KR20190025073A - For robot application flat cable and manufacturing method of the same - Google Patents

Abstract

The present invention relates to a movable flat cable and a manufacturing method thereof. According to an embodiment of the present invention, a cable having bending resistance and used in a movable robot is provided. A central portion includes a plurality of wire portions. A polyester ester block copolymer is used as a fiber forming component which is a high elasticity polymer which is a highly stretchable material having excellent elasticity and high flexibility on an outer circumferential surface surrounding the wire portions. A polymer selected from polyvinyl alcohol, polyethylene, polystyrene, and copolyester, which is a lyotropic polymer, is included as an extraction component. According to the present invention, in the outer circumferential surface including the highly stretchable material, quadrants of a hollow cylindrical shape are formed in a facing symmetrical shape. A block body made of concrete is formed to limit a bending operation of the cable. The wire portions are covered by a rectangular pillar-shaped cover, and a bending operation or an unfolding operation is performed by one operation. The rectangular pillar-shaped cover has a flat belt shape. A diagonal movement may not occur when movement of one end part or a position change of a bent part occurs.

Description

Technical Field [0001] The present invention relates to a movable flat cable and a manufacturing method thereof,

The present invention relates to a movable flat cable and a method of manufacturing the same.

 In a mounting apparatus for mounting an electronic component at a predetermined position on a substrate, a chuck for holding the electronic component is provided so as to be movable in the lateral direction and the longitudinal direction. In order to drive such a chuck, a power is transmitted between the base of the chuck and the main body of the mounting apparatus, or a cable for transmitting a control signal or a tube for feeding hydraulic pressure or air pressure. In the case of a mounting apparatus, it is necessary to follow a cable, a tube, or the like corresponding to the lateral movement of the base. In an industrial device including such a mounting device, it is necessary to move within a predetermined moving area according to the design of a device, such as a cable or a tube provided between a moving part and a fixing part. However, There is a possibility that the operation of the device may be interrupted due to the flexibility and the movement of the device. Therefore, a guide for protecting the cable has been proposed. For example, Korean Patent Laid-Open Publication No. 10-2015-0039482 Bare and a substrate transfer device including the same).

The conventional protection guide includes a flexible pipe made of a synthetic resin and containing a plurality of cables and connected to the cable moving end and the cable fixing end, and a plurality of bending regulators arranged to be fitted in the flexible pipe at a predetermined interval, Unit.

As an example of such an apparatus, a general ion implantation apparatus among semiconductor manufacturing facilities has a scanning apparatus for scanning a beam for an ion implantation process.

The scanning device is structurally related to a scanning harness due to a structural defect of a scan harness for fixing and fastening a cable for electrically connecting a plurality of devices (e.g., a power supply device, a driving device, etc.) There is a problem that a phenomenon occurs.

Scanning harnesses connect a plurality of cables electrically connecting the scanning device and the driving device to each other in the form of a bundle. If the scanning harness receives external damage during the ion implantation process, the scanning harness has a serious effect such as a facility error and a wafer being damaged. Many cables include a power cable and a number of signal cables and were initially fastened using cable ties.

The driving device includes a motion controller, such as a programmable multi-axis controller (PMAC), a rotary motor, an air bearing and a guide rail, and the like.

The initial scan harness supports the cable with a bracket and fixes it with a number of cable ties. When the scanning device moves up and down, the cables are damaged by the cable tie during the scanning operation, A phenomenon occurred, and a cable tie that fixed the cables at irregular intervals had a problem of wearing and damaging the cables.

As described above, the scan harness of the initial ion implantation facility has a risk of disconnection due to the load applied to the cables when the scanning device moves up and down while scanning. This is because the air bearings move the scanning unit up and down, which causes the cables to bend, resulting in heavy loads on the cable.

In order to solve such a problem, as shown in FIG. 1, an energy chain (an energy chain) is connected to the scan harness 30 connecting the scanning device 20 and the driving device 40 in the ion implantation apparatus 10 31) to reduce the risk of disconnection by dispersing loads frequently applied to internal cables in the scan harness.

However, even if such an energy chain is employed in the scan harness, there is still a risk of disconnection of some of the cables in the scan harness because the load applied to each cable in the scan harness is only partially distributed.

Further, there is a problem in that there is no way to detect whether the cable in the scan harness is actually disconnected or disconnected from the outside when an abnormality is detected in the ion implanter. Therefore, if an abnormality is detected in the ion implanter even though there is no abnormality in the cable in the scan harness, the treatment for the scan harness in which the most trouble is frequent in the field is prioritized. As a result, the chamber in the high vacuum state is opened There is a problem in that a considerable time delay occurs in the field because the cable has to be diagnosed one by one.

Furthermore, since the scan harness like this is formed integrally with the scanning device and the driving device, it also takes a considerable time to replace the scan harness when the cable is disconnected in the scan harness.

In recent years, there has also been developed a technique of protecting a cable by wrapping it with a plastic cable chain. In reality, however, there has been a problem that a cable is damaged by a cable chain. Recently, a small form of protection Although the block is attached to one side of the cable, it is inconvenient to attach the protection block to one side of the cable.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems described above and to provide a movable flat cable capable of preventing a problem such as disconnection or short-circuit during operation such as bending by supplementing a bending property when a cable is moved.

It is still another object of the present invention to provide a method of manufacturing a wire that forms the inside and the outside of a cable so as to prevent the cable from being short-circuited or short-circuited despite frequent movement of the cable.

According to an aspect of the present invention, there is provided a flexible flat cable, which is used in a movable robot, includes a plurality of wire portions at a central portion thereof and an outer circumferential surface surrounding the plurality of wire portions, A polyester ester block copolymer is used as a fiber-forming component which is a high elastic polymer which is excellent in elasticity and high stretchability, and polyvinyl alcohol, polyethylene, polystyrene, and copolymerization Wherein the reinforcing member comprises a polymer selected from the group consisting of polyester, polyester, polyester, and quartz in the shape of a hollow cylinder having a symmetrical shape facing each other in an outer peripheral surface including the highly elastic material, Wherein the plurality of electric wire portions are arranged in a rectangular columnar lid So that the bending operation or the unfolding operation occurs in one operation, and the lid of the rectilinear geometry column is formed in the shape of a flat belt so that the movement of the one end portion or the occurrence of the meandering at the change of the position of the bent portion .

In one embodiment of the present invention, the polyetherester block copolymer contained in the outer circumferential surface is a soft segment random block copolymer having a hard segment of the following structural formula (I) and a structural segment (II) Flat cable.

(Wherein D is a radical type diol compound in which two hydroxyl groups have been removed from a mixture of one or more components selected from aliphatic diol compounds having 2 to 8 carbon atoms and alicyclic diol compounds, and R is an aromatic di A radical type dicarboxylic acid compound in which two carboxyl groups have been removed from a mixture of one or more components selected from the group consisting of aliphatic dicarboxylic acids, aliphatic dicarboxylic acids and alicyclic dicarboxylic acids, G is a poly (alkylene Oxide) glycols in which two hydroxyl groups have been removed from a mixture of one or more components.

In the method of manufacturing a movable flat cable according to an embodiment of the present invention, a step (s10) of fabricating a cable by rewiring six bundles of three strands of core wires (s10), filling the insulators between the cables (s30) of a quadrangular hollow cylindrical shape having a symmetrical shape on the outer circumferential surface of the cables filled with the insulator (s30), and a step (s30) of forming a hollow sintered cylindrical block body with dimethyl terephthalate (DMT) A polyetherester copolymer prepared by condensation polymerization of 4-butanediol (BD) and polytetramethylene oxide glycol [PTMG (molecular weight: 1,000)] is supplied as a fiber-forming component, and an alkyllip soluble copolymer polyester is supplied A step (s40) of spinning the composite radiator after the spinning (s40); And a step (s60) of using the composite yarn as a weave and supplying the polyester yarn on the outer circumferential surface of the cables filled with the insulator by using a warp yarn to produce an outer circumferential surface.

In one embodiment of the present invention, the usable polymer may be a polymer selected from polyvinyl alcohol, polyethylene, polystyrene, and copolymerized polyester.

The movable flat cable according to the present invention plays a role of signal transmission and power supply; It is possible to provide a cable excellent in durability that can withstand repetitive operations such as frequent bending and warping, and excellent in signal transmission and power transmission.

FIG. 1 is a view for explaining a scan harness and an ion implanting apparatus including the scan harness in the semiconductor device according to the related art.
2 is a cross-sectional view showing the construction of a movable flat cable according to the present invention.
Fig. 3 is a view for schematically explaining when the movable flat cable according to the present invention is bent to one side. Fig.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

FA (FACTORY AUTOMATION) cable is used for signal cable and operation part between factory automation equipment and it performs repetitive motion. It uses composite conductor using ultra fine wire to withstand long-term repetitive motion. However, The durability of the insulator can be greatly improved by selecting and applying materials.

For reference, the relationship between energy chain and cable is not always in harmony. In the late 1980s, when cables called "flexibility" or "chain suitability" were actually used in energy chains, cable damage was more frequent. In an accelerating automated warehouse logistics system, the cables exhibit "cork screw phenomena," resulting in downtime for machinery and equipment.

Numerous cable companies have tried to prevent this, but it has not been a success.

To become a cable expert, a new solution must be presented which is different from the core structure of an existing cable.

For example, bundle braiding can be used as a corresponding concept. The bundle braiding described above is quite different from the concept of a common layered cable structure that is still used today. In the layer type, the core wires surround the cable center in several layers, and the empty space between the layer layers is usually filled with a film or a fleece. This manufacturing method is cost-effective but has the disadvantage that the core wires of the chain radius are exposed to high tensile and compressive forces each time the energy chain moves.

Particularly, in the case of a cable having many long travels and gliding motion shims, this force greatly affects the core wire, resulting in cable damage such as a cockscrew.

The bundle braiding method used for the chain flex cable is completely different from the above-mentioned layer method. For example, in the case of an 18-core chain flex cable, all the cores are stacked one by one and wound into a bundle structure with three strands from the beginning without detecting the layers. After that, six bundles consisting of three strands are re-weaved to form a complete cable. The core of the bundle braid is not subject to excessive tensile stress even in the radius of the moving chain. Particularly important is that the entire braided structure is supported by the extruded extruded endothelium and envelope. Since the space between the core wires is completely filled with the jacket material, the twist of the core wire is not loosened.

Another cable design can be used for violent motion such as torsion (torsion). The so-called chain flex robot cables used mainly for industrial robots and multi-axis motions must be capable of flexibly coping with extreme bending and torsional motions without damaging them. This is because the more the cable is bent, the more the warp becomes more difficult as the corresponding stress (stress) limit approaches. The special shield construction and sheath material also help optimize cable durability.

Robotic cables require the concept of force compensation, loose stranding elements, and completely different shielding from different sliding surfaces in order to continue functioning well after millions of cycles in torsional stress. The cable used for the robot technology should be changed repeatedly according to the motion of the robot.

The cable used in the robot technology is required to change the moving direction repeatedly according to the movement of the robot. For example, the diameter of the braid structure may vary with the twist angle. The requirements for shielded cables are particularly demanding.

A sliding element can be placed above and below the shield so that the force acting on the shield wire is relaxed and the shield can freely move in accordance with the entire braid structure and shell. This soft construction provides the freedom to move the entire cable and reduces the tensile and compressive forces acting on the cable to prevent machine downtime due to premature conductor damage. These chain flux series can be applied up to +/- 180 ° / m, and this structural change can guarantee a service life of at least 5 million cycles or 36 months, whichever comes first.

In order to be applied to a robot cable used for the above-described operation, the insulation material and the sheath material are as important as the cable braiding structure.

Regulations and standards for mobile cables have been and are still in the past. However, there are no relevant national and international standards for cables that are actually intended for use in energy chains. There are test methods that have been published by different standards bodies in the cable industry, but they are so common that they do not reflect specific requirements, such as continuous motion applications in the energy chain. VDE ('V'erband' d'er 'E'lektrotechnik) The bending fatigue test and the wear test do not meet the requirements for chain cable combinations.

In bend cycle testing, the motion of the cable is different from that in the energy chain. Designs that meet these requirements may not be successful in a rigorous test framework, such as moving energy chain testing.

A standard wear test, which defines the wear of a material based on needles, sandpaper or razor blades, may be well suited for general conditions. When the surface of the shell is scratched by applying pressure to the needle or the like, the cable wears. However, as you can not usually find sandpaper or razor blades inside an energy chain, you do not know anything about the durability of the sheath material in contact with the energy chain in this test.

The important thing is to test and match the materials of the two gliding partners, the chain and the cable, to each other. Gas, and water, as well as the temperature of use, and it plays an important role in the development and testing of the outer material of the movable cable. For example, the cable industry uses the EN60811-504 low temperature bend test to define the low temperature flexibility of a live cable. Adjust mandrel diameter according to cable diameter and wind cable to mandrel to cool to constant temperature. When the cable reaches the test temperature, unscrew the cable from the mandrel. If there is no visible sheath crack at this time, the cable is considered to have passed the test, and the sheath material that has passed the test is specified to be usable at that test temperature.

However, this does not reflect the actual conditions of the energy chain. It is important to create practical tests that simulate real-world environments. Depending on the purpose of the test, it is necessary to install the cable in the same energy chain as in the actual -40 ° C to + 60 ° C air conditioning container and to test it by moving it continuously. It is preferable not to end it once, but to repeat it several millions of times.

If there is no sheath crack in the peak test combined with temperature stress and continuous bending stress, a cable that passes this peak test can be considered to have passed the test.

2 is a cross-sectional view showing the construction of a flat cable for operation according to an embodiment of the present invention.

Referring to FIG. 2, a movable flat cable 100 according to an embodiment of the present invention includes a plurality of cables at a central portion thereof. The outer circumferential surface surrounding the plurality of cables includes a high elastic polymer A polymer selected from the group consisting of polyvinyl alcohol, polyethylene, polystyrene, and copolymerized polyester, which is a crystalline polymer, is used as a fiber-forming component, and a polymer selected from the group consisting of an outer circumferential surface Shaped block body 150 is formed to restrict a bending operation of the cable, and the plurality of cables are formed in a rectangular columnar lid 190, So that a bending operation or an unfolding operation is generated in one operation A lid 190 of the rectangular pillar shape is yirueojyeoseo a belt shape may be one that does not occur during the movement operation or the curved part of the meandering part of the positional change (developer moving in a zigzag pattern).

In the present invention, a plurality of cables 70 arranged in a substantially belt shape are formed in a hollow cylindrical cylindrical body 150 adjacent to the cable 70, so that the bending operation of the cylindrical cylindrical body 150 is restricted, So that it is possible to protect the cable 70 disposed inside the hollow cylindrical powder 150 and to minimize the occurrence of defective phenomenon such as disconnection even in long term or repetitive use.

As described above, the hollow cylindrical cylindrical body 150 is formed on the outer circumferential surface of the cable 70 whose bending speed is limited and the movement is restricted and the strength is reinforced, so that the bent portion of the cable 70, Since the predetermined curvature is maintained by the rigidity of the belt-shaped flat cable 100, the rigidity against the bending of the belt-type flat cable 100 is secured since the winding (zigzag binding phenomenon) does not occur when the position of the bending portion changes Since the positional change occurs only at a predetermined curvature, the flexural strength of the hollow cylindrical silica powder 150 with respect to the flexure of the cable 70 is increased, so that the connection strength of the hollow cylindrical silica powder 150 So that the function of adjusting the direction and degree of bending of the cable 70 over a long period of time can be performed.

A highly stretchable material 170 is disposed outside the hollow cylindrical powder 150 to compensate for a bending action or a bending action.

The highly elastic material 170 is an extraction type conjugate fiber, wherein the extraction component is a dissolvable polymer, the fiber forming component is a polyether ester block copolymer, and after extraction (elution) of the extracted component The monofilament fineness of the fiber-forming component may be 0.001 to 0.3 denier. A denier is a unit that represents the fineness of a fiber or yarn, and represents the weight of a fiber or yarn of 9,000 meters in nine-point units. It is used to display the thickness of filaments such as silk, rayon, and synthetic fibers. The larger the number of deniers, the larger the thickness of the fibers and yarns.

Here, as the polyetherester block copolymer, a soft segment random block copolymer having a hard segment of the following structural formula (I) and the following structural formula (II) may be used.

(Wherein D is a radical type diol compound in which two hydroxyl groups have been removed from a mixture of one or more components selected from aliphatic diol compounds having 2 to 8 carbon atoms and alicyclic diol compounds, and R is an aromatic di A radical type dicarboxylic acid compound in which two carboxyl groups have been removed from a mixture of one or more components selected from the group consisting of aliphatic dicarboxylic acids, aliphatic dicarboxylic acids and alicyclic dicarboxylic acids, G is a poly (alkylene Oxide) glycols in which two hydroxyl groups have been removed from a mixture of one or more components.

The ultramocro fiber was first microfabricated by direct spinning method, but the problem of the cutting process was not solved, so filament of 2-5 data of single filament is added to the polymer of two components, Was developed.

By using such a method, the highly elastic material 170 can be manufactured on the outer peripheral surface of the movable flat cable 100 of the present invention.

A lid 190 may be formed on the outer side of the high elastic material 170.

FIG. 3 is a view illustrating a bent state using a movable flat cable according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 3, the movable flat cable 100 includes a cable assembly having a flexible core wire or cable 70, a highly elastic material 170 surrounding the cable 70, And may include the cylindrical silica powder 150.

3, since the operation of bending the cable 70 is limited by the hollow cylindrical powder 150 or the cover 190, the cable 70 can be used for a long time, The same defective state can be minimized.

Hereinafter, a method of manufacturing the strength type flat cable 100 will be described.

The strength type flat cable 100 can first braid the cable 70 or the core wire by the bundle braiding method (s10).

The insulator 120 may be disposed between the braided core wires 70 (s20)

As the insulator 120, ETFE (Ethylene Tetra Fluoro Ethylene) may be used. The ETFE is a special material made of plated copper wire insulated with non-combustible fluorine resin and is mainly used for internal wiring of electric and electronic devices requiring heat resistance. It is also known that it has excellent chemical resistance and chemical resistance in a chemical environment.

The lid 190 may be formed on the outer periphery of the assembly of the cable 70 surrounded by the insulator 120 as described above. The lid 190 may function to protect the built-in flat cable 100 by limiting the bending of the cable 70 in the same manner as the hollow cylindrical cylindrical powder 150.

(S30) of a quadrilateral hollow cylindrical shape block having a symmetrical shape on the outer circumferential surface of the cables filled with the insulator, and a step (s30) of forming a block member of a concrete material with dimethyl terephthalate (DMT), 1,4- , And polytetramethylene oxide glycol [PTMG (molecular weight: 1,000)] as a fiber-forming component, supplying an alkyllip soluble copolymerized polyester as an extracting component, (s40).

The radiated composite radiator may be stretched by applying heat to produce a composite yarn (s50). The stretching step (s50) may be a step of preparing the composite yarn by stretching at a temperature of 130 DEG C at an elongation of 1.5 times.

The composite yarn thus manufactured may be used as a weft yarn, and the polyester yarn may be fed on the outer circumferential surface of the cables filled with the insulator by using a warp yarn to produce an outer circumferential surface (s60).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims It can be understood that

10: ion implantation device 20: scanning device
40: drive device 30: scan harness
31: Energy chain 70: Cable (core wire)
100: Flat cable 120: Insulator
150: a hollow cylindrical quadrilateral block body
170: high stretch extraction type composite fiber 190: cover

Claims (4)

A bending resistant cable for use in a mobile robot,
A polyetherester block copolymer is used as a fiber forming component which is a high elastic polymer which is excellent in elasticity and is a highly elastic material and which has a plurality of electric wire portions at its center portion and surrounds the plurality of electric wire portions, Solubility) polymer, a polymer selected from polyvinyl alcohol, polyethylene, polystyrene, and copolymerized polyester,
Wherein the outer peripheral surface of the high elastic material is formed in a quadrilateral shape of a hollow cylindrical shape having a symmetrical shape facing each other and a block body made of a concrete material is formed to restrict a bending operation of the cable,
Wherein the plurality of electric wire portions are covered by a rectangular columnar lid, so that a bending operation or an unfolding operation occurs in one operation,
Wherein the lid of the direct geometric columnar body is formed in a flat belt shape so that no meandering occurs when the movement of the one end portion or the change in the position of the bent portion occurs. The method according to claim 1,
The polyetherester block copolymer contained in the outer circumferential surface may contain,
A flat cable for operation, characterized in that it is a soft segment random block copolymer of the following structural formula (I) and the following structural formula (II).

(Wherein D is a radical type diol compound in which two hydroxyl groups have been removed from a mixture of one or more components selected from aliphatic diol compounds having 2 to 8 carbon atoms and alicyclic diol compounds, and R is an aromatic di A radical type dicarboxylic acid compound in which two carboxyl groups have been removed from a mixture of one or more components selected from the group consisting of aliphatic dicarboxylic acids, aliphatic dicarboxylic acids and alicyclic dicarboxylic acids, G is a poly (alkylene Oxide) glycols in which two hydroxyl groups have been removed from a mixture of one or more components. Step (s10) of re-weaving six bundles of three strands of core to produce a cable;
Filling an insulator between the cables (s20);
A step (s30) of placing a quadrilateral hollow cylindrical shape block having a symmetrical shape and made of concrete on the outer circumferential surface of the cables filled with the insulator;
A polyetherester copolymer prepared by condensation polymerization of dimethyl terephthalate (DMT), 1,4-butanediol (BD) and polytetramethylene oxide glycol [PTMG (molecular weight 1,000)] as a fiber-forming component, (S40) of supplying a co-polyester of the same as an extraction component and then spinning the composite;
A step (s50) of producing the composite yarn by heating the radiated composite radiator by applying heat; And
And a step (s60) of fabricating an outer circumferential surface by using the composite yarn as a weave and feeding the polyester yarn on the outer circumferential surface of the cables filled with the insulator by using a warp yarn . The method of claim 3,
Wherein the use polymer is a polymer selected from the group consisting of polyvinyl alcohol, polyethylene, polystyrene, and copolymer polyester.

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