JPH0523325U

JPH0523325U - Heat-resistant / flexible / wear-resistant coated robot cable

Info

Publication number: JPH0523325U
Application number: JP7137091U
Authority: JP
Inventors: 信博藤尾; 憲治原田; 喜八大西; 正昭木原; 修江原
Original assignee: Tatsuta Electric Wire and Cable Co Ltd
Current assignee: Tatsuta Electric Wire and Cable Co Ltd
Priority date: 1991-09-05
Filing date: 1991-09-05
Publication date: 1993-03-26
Anticipated expiration: 2006-01-17
Also published as: JPH081530Y2

Abstract

(57)【要約】（修正有）【目的】可撓性を損うことなく、耐シンナー特性及び
耐熱性、耐屈曲性を改良する。【構成】まず、可撓導体ａに、Ｚｒ０．０１〜０．０
５重量％、Ｃｒ０．０１〜０．０５重量％、残部が実質
的にＣｕより成る、耐屈曲性に優れ、純銅に比べて導電
性に遜色がない銅合金線を使用する。その可撓導体ａ
に、ポリエーテルまたはポリカーボネート系ポリウレタ
ンエラストマーと、ポリ弗化ビニリデンをベースとする
弗素系エラストマーと、を重量比で３０／７０〜７０／
３０の範囲で混練りし、これに架橋剤３〜７ＰＨＲを添
加してなる樹脂組成物ａを被覆した絶縁心線Ｐを撚合わ
せ、その周りに遮蔽層５を設けて遮蔽心線６とする。こ
の遮蔽心線６を撚合わせ、その周りに熱可塑性ポリエス
テルエラストマーを主体とする樹脂組成物により外被８
を設ける。 (57) [Summary] (Modified) [Purpose] To improve thinner resistance, heat resistance, and bending resistance without impairing flexibility. [Structure] First, Zr 0.01 to 0.0 is added to the flexible conductor a.
A copper alloy wire having 5% by weight, 0.01 to 0.05% by weight of Cr, and the balance being substantially Cu, excellent in bending resistance and comparable in conductivity to pure copper is used. The flexible conductor a
In addition, a polyether or polycarbonate polyurethane elastomer and a vinylidene fluoride-based fluoroelastomer in a weight ratio of 30/70 to 70 /
The insulating core wire P coated with the resin composition a obtained by kneading in the range of 30 and adding the crosslinking agent 3 to 7 PHR is twisted, and the shielding layer 5 is provided around the insulating core wire P to form the shielding core wire 6. . The shielding core wire 6 is twisted, and the outer periphery 8 is covered with a resin composition mainly composed of a thermoplastic polyester elastomer.
To provide.

Description

[Detailed description of the device]

【０００１】[0001]

[Industrial applications]

本考案は、塗装ロボットを制御するためのケーブル、詳しくは、可撓性、耐熱、耐屈曲、耐摩耗性を有し、近年、産業界で問題になっているロボットの暴走の発生を抑え、更に塗装用ケーブルにおいて最も重要な耐シンナー特性を飛躍的に向上させた塗装ロボット用ケーブルに関する。 The present invention is a cable for controlling a painting robot, more specifically, it has flexibility, heat resistance, bending resistance, and wear resistance, and in recent years has reduced the occurrence of robot runaway, which has become a problem in the industry. Furthermore, it relates to cables for painting robots that dramatically improve the thinner resistance, which is the most important in painting cables.

【０００２】[0002]

[Prior art and its problems]

塗装ロボット用ケーブルには、少くとも可撓性、耐摩耗性、耐屈曲性とロボットの暴走原因除去のための遮蔽特性、更に塗料の溶剤として使用されるシンナーに耐え得る特性を持っている必要がある。また、高温環境下で使用される場合は、前記特性に加えて耐熱性が要求される。 Cables for painting robots have at least flexibility, wear resistance, bending resistance, shielding properties for eliminating the cause of robot runaway, and the ability to withstand thinner used as a paint solvent. There is a need. When used in a high temperature environment, heat resistance is required in addition to the above characteristics.

【０００３】上記要求の特性を持つために、これまでの塗装ロボット用ケーブルは、可撓導体上に、ポリテトラフルオロエチレン（ＰＴＦＥ）の絶縁被覆を設けて絶縁心線とし、これを２本撚合わせ、その上に、押え巻きテープ、軟銅細線の編組および押え巻きテープを順々に施して遮蔽心線を作り、その遮蔽心線を必要本数、介在と共に撚合わせ、その上に押え巻きテーピングを施してケーブル芯とし、その上にポリウレタンエラストマーを主材とする樹脂組成物で外被を設けたものがある。In order to have the above-mentioned required characteristics, the conventional coating robot cables have an insulating coating of polytetrafluoroethylene (PTFE) provided on the flexible conductor to form an insulating core wire. Twisting, and then a press-winding tape, a braid of annealed copper wire and a press-winding tape are applied in order to create a shielded core wire, and the shielded core wire is twisted together with the required number and interposers, and then the press-winding tape is applied. In some cases, a cable core is formed by applying a coating, and a resin composition containing a polyurethane elastomer as a main material is coated on the core.

【０００４】ここで、外被としてＰＴＦＥを採用すると、耐シンナー特性は十分であるが、反面、加工性及びケーブルの可撓性が損なわれる。このため、外被の押出成形が困難となるうえに、スプレーガンの作動がスムーズでなくなるため、耐シンナー特性を犠牲にして、従来では、前記のごとくポリウレタンエラストマーなどが使用されている。しかし、このポリウレタンエラストマーは耐シンナー特性が悪く、常温のシンナー中に１０日間浸せきすると膨潤する。即ち、塗装ロボット用として長期間使用すると、膨潤状態になる。膨潤すると、繰り返し屈曲により外被が破れる。When PTFE is used as the jacket, the thinner resistance is sufficient, but the workability and the flexibility of the cable are impaired. For this reason, extrusion molding of the jacket becomes difficult, and the spray gun does not operate smoothly. Therefore, at the expense of thinner resistance, polyurethane elastomers and the like have been conventionally used as described above. However, this polyurethane elastomer has poor thinner resistance and swells when immersed in thinner at room temperature for 10 days. That is, if it is used for a coating robot for a long period of time, it will swell. When swelled, the jacket is torn by repeated bending.

【０００５】また、絶縁心線の可撓性は、その導体を細線の多数本集合撚りとすることによって得られるが、今日、より高い可撓性が望まれており、ＰＴＦＥは前述のように可撓性が悪いため、その絶縁被覆としては問題がある。さらに、銅（Ｃｕ）単独の可撓純銅撚線では耐屈曲性が十分満足できるものは得られておらず、より高い耐屈曲性が望まれている。Further, the flexibility of the insulating core wire can be obtained by twisting the conductor into a large number of fine wires, but today, higher flexibility is desired, and PTFE has been described above. As described above, it has a problem as an insulating coating due to its poor flexibility. Further, a flexible pure copper stranded wire made of only copper (Cu) has not been sufficiently satisfactory in flex resistance, and higher flex resistance is desired.

【０００６】本考案は、上記の状況に鑑み、主課題として、耐シンナー特性を飛躍的に向上させることであり、副課題は可撓性及び耐屈曲性を改良することにある。In view of the above situation, the present invention is to dramatically improve the thinner resistance property as a main problem, and the secondary problem is to improve flexibility and bending resistance.

【０００７】[0007]

[Means for Solving the Problems]

上記の課題を解決するために、本考案にあっては、可撓導体を下記の銅合金（Ｉ）乃至（IV）のいずれか一つに記載のものとし、その可撓導体に下記樹脂組成物ａの絶縁被覆を施した複数本の絶縁心線を撚合わせ、その周りに遮蔽層を設けて、さらにその上に押え巻きテープ層を形成して遮蔽心線とし、この遮蔽心線を複数本撚合わせ、その周りに熱可塑性ポリエステルエラストマーを主体とする樹脂組成物により外被を設けてなる構成としたのである。上記遮蔽心線は介在とともに撚合わせるとよい。 In order to solve the above problems, in the present invention, the flexible conductor is one of the following copper alloys (I) to (IV), and the flexible conductor has the following resin composition. A plurality of insulation core wires with insulation coating of the object a are twisted together, a shield layer is provided around the insulation core wires, and a press-winding tape layer is further formed thereon to form a shield core wire. The main twist is formed, and the outer circumference is covered with a resin composition mainly composed of a thermoplastic polyester elastomer. It is advisable to twist the shielding core wire together with the interposition.

【０００８】記〔銅合金〕（Ｉ）Ｚｒ０．０１〜０．０５重量％、Ｃｒ０．０１〜０．０５重量％、残部が実質的にＣｕより成る銅合金。[Copper Alloy] (I) A copper alloy in which Zr is 0.01 to 0.05% by weight, Cr is 0.01 to 0.05% by weight, and the balance is substantially Cu.

【０００９】（II）Ｚｒ０．０１〜０．０５重量％、Ｃｒ０．０１〜０．０５重量％、Ｉｎ、Ｓｎ、Ａｇ、Ａｌ、Ｂｉ、Ｃａ、Ｆｅ、Ｇｅ、Ｈｆ、Ｍｇ、Ｍｎ、Ｎｉ、Ｐｂ、Ｓｂ、Ｓｉ、Ｔｉ、Ｚｎ、Ｂ、Ｙ、Ｏのうち１種以上を合計量で０．００２〜０．３重量％、残部が実質的にＣｕより成る銅合金。(II) Zr 0.01 to 0.05% by weight, Cr 0.01 to 0.05% by weight, In, Sn, Ag, Al, Bi, Ca, Fe, Ge, Hf, Mg, Mn, Ni, One or more of Pb, Sb, Si, Ti, Zn, B, Y and O in a total amount of 0.002 to 0. Copper alloy consisting of 3% by weight and the balance substantially Cu.

【００１０】（III ）少なくともＺｒを含む添加元素の総量が０．００５〜０．５重量％であって、熱処理によりＣｕ₃Ｚｒを析出させて成る銅合金。(III) A copper alloy in which the total amount of additional elements containing at least Zr is 0.005 to 0.5% by weight and Cu ₃ Zr is precipitated by heat treatment.

【００１１】（IV）少なくともＣｒを含む添加元素の総量が０．１〜２．０重量％であって、熱処理によりＣｒを析出させた銅合金。(IV) A copper alloy in which the total amount of additional elements containing at least Cr is 0.1 to 2.0% by weight and Cr is precipitated by heat treatment.

【００１２】上記（Ｉ）又は（II）の組成の銅合金においては、Ｚｒ、Ｃｒの重量％は好ましくは０．３以下であり、実質的Ｃｕは酸洗を施したものが好ましく、また、各組成の銅合金は、そのＯ₂含有量が５０ppm 未満のものが好ましく、さらにその組成金属の再結晶組織は５０％以下で残存させるとよい。In the copper alloy having the composition (I) or (II), the weight% of Zr and Cr is preferably 0.3 or less, and substantially Cu is preferably pickled. The copper alloy of each composition preferably has an O ₂ content of less than 50 ppm, and the recrystallization structure of the metal of the composition is preferably 50% or less.

【００１３】〔樹脂組成物ａ〕ポリエーテルまたはポリカーボネート系ポリウレタンエラストマー（以下、ＴＰＵという。）と、ポリ弗化ビニリデン（以下、ＰＶＤＦという。）をベースとする弗素系エラストマー（以下、Ｆ−ＴＰＥという。）と、を重量比で３０／７０〜９０／１０の範囲で混練りし、これに架橋剤１〜９ＰＨＲを添加した樹脂組成物。[Resin Composition a] A fluoroelastomer (hereinafter, F-TPE) based on a polyether or polycarbonate polyurethane elastomer (hereinafter, TPU) and polyvinylidene fluoride (hereinafter, PVDF). And) in a weight ratio of 30/70 to 90/10 and a cross-linking agent 1 to 9 PHR added thereto.

【００１４】好ましくは、上記ＴＰＵ／Ｆ−ＴＰＥの重量比は３０／７０〜７０／３０とするとよく、また、上記架橋剤は３〜７ＰＨＲを添加するとよい。Preferably, the TPU / F-TPE weight ratio is 30/70 to 70/30, and the crosslinking agent is 3 to 7 PHR.

【００１５】上記重量比が上記の範囲を外れると、ＴＰＵ、Ｆ−ＴＰＥの長所を生かすことができず欠点が表面化する。即ち、ＴＰＵが多くなると、耐熱性、耐水性、電気絶縁性が悪くなる。またＦ−ＴＰＥが多くなると、押出加工性、機械特性が悪くなる。一方、ＴＰＵが少ないときは耐摩耗性、引張強度および広い温度範囲での弾性が期待できなくなる。Ｆ−ＴＰＥが少ないときは、耐熱性、耐薬品性、表面の滑り性が期待できなくなる。If the weight ratio is out of the above range, the advantages of TPU and F-TPE cannot be utilized, and the defects are exposed. That is, when TPU is increased, heat resistance, water resistance, and electric insulation are deteriorated. Further, when the amount of F-TPE is large, extrusion processability and mechanical properties deteriorate. On the other hand, when TPU is low, wear resistance, tensile strength and elasticity in a wide temperature range cannot be expected. When F-TPE is low, heat resistance, chemical resistance, and surface slipperiness cannot be expected.

【００１６】上記架橋剤が上記範囲より少ないときは、引張強度、硬度、加熱変形耐力、伸び等、所望の物理特性を得ることができない。また逆に、架橋剤が多いときは過架橋となり、硬度が高くなって、耐熱老化性、柔軟性が低下し、架橋剤がブルーミングして外観が悪くなる。When the amount of the crosslinking agent is less than the above range, desired physical properties such as tensile strength, hardness, heat deformation proof stress, and elongation cannot be obtained. On the contrary, when the amount of the cross-linking agent is large, the cross-linking agent is over-crosslinked, the hardness is increased, the heat aging resistance and the flexibility are lowered, and the cross-linking agent is bloomed to deteriorate the appearance.

【００１７】上記ＴＰＵとしては表１に示すものを、Ｆ−ＴＰＥとしては表２に示すものを挙げることができる。As the TPU, those shown in Table 1 can be mentioned, and as the F-TPE, those shown in Table 2 can be mentioned.

【００１８】[0018]

【表１】 [Table 1]

【００１９】[0019]

【表２】 [Table 2]

【００２０】上記ポリエステルエラストマーの柔軟性の調節は、ハードセグメントＨ（芳香族ポリエステル＝ポリブチルテレフタレート）とソフトセグメントＳ（脂肪族ポリエーテル＝ポリテトラメチレングリコール）の添加量の調整によって行われ、東洋紡株式会社製：ペルプレン（登録商標）Ｐ−１５０Ｂ（ＪＩＳＡ硬度：９８）では、Ｈ：Ｓ＝７：３である。耐シンナー特性試験の結果では同Ｐ−７０Ｂ、同Ｐ−５５Ｂのグレードでも使用可能であった。The flexibility of the polyester elastomer is adjusted by adjusting the addition amounts of the hard segment H (aromatic polyester = polybutyl terephthalate) and the soft segment S (aliphatic polyether = polytetramethylene glycol). H.S = 7: 3 for Perprene (registered trademark) P-150B (JISA hardness: 98) manufactured by Co., Ltd. As a result of the thinner resistance test, the grades of P-70B and P-55B were also usable.

【００２１】[0021]

[Action]

上記の如く構成する本考案に係るケーブルは、まず、可撓導体をなす上記組成Ｉ乃至IVからなる銅合金が、耐屈曲性に優れ、導電性においても、純銅に比べて遜色がない。例えば、疲労特性において、曲げ歪０．３０６％の条件では、上記銅合金線の破断屈曲回数が約１６．１万回に対し、純銅線のそれは約４．３万回と約４分の１であり、曲げ歪０．２２％の条件では、上記銅合金線：３１５０万回以上、純銅線：約１１．９３万回と約２６０分の１以下、曲げ歪０．１８％の条件では、上記銅合金線：６２００万回以上、純銅線：約２１．８万回と約２８０分の１以下である。 In the cable according to the present invention configured as described above, first, the copper alloy having the above-mentioned compositions I to IV forming the flexible conductor is excellent in bending resistance and is comparable in conductivity to pure copper. For example, in the fatigue characteristics, under the condition that the bending strain is 0.306%, the number of bending and breaking of the copper alloy wire is about 161,000 times, whereas that of the pure copper wire is about 43,000 times, about 1/4. Under the condition that the bending strain is 0.22%, the above copper alloy wire: 31.5 million times or more, the pure copper wire: about 1193,000 times and about 1/260 or less, and the bending strain is 0.18%, The copper alloy wire is 62 million times or more, and the pure copper wire is about 218,000 times, which is about 1/280 or less.

【００２２】また、その絶縁心線が、ＴＰＵ部分で耐摩耗性を保ち、Ｆ−ＴＰＥ部分で耐屈曲性及び耐熱性を保ち、上記特定の配合範囲で、耐熱、耐屈曲、耐摩耗性の特性を保持する。このため、ケーブル全体としてもそれらの特性を有する。また、樹脂組成物ａの絶縁被覆は滑り性がよいため、絶縁心線相互の滑り性もよい。このため、ケーブル全体の可撓性もよい。さらに、シース（外被）に熱可塑性ポリエステルエラストマーを採用しているため、前記可撓性、耐熱性等を保ちながら、耐シンナー性が飛躍的に向上する。In addition, the insulation core wire maintains wear resistance in the TPU portion, and flex resistance and heat resistance in the F-TPE portion. Within the above specific compounding range, heat resistance, bending resistance, and wear resistance are maintained. Retain the characteristics of. Therefore, the cable as a whole has these characteristics. Further, since the insulating coating of the resin composition a has a good slip property, the insulating core wires also have a good slip property. Therefore, the flexibility of the entire cable is good. Furthermore, since the thermoplastic polyester elastomer is used for the sheath (outer sheath), the thinner resistance is dramatically improved while maintaining the flexibility and heat resistance.

【００２３】[0023]

【Example】

まず、表３に示す如く実施例１〜４の樹脂組成物ａを混練り調整した。混練りは、ブランベンダーミキサーで行い、その混練り温度は１８０℃で３〜５分である。最初はＴＰＵとＦ−ＴＰＥを所要量投入して３分間混練りし、次いで架橋剤を所要量投入し、温度１５０℃で２分間混練り調整した。 First, as shown in Table 3, the resin compositions a of Examples 1 to 4 were kneaded and adjusted. The kneading is performed with a Blanbender mixer, and the kneading temperature is 180 ° C. for 3 to 5 minutes. First, the required amounts of TPU and F-TPE were added and kneaded for 3 minutes, then the required amount of cross-linking agent was added, and the temperature was adjusted to 150 ° C for 2 minutes.

【００２４】[0024]

【表３】 [Table 3]

【００２５】以上のごとく調整した樹脂組成物ａを２００℃、１００kgｆ／cm²の加熱プレスで１mm厚の架橋シートとし、そのシートに電子線を１５Ｍｒａｄ照射架橋して試料を作成した。この試料によりＪＩＳＫ６７２３にもとづき引張試験試料（耐熱老化試験試料）および電気特性試験試料を作成し、それぞれの試験を行った結果を図４、図５に示す。図中、Ｅｌは伸び、Ｔｓは引張強度を示す。The resin composition a prepared as described above was used as a crosslinked sheet having a thickness of 1 mm with a heating press at 200 ° C. and 100 kgf / cm ² , and the sheet was irradiated with an electron beam for 15 Mrad to crosslink to prepare a sample. A tensile test sample (heat-resistant aging test sample) and an electrical property test sample were prepared from this sample based on JIS K6723, and the results of the respective tests are shown in FIGS. 4 and 5. In the figure, El indicates elongation and Ts indicates tensile strength.

【００２６】つぎに、上記調整した樹脂組成物ａを押出機により、上記（Ｉ）の組成の銅合金線からなる７本／３６本／０．０５mmの集合撚線ａ上に、０．３mm厚で押出成形して図３に示す絶縁心線Ｐを得た（図中は素線の一部を省略している）。Next, the prepared resin composition a was extruded by an extruder onto a 7/36 / 0.05 mm aggregated stranded wire a consisting of a copper alloy wire having the composition of (I) above. The insulation core wire P shown in FIG. 3 was obtained by extrusion molding with a thickness of 3 mm (a part of the wire is omitted in the drawing).

【００２７】この絶縁心線ＰをＪＩＳＫ７２０４（砥粒ＣＳ−１７を使用）に準拠して、耐摩耗試験を行った結果を図６に示す。FIG. 6 shows the result of a wear resistance test performed on the insulating core wire P in accordance with JIS K7204 (using abrasive grains CS-17).

【００２８】耐屈曲試験は図７に示す装置にサンプルＰを装着して、下記の条件で実施し、素線の断線が生じる往復回数を求めた。図中、１は移動ガイド、２は固定ガイドである。その結果を図８に示す。The bending resistance test was carried out by mounting the sample P on the device shown in FIG. 7 under the following conditions, and the number of reciprocations at which the wire breakage occurred was determined. In the figure, 1 is a moving guide and 2 is a fixed guide. The result is shown in FIG.

【００２９】記試料ａ長１５〜１６cm 移動ガイド１の移動長５０mm 振幅速さ６０回／ｍｉｎ曲率ｒ７mm 上記各試験結果から、本考案に係る絶縁心線Ｐが耐熱、耐屈曲、耐摩耗性において十分に満足いけるものであることが理解できる。Sample a length 15 to 16 cm Moving length of the moving guide 1 50 mm Amplitude speed 60 times / min Curvature r 7 mm From the above test results, the insulating core wire P according to the present invention has heat resistance, bending resistance and wear resistance. Understand that it can be fully satisfied with.

【００３０】つぎに、表４に示す構成により、図１（ｂ）に示すように、前記の各絶縁心線Ｐの対を撚合わせ、その周りに押え巻きテープ層４を形成したのち、遮蔽層５を設け、さらにその上に同じく押え巻きテープ層４を形成して遮蔽心線６とする。Next, with the structure shown in Table 4, as shown in FIG. 1 (b), each pair of the above-described insulating core wires P is twisted together, and the press-winding tape layer 4 is formed around the pair, and then the shield winding tape layer 4 is shielded. A layer 5 is provided, and a pressing tape layer 4 is also formed on the layer 5 to form a shielding core wire 6.

【００３１】図１（ａ）に示すように、その遮蔽心線６の６本を介在７とともに撚合わせ、その上に押え巻きテープ層４を形成し、その周りにシース８を押出成形被覆して、本考案に係るケーブルＡを得た。なお、遮蔽心線６の識別としては表５に示すように行ない、その配列は図２のようにした。As shown in FIG. 1 (a), six of the shielding core wires 6 are twisted together with an interposer 7, a press winding tape layer 4 is formed thereon, and a sheath 8 is extrusion-molded around the pressing winding tape layer 4. As a result, the cable A according to the present invention was obtained. The shielded core wires 6 were identified as shown in Table 5, and the arrangement was as shown in FIG.

【００３２】この各実施例の効果を調べたところ、遮蔽性は従来のものと変わりなく、可撓性、耐屈曲性はより良好な結果を得、耐シンナー性においては表６の結果を得た。なお、比較例９、１０として、シース８に、下記のエラストランＥＴ３８５（比較例９）、レザミンＰ−８９０（比較例１０）を使用したものの試験をした。その耐シンナー性試験は、シンナー中にＪＩＳ３号形ダンベル試験片を１０日間浸漬後、その膨潤の程度を調べた。When the effect of each of the examples was investigated, the shielding property was the same as that of the conventional one, and the flexibility and bending resistance were better, and the thinner resistance was as shown in Table 6. It was As Comparative Examples 9 and 10, the following tests were performed on the sheath 8 using the following Elastollan ET385 (Comparative Example 9) and Resamine P-890 (Comparative Example 10). In the thinner resistance test, a JIS No. 3 dumbbell test piece was immersed in a thinner for 10 days, and the degree of swelling was examined.

【００３３】記エラストラン ET-385 ＜JISA硬度;85 ＞；武田バーディシェウレタン工業製、熱可塑性ポリエーテル系ウレタンエラストマーレザミン P-890；＜JISA硬度;90 ＞；大日精化工業製、熱可塑性ポリカーボネート系ウレタンエラストマーなお、遮蔽層５は編組密度７０％以上で十分な遮蔽性を得た。Elastran ET-385 <JISA hardness; 85>; manufactured by Takeda Verdish Urethane Co., thermoplastic polyether urethane urethane elastomer P-890; <JISA hardness; 90>; manufactured by Dainichi Seika Kogyo, thermoplastic Polycarbonate-based urethane elastomer The shielding layer 5 has a sufficient braiding property at a braid density of 70% or more.

【００３４】[0034]

【表４】 [Table 4]

【００３５】[0035]

【表５】 [Table 5]

【００３６】[0036]

【表６】 [Table 6]

【００３７】なお、可撓導体ａに上記組成（II）、(III）、（IV）の銅合金を使用しても、同様な効果を得ることができ、その銅合金を、実質的なＣｕに酸洗を施した電気銅としたり、Ｏ₂含有量を５０ｐｐｍ未満、組成金属の再結晶組織が５０％以下のものにあってはその効果はより向上した。Even if the flexible conductor a is made of a copper alloy having the above composition (II), (III), or (IV), a similar effect can be obtained. The effect was further improved when the electrolytic copper was pickled, or when the O ₂ content was less than 50 ppm and the recrystallized structure of the constituent metal was 50% or less.

【００３８】[0038]

[Effect of the device]

本考案は、以上のように構成したので、可撓性、耐熱性、耐摩耗性、耐屈曲性及び耐シンナー性が優れたものとなる。 Since the present invention is configured as described above, it is excellent in flexibility, heat resistance, wear resistance, bending resistance and thinner resistance.

[Brief description of drawings]

【図１】（ａ）は本考案に係る塗装ロボット用ケーブル
の一実施例の断面図、（ｂ）は同実施例の遮蔽心線の詳
細断面図1A is a cross-sectional view of an embodiment of a coating robot cable according to the present invention, and FIG. 1B is a detailed cross-sectional view of a shielding core wire of the same embodiment.

【図２】同実施例の遮蔽心線の配列図FIG. 2 is an array diagram of shielding core wires of the same embodiment.

【図３】絶縁心線の部分切断斜視図FIG. 3 is a partially cut perspective view of an insulating core wire.

【図４】試験結果図[Fig. 4] Test result diagram

【図５】試験結果図[Figure 5] Test result diagram

【図６】試験結果図FIG. 6 Test result diagram

【図７】耐屈曲試験機の概略図であり、（ａ）は正面
図、（ｂ）は左側面図FIG. 7 is a schematic view of a bending resistance tester, in which (a) is a front view and (b) is a left side view.

【図８】試験結果図FIG. 8: Test result diagram

[Explanation of symbols]

１移動ガイド２固定ガイド４押え巻きテープ層５遮蔽層６遮蔽心線７介在８シース（外被）Ｐ絶縁心線ａ撚線（可撓導体）Ａケーブル 1 Moving Guide 2 Fixed Guide 4 Pressing Winding Tape Layer 5 Shielding Layer 6 Shielding Core Wire 7 Intervening 8 Sheath (Coating) P Insulating Core Wire a Stranded Wire (Flexible Conductor) A Cable

フロントページの続き (51)Int.Cl.⁵ 識別記号庁内整理番号ＦＩ技術表示箇所Ｈ０１Ｂ 3/44 Ｃ 9059−5Ｇ 7/28 Ｆ 7244−5Ｇ (72)考案者木原正昭東大阪市岩田町２丁目３番１号タツタ電線株式会社内 (72)考案者江原修東大阪市岩田町２丁目３番１号タツタ電線株式会社内Continuation of front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical indication location H01B 3/44 C 9059-5G 7/28 F 7244-5G (72) Inventor Masaaki Kihara 2 Iwata-cho, Higashi Osaka City Chome 3-1-1 Tatsuta Electric Wire Co., Ltd. (72) Inventor Osamu Ehara 2-3-1 Iwata-cho, Higashiosaka City Tatsuta Electric Wire Co., Ltd.

Claims

[Scope of utility model registration request]

1. A flexible conductor made of a copper alloy having the following composition is twisted with a plurality of insulating core wires each having an insulating coating of the following resin composition a, and a shielding layer is provided around the insulating core wires, and further on the insulating core wire. A heat resistance characterized by forming a press-winding tape layer to form a shielding core wire, twisting a plurality of the shielding core wires, and surrounding the periphery with a resin composition mainly composed of a thermoplastic polyester elastomer.・ Flexible and abrasion resistant coating robot cable. Note [copper alloy] Zr 0.01 to 0.05% by weight, Cr 0.0
A copper alloy having 1 to 0.05% by weight and the balance substantially Cu. [Resin Composition a] Polyether or Polycarbonate Polyurethane Elastomer and Polyvinylidene Fluoride-Based Fluorine Elastomer in a Weight Ratio of 3
A resin composition obtained by kneading in a range of 0/70 to 90/10 and adding thereto a crosslinking agent 1 to 9 PHR.

2. The weight ratio of the resin composition a is 30/70 to.
The cable for a heat-resistant, flex-resistant and wear-resistant coating robot according to claim 1, wherein the cable is 70/30.

3. A cross-linking agent for the resin composition a is added in an amount of 3 to 7 PHR.
The heat-resistant, flex-resistant and wear-resistant coating robot cable according to claim 1 or 2, wherein the cable is added.

4. The heat-resistant, bending-resistant and wear-resistant coating robot cable according to any one of claims 1 to 3, wherein the shielding core wire is twisted together with an interposition.

5. The cable for a heat resistant / flexible / abrasion resistant coating robot according to any one of claims 1 to 4, wherein the copper alloy has the following composition. Note Zr 0.01 to 0.05% by weight, Cr 0.01 to 0.0
5% by weight, In, Sn, Ag, Al, Bi, Ca, F
e, Ge, Hf, Mg, Mn, Ni, Pb, Sb, S
A copper alloy in which at least one of i, Ti, Zn, B, Y, and O is 0.002 to 0.3% by weight in total, and the balance is substantially Cu.

6. The heat / bend / abrasion resistant coating robot cable according to claim 1, wherein the copper alloy has the following composition. Note that the total amount of additive elements containing at least Cr is 0.1 to 2.0.
A copper alloy having a weight percentage of Cr and having Cr deposited by heat treatment.

7. The heat-resistant, bending-resistant and wear-resistant coating robot cable according to any one of claims 1 to 4, wherein the copper alloy has the following composition. Note that the total amount of additive elements containing at least Zr is 0.005
A 0.5 wt%, copper alloy to precipitate Cu ₃ Zr by heat treatment.

8. The heat-resistant, bending-resistant and wear-resistant coating robot cable according to claim 1, wherein the composition metal of the copper alloy has a recrystallization structure of 50% or less. A heat resistant, bend resistant and wear resistant coating robot cable.

9. The heat-resistant, bending-resistant and wear-resistant coating robot cable according to claim 1, wherein the copper alloy has an O ₂ content of less than 50 ppm. Cable for robots that is resistant to heat, bending, and abrasion.