increase rate of yield strength or the resistance change rate according to a predetermined threshold after the processing of the wire rod. For example, in the present invention, an increase rate of yield strength of 1% to 30%, i.e., 30% or less, or a resistance change rate of 1% to 25%, i.e., 25% or less, after the processing of the wire rod may be set as a threshold.
- The present inventors conducted an experiment to identify factors affecting a resistance change rate of a wire rod. The result of the experiment is illustrated in
FIG. 3 . -
FIG. 3 is a graph showing resistance change rates according to the number of times of torsion of an example of the present invention and comparative examples . The example refers to wire rods obtained by forming each of conductors by twisting a plurality of wire rods at a predetermined pitch ('aggregate type') and forming a core part by twisting the conductors at a predetermined pitch ('composite type'). The comparative examples were each obtained by forming each conductor by twisting a plurality of wire rods at a predetermined pitch ('aggregate type'). The total outer diameters of the example and the comparative examples were the same. - In this case, the pitch of the wire rods of comparative example 1 was greater than that of the wire rods of comparative example 2. For example, the pitch of the wire rods of comparative example 1 was approximately 18 mm, and the pitch of the wire rods of comparative example 2 was approximately 12 mm. In the graph of
FIG. 3 , the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%). - As illustrated in
FIG. 3 , the resistance change rate (%) of the wire rods of the example, which was obtained by aggregate type and composite type processings, versus an increase in the number of times or torsion is remarkably greater than those of the comparative examples. - That is, in the case of the wire rods of the example, even when the number of times of torsion exceeded 10,000, the resistance change rate (%) was about 12% and thus was very small.
- In contrast, by only the aggregate type processing, the resistance change rate (%) exceeded about 25% when the number of times of torsion exceeded 2,000.
- In the case of the wire rods of comparative example 1, when the number of times of torsion exceeded 10,000, the resistance change rate (%) was approximately 23% and thus was less than that of comparative example 2 but was higher than that of the example.
- As a result, when the wire rods were manufactured by forming by the aggregate type and composite type processings, the resistance change rate thereof was relatively smallest. When only the aggregate type processing was performed, the resistance change rate decreased as the pitch of the wire rod was relatively higher.
- As illustrated in
FIG. 1 , the first conductor 13 of theinner core 10 may be formed by the aggregate type processing. In this case, the first pitch of thefirst wire rod 12 is 15 to 30 times the outer diameter of the first conductor 13. When the first pitch of thefirst wire rod 12 is less than 15 times the outer diameter of the first conductor 13, a resistance change rate of thefirst wire rod 12 is greater than 25% or an increase rate of yield strength is greater than 30%. In contrast, when the first pitch of thefirst wire rod 12 is greater than 30 times the outer diameter of the first conductor 13, the first pitch is extremely long and prevents the first conductor 13 from being appropriately formed in a round shape. - That is, when the first pitch of the
first wire 12 is in the above-described range, the increase rate of the yield strength of thefirst wire 12 of theinner core 10 is in a range of 1% to 30% and thus the resistance change rate (%) is in a range of 1% to 25%. - The
center insert 20 is provided in a center of theinner core 10. Thecenter insert 20 maintains a round shape of thecable 100 for a robot, together with thefirst insert 22 and thesecond insert 50 to be described later. - An insert of a cable of a related art is formed of a PVC string, polyethylene (PE), ethylene propylene diene monomer (EPDM), or the like.
- When bending or torsion is applied to the cable of the related art, friction occurs between an insulator of a core and the insert other than a slip. In this case, stress is more strongly applied to the core and thus a conductor is damaged or broken.
- Table 1 below shows a result of measuring a resistance of the
inner core 10 after a torsion test was conducted 500,000 times on an example and a comparative example having the same structure. Thecenter insert 20, thefirst insert 22, and thesecond insert 50 of the example were each manufactured by twisting elastic yarn, i.e.., polyester yarn, and those of the comparative example were each formed of an EPDM.Inner cores 1 to 5 represent the at least oneinner core 10 ofFIG. 1 , to which arbitrary numbers are assigned.[Table 1] resistance (mΩ) of comparative example resistance (mΩ) of example inner core 118.27 7.1 inner core 218.05 7.6 inner core 337.5 8.2 inner core 416.06 7.1 inner core 528.07 7.5 - In Table 1 above, a threshold may vary depending on a place where a cable was installed, a work process, a customer request, or the like but was set to about 8.25 mΩ.
- In this case, resistance values of all the inner cores of the comparative example were greater than or equal to the threshold and thus did not satisfy a reference value.
- In contrast, a maximum resistance value of the example was 8.2 mΩ and thus all resistance values satisfied the reference value. In the case of the example, the inserts were formed of highly elastic yarn to deliver only relatively low stress to the inner cores even when torsion or the like was applied, thereby preventing an increase of a resistance value due to internal stress damage.
- Therefore, in the present invention, at least one of the
center insert 20, thefirst insert 22, or thesecond insert 50 may be formed by twisting elastic yarn. The elastic yarn may be polyester yarn. - As illustrated in
FIG. 1 , thecenter insert 20 was located at a center, and at least oneinner core 10 and thefirst insert 22 were disposed along the outer side of thecenter insert 20. - Although five
inner cores 10 and threefirst inserts 22 are illustrated in the drawing, the numbers ofinner cores 10 andfirst inserts 22 are merely examples and may be appropriately changed. - Because the
inner core 10 and thefirst insert 22 are formed in a round shape, thefirst insert 22 preferably has an outer diameter corresponding to that of theinner core 10. - Because the outer diameter of the
inner core 10 may be determined according to a working environment to which thecable 100 for a robot is applied, the outer diameter of thefirst insert 22 is preferably determined to correspond to that of theinner core 10. - For example, the outer diameter of the
first insert 22 may be 80% to 120% of that of theinner core 10. - When the outer diameter of the
first insert 22 is relatively extremely large, pressure may be applied to theinner core 10 when torsion is applied thereto and thus the first conductor 13 of theinner core 10 may be damaged, e. g., broken. When the outer diameter of thefirst insert 22 is relatively extremely small, the round shape may not be achieved. - The inner
binding tape 30 surrounds theinner core 10 and thefirst insert 22 to bind them and maintains the round shape. - In a cable of a related art, nonwoven fabric or a sintered fluororesin is used as a binding tape. However, the strength and coefficient of friction of the sintered fluororesin are relatively high and thus stress cannot be absorbed and is transferred to an inner core when torsion or the like is applied to the cable. In addition, when torsion or the like is applied to the cable, the inner core may be damaged by friction between the binding tape and the inner core.
- Therefore, in the present invention, the inner
binding tape 30 is formed of an unsintered fluorine resin having a relatively low coefficient of friction and strong lubricity. - For example, the unsintered fluororesin may be an unsintered polytetrafluoroethylene (PTFE) resin. In this case, it was confirmed that the inner
binding tape 30 may be configured to have a coefficient of friction between 0.05 and 0.2. The bindingtape 30 of the coefficient of friction may slip softly when torsion is applied to the cable and thus frictional damage between the bindingtape 30 and theouter core 40 may be minimized, thereby greatly improving the durability of the cable. -
FIG. 4 is a graph showing the difference between a coefficient of friction when a binding tape B according to the present invention was applied and a coefficient of friction when a binding tape A of a related art was applied, - In
FIG. 4 , the binding tape B of the present invention was formed of an unsintered polytetrafluoroethylene (PTFE) resin, and the binding tape A of the related art was formed of a sintered fluororesin. - As illustrated in
FIG. 4 , a coefficient of friction was approximately 0.146 µ when the binding tape A of the related art was applied, whereas a coefficient of friction was approximately 0.092 µ and decreased by about 37% when the binding tape B of the present invention was applied. -
FIG. 5 is a graph comparing a change of a pull-out force of an example of the present invention with that of a pull-out force of a comparative example. - In
FIG. 5 , an example represents a case in which the innerbinding tape 30 was formed of an unsintered polytetrafluoroethylene (PTFE) resin, and a comparative example represents a case in which a sintered fluororesin was used as a binding tape. A pull-out force is defined as a force N required due to friction with an outer core when an inner core was pulled out. That is, a friction force between an inner core and the outer core due to the innerbinding tape 30 increases as the pull-out force is relatively large but decreases as the pull-out force decreases as the pull-out force is relatively small. InFIG. 5 , the horizontal axis represents a length (mm) by which the inner core was pulled out, and the vertical axis represents a required force N. - Referring to
FIG. 5 , in the case of the comparative example, a required force decreases as a length by which the inner core is pulled out increases. For example, the required force was 30 to 35 N when the length by which the inner core was pulled out was about 100 mm. - In contrast, in the case of the example, the required force was lower than that of the comparative example. For example, when the length by which the inner core was pulled out was about 100 mm, the required force was about 15 N and decreased to about 50% to 57% of that of the comparative example.
- In the case of the the
cable 100 for arobot 100 according to the present invention, torsion, bending, etc. are frequently applied thereto due to frequent movement and thus as a pull-out force is smaller, a frictional force between the inner core and the outer core decreases due to the innerbinding tape 30, thereby improving durability and a fatigue life. - Referring to
FIG. 1 , at least oneouter core 40 and at least onesecond insert 50 are provided on an outer side of the innerbinding tape 30. - In this case, the
outer core 40 may be formed by the aggregate type and complex type processings. - For example, the
outer core 40 may include a second conductor 43 with a plurality ofsecond wire rods 42 twisted at a predetermined second pitch, a core part 45 with a plurality of second conductors 43 twisted at a predetermined third pitch, and a second insulatinglayer 44 provided on an outer side of the core part 45. - In this case, the second pitch is 15 to 50 times an outer diameter of the second conductor 43, and the third pitch is 10 to 30 times an outer diameter of the core part 45.
- That is, when the second pitch and the third pitch of the
second wire 42 are in the above-described ranges, an increase rate of the yield strength of thesecond wire 42 of theouter core 40 is in a range of 1% to 30% and a resistance change rate (%) is in a range of 1% to 25%. - The
second insert 50 has an outer diameter corresponding to that of theouter core 40. For example, the outer diameter of thesecond insert 50 may be 80 to 120% of that of theouter core 40. - In addition, the
second insert 50 is formed by twisting elastic yarn, and the elastic yarn may be polyester yarn. - The
second insert 50 is substantially the same as thefirst insert 22 described above and thus a redundant description thereof will be omitted. - Although eight
outer cores 40 and onesecond insert 50 are illustrated in the drawing, the numbers ofouter cores 40 andsecond inserts 50 are merely examples and may be appropriately changed. - The outer
binding tape 32 binds theouter core 40 and thesecond insert 50 and is formed of an unsintered fluororesin. In this case, the unsintered fluororesin may an unsintered polytetrafluoroethylene (PTFE) resin, and a coefficient of friction of the outerbinding tape 32 may be in a range of 0.05 and 0.2. - The outer
binding tape 32 is substantially the same as the innerbinding tape 30 described above and thus a redundant description thereof will be omitted. - The
shielding layer 60 is provided on an outer side of the outerbinding tape 32. Theshielding layer 60 may be in the form of a metal tape or braid formed of a material such as copper, aluminum, a copper alloy, or an aluminum alloy. Theshielding layer 60 maintains communication characteristics of a communication cable by electromagnetic shielding or protects the cable from external impacts. - The
sheath 70 is provided on an outer side of theshielding layer 60. Thesheath 70 may be an outermost layer of thecable 100 for a robot, and prevents the above-described inner components from being exposed to the outside and protects the inner components from external impacts. - In the case of a cable of a related art, a sheath is molded by fully filled type extrusion but in this case, pressure marks may be caused on an inner conductor or a shielding layer due to the sheath after the extrusion.
- Therefore, in the present invention, the
sheath 70 is extrusion molded by tube type extrusion. The tube type extrusion is a process of inserting the inner components into thesheath 70 prepared in advance in the form of a tube and thus pressure marks may be prevented from occurring on the inner conductor or the shielding layer due to thesheath 70 after extrusion. - As illustrated in
FIG. 1 , an additionalbinding tape 34 may be further provided between the shieldinglayer 60 and thesheath 70. By providing the additionalbinding tape 34, an internal frictional force may be further reduced when torsion, bending, or the like is applied to thecable 100 for a robot. - In this case, the additional
binding tape 34 is formed of an unsintered polytetrafluoroethylene (PTFE) resin and has a coefficient of friction between 0.05 and 0.2. The additionalbinding tape 34 is substantially the same as the innerbinding tape 30 and the outerbinding tape 32 described above and thus a redundant description thereof will be omitted. -
FIG. 6 is a graph showing resistance change rates (%) according to the number of times of torsion of an example of the present invention and a comparative example. - In
FIG. 6 , the example refers to a cable having the same configuration as that ofFIG. 1 described above, and the comparative example refers to a cable in which high-density polyethylene (HDPE) or an EPDM was applied as an insert, a sintered fluororesin was applied as a binding tape, and a sheath was formed by fully filled type extrusion. InFIG. 6 , the horizontal axis represents the number of times of torsion (x1000 times) and the vertical axis represents a resistance change rate (%). - As illustrated in
FIG. 6 , in the case of the cable of the comparative example, the resistance change rate exceeded 25% which was a reference value when the number of times of torsion reached approximately 20,000 to 25,000. - In contrast, in the case of the cable of the example of the present invention, the resistance change rate did not exceed 5.0% and was far less than 25% which was the reference value even when the number of times of torsion was greater than 50,000.
- While the present invention has been described above with respect to exemplary embodiments thereof, it would be understood by those of ordinary skilled in the art that various changes and modifications may be made without departing from the technical conception and scope of the present invention defined in the following claims. Thus, it is clear that all modifications are included in the technical scope of the present invention as long as they include the components as claimed in the claims of the present invention.
Claims (11)
- A cable (100) for a robot, comprising:a center insert (20);at least one inner core (10) surrounding the center insert (20) ;at least one first insert (22) surrounding the center insert (20) and wherein the at least one inner core (10) and the at least one first insert (22) are disposed on an outer side of the center insert (20);an inner binding tape (30) surrounding the inner core (10) and the first insert (22) to bind the inner core (20) and the first insert (22), the inner binding tape (30) being formed of an unsintered fluororesin;at least one outer core (40) surrounding an outer side of the inner binding tape (30);at least one second insert (50) on an outer side of the inner binding tape (30);an outer binding tape (32) for binding the outer core (40) and the second insert (50), the outer binding tape (32) being formed of an unsintered fluororesin;a shielding layer (60) on an outer side of the outer binding tape (32); anda sheath (70) on an outer side of the shielding layer (60), wherein the inner core (10) comprises:a first conductor (13) with a plurality of first wire rods (12) twisted at a predetermined first pitch; anda first insulating layer (14) on an outer side of the first conductor (13),wherein the first pitch is 15 to 30 times an outer diameter of the first conductor (13), wherein the center insert (20),the first insert (22) and the second insert (50) are formed by twisting elastic yarn, respectively.
- The cable of claim 1, wherein the outer core comprises:a second conductor (43) with a plurality of second wire rods (42) twisted at a predetermined second pitch;a core part (45) with a plurality of second conductors (43) twisted at a predetermined third pitch; anda second insulating layer (44) on an outer side of the core part (45),wherein the second pitch is 15 to 50 times an outer diameter of the second conductor (43), andthe third pitch is 10 to 30 times an outer diameter of the core part.
- The cable of claim 1, wherein an increase rate of yield strength of the first wire rods (12) of the inner core (10) and the second wire rods (42) of the outer core (40) is in a range of 1% to 30%.
- The cable of claim 1, wherein the unsintered fluororesin comprises an unsintered polytetrafluoroethylene (PTFE) resin.
- The cable of claim 1, wherein a coefficient of friction of each of the inner binding tape (32) and the outer binding tape (32) is in a range of 0.05 to 0.2.
- The cable of claim 1, wherein an outer diameter of the first insert (22) and an outer diameter of the second insert (50) respectively correspond to an outer diameter of the inner core (10) and an outer diameter of the outer core (40).
- The cable of claim 6, wherein the outer diameter of the first insert (22) is 80% to 120% of that of the inner core (10), and the outer diameter of the second insert (50) is 80% to 120% of that of the outer core (40).
- The cable of claim 1, wherein the elastic yarn comprises polyester yarn.
- The cable of claim 1, further comprising an additional binding tape between the shielding layer and the sheath.
- The cable of claim 9, wherein the additional binding tape comprises an unsintered polytetrafluoroethylene (PTFE) resin.
- The cable of claim 1, wherein the sheath (70) is formed by tube type extrusion.
Applications Claiming Priority (2)
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KR1020170067918A KR102348281B1 (en) | 2017-05-31 | 2017-05-31 | Movable Robot Cable |
PCT/KR2017/011830 WO2018221793A1 (en) | 2017-05-31 | 2017-10-25 | Cable for robot |
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EP3633692A1 EP3633692A1 (en) | 2020-04-08 |
EP3633692A4 EP3633692A4 (en) | 2021-02-24 |
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JP (1) | JP2020520068A (en) |
KR (1) | KR102348281B1 (en) |
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KR20230140848A (en) * | 2022-03-30 | 2023-10-10 | 엘에스전선 주식회사 | Conductor for acoustic cable and acoustic cable including thereof |
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JP2012146591A (en) * | 2011-01-14 | 2012-08-02 | Sumitomo Electric Ind Ltd | Multicore cable, and method of manufacturing the same |
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JPH05298943A (en) * | 1992-04-17 | 1993-11-12 | Furukawa Electric Co Ltd:The | Composite cable |
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JP2020520068A (en) | 2020-07-02 |
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