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

Abstract

(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]

[Industrial applications]

 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]

[Prior art and its problems]

 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.

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.

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.

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.

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]

[Means for Solving the Problems]

 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.

[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.

(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.

(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.

(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.

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.

[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.

Preferably, the TPU / F-TPE weight ratio is 30/70 to 70/30, and the crosslinking agent is 3 to 7 PHR.

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.

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.

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]

[Table 1]

[0019]

[Table 2]

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]

[Action]

 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.

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]

【Example】

 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]

[Table 3]

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.

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).

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).

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.

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.

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.

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.

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.

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]

[Table 4]

[0035]

[Table 5]

[0036]

[Table 6]

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]

[Effect of the device]

 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]

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.

FIG. 2 is an array diagram of shielding core wires of the same embodiment.

FIG. 3 is a partially cut perspective view of an insulating core wire.

[Fig. 4] Test result diagram

[Figure 5] Test result diagram

FIG. 6 Test result diagram

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.

FIG. 8: Test result diagram

[Explanation of symbols]

 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

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 (9)

[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.