Flexible anti-distortion reinforced cable for intelligent robot with body

Abstract

The invention discloses a flexible anti-distortion reinforced cable for an intelligent robot with a body, and relates to the technical field of cables. The preparation method comprises the following steps: firstly, adding nano aluminum oxide into a precursor solution of a Fe / Co-MOFs material, growing the Fe / Co-MOFs material on the surface of the nano aluminum oxide through an in-situ growth method to prepare modified nano aluminum oxide, adding the modified nano aluminum oxide into silicon rubber, and taking the nano aluminum oxide as a high-resistivity material, so that the conductivity of the silicon rubber can be effectively reduced, and the insulating property can be improved; preparing an insulating rubber layer under the assistance of a magnetic field; then diallyltetramethyldisiloxane and 1-octylene are used for modifying ethylene propylene diene monomer, silane coupling agent modified carbon black is added to prepare a cold-proof protective layer, siloxane bonds in diallyltetramethyldisiloxane are flexible groups, molecular chains can be endowed with ultrahigh flexibility when diallyltetramethyldisiloxane is inserted into the ethylene propylene diene monomer, and the cold-proof protective layer is formed; and the cold resistance of the protective sleeve is further improved.

Description

Technical Field

[0001] This invention relates to the field of cable technology, specifically to a flexible, torsion-resistant reinforced cable for embodied intelligent robots. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, embodied intelligence has become one of the core directions of next-generation robotics research. Embodied intelligent robots emphasize the real-time coupling of the "body" and the "environment," achieving high degrees of freedom, high compliance, and high environmental adaptability through flexible joints, bionic skin, and distributed sensing and actuation systems. However, this trend towards "flexibility" poses unprecedented challenges to traditional electrical connection systems: 1. Industrial robotic arms or humanoid robots need to perform continuous bending, twisting, and stretching movements within confined spaces. Conventional copper core PVC or TPU sheathed cables are used in 10... 6 After a cycle, problems such as conductor strand breakage, insulation layer cracking, and impedance drift may occur, leading to signal interruption or energy transmission failure.

[0003] 2. In scenarios such as cold chain warehousing, spacecraft exteriors, and high-latitude scientific expeditions, robots need to start and operate continuously at temperatures as low as -40℃ or even -60℃. Ordinary rubber sheaths exhibit a significant glass transition (Tg) at low temperatures, resulting in increased hardness, larger bending radius, and a dynamic fatigue crack propagation rate that increases by more than an order of magnitude, leading to "cold brittleness" failure.

[0004] 3. High-power-density servo motors, joint drivers, and cables are conformally arranged, resulting in a superposition of Joule heat and frictional heat, causing local temperature rises in the wiring harness to exceed 30°C. If the thermal conductivity of the insulation layer is low, the accumulated heat will accelerate material aging; if the amount of thermally conductive filler is simply increased, it will lead to a sharp drop in volume resistivity, increasing the risk of leakage current and electromagnetic interference.

[0005] 4. Flexible robots require the three layers of "conductor-insulation-sheath" to deform collaboratively within a total thickness of less than 5 mm. Existing technologies mostly use physical blending or simple coupling agent treatment, resulting in a large interfacial modulus gradient. After repeated bending, interlayer slippage and micropore nucleation easily occur, eventually forming conductive water tree channels and reducing service life.

[0006] In summary, developing a reinforced cable that simultaneously meets the requirements of high flexibility, high torsion resistance, high cold resistance, and certain thermal conductivity has become an urgent need for embodied intelligent robots to achieve long-term reliable service. Summary of the Invention

[0007] The purpose of this invention is to provide a flexible, torsion-resistant reinforced cable for embodied intelligent robots, in order to solve the problems existing in the prior art.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flexible anti-torsion reinforced cable for a unibody intelligent robot, comprising a conductor, an insulating rubber layer and a cold-proof protective layer; The insulating rubber layer is prepared by adding Fe / Co-MOFs modified nano-alumina into silicone rubber under magnetic field assistance. The cold-proof protective layer is prepared by using diallyltetramethyldisiloxane and 1-octene as modifiers to prepare modified EPDM rubber, which is then blended with EPDM rubber, silane coupling agent modified carbon black, paraffin oil, plasticizer, antioxidant, vulcanizing agent, co-vulcanizing agent and flame retardant.

[0009] Furthermore, the modified nano-alumina is prepared by adding nano-alumina to a precursor solution of Fe / Co-MOFs material and growing Fe / Co-MOFs material on the surface of nano-alumina by in-situ growth method.

[0010] Furthermore, the plasticizer is DOS, the antioxidant is at least one of DPPD, RD, MB and CTU, the vulcanizing agent is dicumyl peroxide, the co-vulcanizing agent is tetramethylthiuram disulfide, and the flame retardant is at least one of decabromodiphenyl ether and zinc borate.

[0011] Furthermore, a method for fabricating a flexible, torsion-resistant reinforced cable for embodied intelligent robots includes the following fabrication steps: (1) Ferrous chloride tetrahydrate and cobalt acetate tetrahydrate are mixed in a molar ratio of 15~20:1 and dissolved in polyvinylpyrrolidone solution. Nano-alumina nanoparticles with a mass of 1.0~2.5 times that of ferrous chloride tetrahydrate are added and stirred to obtain a mixture. Under magnetic stirring, DMF solution of trimellitic acid is added dropwise until the amount of trimellitic acid is 1.5~2.0 times that of ferrous chloride tetrahydrate. The temperature is raised to 150~160℃ and the reaction is carried out for 24h. The mixture is washed and dried to obtain modified nano-alumina. (2) By weight, mix 70-90 parts of methyl vinyl silicone rubber, 1-3 parts of KH550 silane coupling agent, 1-1.5 parts of fumed silica, 2-6 parts of vulcanizing agent DHBP, and 0.5-1.0 parts of modified nano alumina, apply a 1.5T magnetic field for 10 minutes, and then vulcanize to obtain insulating rubber; (3) Dissolve EPDM rubber in an organic solvent and stir at 30-70°C until completely dissolved to obtain a rubber solution system. Add 0.1-0.2 times the mass of EPDM rubber of diallyltetramethyldisiloxane and 0.1-0.25 times the mass of EPDM rubber of 1-octene. Add 2.0%-3.5% of the mass of diallyltetramethyldisiloxane of platinum catalyst. Heat to 160-175°C and react for 20-60 min. Remove the solvent by vacuum distillation and dry to obtain modified EPDM rubber. (4) Mix 30-35 parts of modified EPDM rubber, 30-40 parts of EPDM rubber, 15-25 parts of silane coupling agent modified carbon black, 3-6 parts of paraffin oil, 5-15 parts of plasticizer, 1-3 parts of antioxidant, 3-5 parts of vulcanizing agent, 1-3 parts of co-vulcanizing agent and 3-5 parts of flame retardant, and vulcanize to obtain cold-resistant rubber; (5) The insulating rubber is extruded onto the outer surface of the conductor to obtain an insulating rubber layer, and then covered with cold-proof rubber to obtain a cable.

[0012] Furthermore, in step (1), the concentration of the DMF solution of pyromellitic acid is 0.035~0.045 mol / L.

[0013] Furthermore, in step (2), the mixing temperature is 95~125℃, the mixing time is 1~4h, the vulcanization temperature is 160~175℃, the vulcanization pressure is 10~15MPa, and the vulcanization time is 20min.

[0014] Furthermore, the organic solvent in step (3) is one of toluene, xylene, chlorobenzene, cyclohexane, tetrahydrofuran, and acetone.

[0015] Furthermore, in step (3), the platinum catalyst contains 8-12% platinum, which is the effective substance.

[0016] Furthermore, the mixing temperature is 105~115℃, the mixing time is 5~8min, the vulcanization temperature is 170~180℃, the vulcanization pressure is 16~18MPa, and the vulcanization time is 6~10min.

[0017] Furthermore, in step (5), the thickness of the insulating rubber layer is 3~6mm, and the thickness of the cold protection layer is 1.5~3.0mm.

[0018] Furthermore, the polyvinylpyrrolidone solution is prepared by dissolving 0.2g of polyvinylpyrrolidone in 20mL of LMF.

[0019] Furthermore, the particle size of the nano-alumina is 50~80μm.

[0020] Furthermore, the grade of the methyl vinyl silicone rubber is DR-110-1.

[0021] Furthermore, the grade of the EPDM rubber is TER 4436.

[0022] Furthermore, the N550 carbon black has a particle size of 25–30 μm; the fumed silica has a particle size of 10–50 nm and a specific surface area of ​​200–300 m². 2 / g.

[0023] Furthermore, the preparation method of the silane coupling agent modified carbon black is as follows: 200g of KH-570 is dissolved in 1kg of ethanol aqueous solution with a volume ratio of 1:1 to obtain a silane coupling agent solution. 20g of N550 carbon black is added to the silane coupling agent solution, reacted at 90℃ for 40min, filtered, washed, and dried at 60℃ to constant weight to obtain silane coupling agent modified carbon black.

[0024] Compared with the prior art, the beneficial effects achieved by the present invention are: (1) Add nano-alumina to the precursor solution of Fe / Co-MOFs material, and grow Fe / Co-MOFs material on the surface of nano-alumina by in-situ growth method to prepare modified nano-alumina. Add the modified nano-alumina to silicone rubber and prepare an insulating rubber layer under the assistance of a magnetic field. As a high resistivity material, nano-alumina can effectively reduce the conductivity of silicone rubber and improve the insulation performance. Fe / Co-MOFs material is grown on the surface of modified nano-alumina to form a core-shell structure, which further enhances the interfacial bonding force, avoids particle agglomeration, and makes the mechanical properties of the composite material better than the single filling system. Under the action of a magnetic field, nano-alumina can be arranged in an orderly manner in silicone rubber to form a thermal conductive path, which further improves the thermal conductivity of the insulating rubber layer.

[0025] (2) A cold-resistant protective layer was prepared by modifying EPDM rubber with diallyltetramethyldisiloxane and 1-octene, and adding carbon black modified with a silane coupling agent. During prepolymerization, the long chain of 1-octene was added to EPDM rubber to reduce the packing density of polymer chain segments, further improve the low-temperature fluidity of the material, and avoid low-temperature brittleness. The siloxane bond in diallyltetramethyldisiloxane is a flexible group. Inserting it into EPDM rubber can give the molecular chain ultra-high flexibility, further improve the cold resistance of the protective sleeve, and at the same time, the addition of diallyltetramethyldisiloxane will improve the EPDM rubber. Provides vulcanization crosslinking sites to form a three-dimensional network structure, further improving the elasticity of the cold-proof protective layer; the addition of carbon black modified with silane coupling agent improves the dispersibility of carbon black in rubber, reduces agglomeration, and thus lowers the glass transition temperature of rubber. The siloxane groups in the silane coupling agent also participate in vulcanization, connecting carbon black and rubber molecules to form a stable interfacial bond. This chemical bonding replaces simple physical adsorption, reducing the physical binding of carbon black on rubber chain segments, thereby alleviating the degree of restriction on chain segment movement, helping to maintain flexibility at low temperatures, and improving the cold-proof performance of the protective sleeve.

[0026] (3) The present invention uses flexible rubber material as the material for the insulation layer and the sheath layer. It has good softness and bending performance, and also has certain mechanical properties. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] To more clearly illustrate the method provided by the present invention, the following embodiments are provided in detail. The testing methods for various indicators of the cables produced in the following embodiments are as follows: Thermal conductivity: The thermal conductivity of the insulating layer was determined according to GB / T11205-2009 "Determination of thermal conductivity of rubber by hot wire method" using insulating rubber prepared in the same mass of the examples and comparative examples.

[0029] Cold resistance: The cold-resistant rubber prepared by the same mass of the example and comparative examples was tested for its cold resistance in accordance with GB / T 7758-2020 "Determination of Low Temperature Properties of Vulcanized Rubber - Temperature Shrinkage Procedure (TR Test)".

[0030] Example 1 A method for fabricating a flexible, torsion-resistant reinforced cable for embodied intelligent robots includes the following fabrication steps: (1) Ferrous chloride tetrahydrate and cobalt acetate tetrahydrate were mixed in a molar ratio of 15:1 and dissolved in polyvinylpyrrolidone solution. Nano-alumina nanoparticles with a mass of 1.0 times that of ferrous chloride tetrahydrate were added and stirred at 300 r / min for 15 min to obtain a mixture. Under magnetic stirring, a DMF solution of 0.035 mol / L pyromellitic acid was added dropwise until the amount of pyromellitic acid was 1.5 times that of ferrous chloride tetrahydrate. The temperature was raised to 150℃ and the reaction was carried out for 24 h. The mixture was washed three times with ethanol and DMF respectively and dried at 60℃ for 12 h to obtain modified nano-alumina. (2) By weight, 70 parts of methyl vinyl silicone rubber, 1 part of KH550 silane coupling agent, 1 part of fumed silica, 2 parts of vulcanizing agent DHBP and 0.5 parts of modified nano alumina are mixed and kneaded at 95~125℃ for 2 hours, magnetized by applying a 1.5T magnetic field for 10 minutes, and then vulcanized at 160℃ and 10MPa for 20 minutes to obtain insulating rubber. (3) Dissolve EPDM rubber in toluene and stir at 200 r / min at 45°C until completely dissolved to obtain a rubber solution system. Add diallyl tetramethyldisiloxane (0.1 times the mass of EPDM rubber) and 1-octene (0.1 times the mass of EPDM rubber), and add platinum catalyst (2.0 times the mass of diallyl tetramethyldisiloxane). Heat to 160°C and react for 20 min. Remove the solvent by vacuum distillation and dry at 80°C to constant weight to modify EPDM rubber. (4) Mix 30 parts of modified EPDM rubber, 30 parts of EPDM rubber, 15 parts of silane coupling agent modified carbon black, 3 parts of paraffin oil, 5 parts of plasticizer, 1 part of antioxidant, 3 parts of vulcanizing agent, 1 part of co-vulcanizing agent and 3 parts of flame retardant, mix at 105℃ for 5 minutes, and vulcanize at 170℃ and 16MPa for 6 minutes to obtain cold-proof rubber; (5) The insulating rubber is extruded onto the outer surface of the conductor to obtain an insulating rubber layer with a thickness of 3 mm, and then covered with a cold-proof rubber with a thickness of 1.5 mm to obtain a cable.

[0031] Example 2 A method for fabricating a flexible, torsion-resistant reinforced cable for embodied intelligent robots includes the following fabrication steps: (1) Ferrous chloride tetrahydrate and cobalt acetate tetrahydrate were mixed in a molar ratio of 18:1 and dissolved in polyvinylpyrrolidone solution. Nano-alumina nanoparticles with a mass of 2.0 times that of ferrous chloride tetrahydrate were added and stirred at 300 r / min for 15 min to obtain a mixture. Under magnetic stirring, a DMF solution of 0.040 mol / L pyromellitic acid was added dropwise until the amount of pyromellitic acid was 1.5 times that of ferrous chloride tetrahydrate. The temperature was raised to 155℃ and the reaction was carried out for 24 h. The mixture was washed three times with ethanol and DMF respectively and dried at 60℃ for 12 h to obtain modified nano-alumina. (2) By weight, 80 parts of methyl vinyl silicone rubber, 2 parts of KH550 silane coupling agent, 1.2 parts of fumed silica, 4 parts of vulcanizing agent DHBP and 0.8 parts of modified nano alumina are mixed and kneaded at 110°C for 3 hours, magnetized with a 1.5T magnetic field for 10 minutes, and then vulcanized at 170°C and 13MPa for 20 minutes to obtain insulating rubber. (3) Dissolve EPDM rubber in toluene and stir at 200 r / min at 60°C until completely dissolved to obtain a rubber solution system. Add diallyl tetramethyldisiloxane at 0.2 times the mass of EPDM rubber and 1-octene at 0.15 times the mass of EPDM rubber. Add platinum catalyst at 2.5 times the mass of diallyl tetramethyldisiloxane. Heat to 170°C and react for 40 min. Remove the solvent by vacuum distillation and dry at 80°C to constant weight to modify EPDM rubber. (4) Mix 33 parts of modified EPDM rubber, 35 parts of EPDM rubber, 20 parts of silane coupling agent modified carbon black, 4 parts of paraffin oil, 10 parts of plasticizer, 2 parts of antioxidant, 4 parts of vulcanizing agent, 2 parts of co-vulcanizing agent and 4 parts of flame retardant, mix at 110°C for 6 minutes, and vulcanize at 175°C and 17MPa for 8 minutes to obtain cold-resistant rubber; (5) The insulating rubber is extruded onto the outer surface of the conductor to obtain an insulating rubber layer with a thickness of 4 mm, and then covered with a cold-proof rubber with a thickness of 2.0 mm to obtain a cable.

[0032] Example 3 A method for fabricating a flexible, torsion-resistant reinforced cable for embodied intelligent robots includes the following fabrication steps: (1) Ferrous chloride tetrahydrate and cobalt acetate tetrahydrate were mixed in a molar ratio of 20:1 and dissolved in polyvinylpyrrolidone solution. Nano-alumina nanoparticles with a mass of 2.5 times that of ferrous chloride tetrahydrate were added and stirred at 300 r / min for 15 min to obtain a mixture. Under magnetic stirring, a DMF solution of 0.045 mol / L pyromellitic acid was added dropwise until the amount of pyromellitic acid was 2.0 times that of ferrous chloride tetrahydrate. The temperature was raised to 160℃ and the reaction was carried out for 24 h. The mixture was washed three times with ethanol and DMF respectively and dried at 60℃ for 12 h to obtain modified nano-alumina. (2) By weight, 90 parts of methyl vinyl silicone rubber, 3 parts of KH550 silane coupling agent, 1.5 parts of fumed silica, 6 parts of vulcanizing agent DHBP and 1.0 parts of modified nano alumina are mixed and kneaded at 125°C for 4 hours, magnetized with a 1.5T magnetic field for 10 minutes, and then vulcanized at 175°C and 15MPa for 20 minutes to obtain insulating rubber. (3) Dissolve EPDM rubber in toluene and stir at 200 r / min at 70°C until completely dissolved to obtain a rubber solution system. Add diallyl tetramethyldisiloxane at 0.2 times the mass of EPDM rubber and 1-octene at 0.25 times the mass of EPDM rubber. Add platinum catalyst at 3.5 times the mass of diallyl tetramethyldisiloxane. Heat to 175°C and react for 60 min. Remove the solvent by vacuum distillation and dry at 80°C to constant weight to modify EPDM rubber. (4) Mix 35 parts of modified EPDM rubber, 40 parts of EPDM rubber, 25 parts of silane coupling agent modified carbon black, 6 parts of paraffin oil, 15 parts of plasticizer, 3 parts of antioxidant, 5 parts of vulcanizing agent, 3 parts of co-vulcanizing agent and 5 parts of flame retardant, mix at 115℃ for 5~8 minutes, and vulcanize at 180℃ and 18MPa for 10 minutes to obtain cold-resistant rubber; (5) The insulating rubber is extruded onto the outer surface of the conductor to obtain an insulating rubber layer with a thickness of 6 mm, and then covered with a cold-proof rubber with a thickness of 3.0 mm to obtain a cable.

[0033] Comparative Example 1 The difference between Comparative Example 1 and Example 2 is that step (1) is omitted, and the modified nano-alumina in step (2) is replaced with nano-alumina; the remaining steps are the same as in Example 2.

[0034] Comparative Example 2 The difference between Comparative Example 2 and Example 2 lies in step (2), in which no magnetic field is applied for magnetization; the remaining steps are the same as in Example 2.

[0035] Comparative Example 3 The difference between Comparative Example 3 and Example 2 is that step (3) is different. In step (3), diallyltetramethyldisiloxane is not added; the rest of the steps are the same as in Example 2.

[0036] Comparative Example 4 The difference between Comparative Example 4 and Example 2 is that step (3) is different. In step (3), 1-octene is not added; the rest of the steps are the same as in Example 2.

[0037] Comparative Example 5 The difference between Comparative Example 5 and Example 2 is that step (4) is different, and the silane coupling agent modified carbon black in step (4) is replaced with carbon black; the rest of the steps are the same as in Example 2.

[0038] Example of effect Table 1 below shows the performance analysis results of the cables using Examples 1 to 3 and Comparative Examples 1 to 5 of the present invention.

[0039] Table 1 Thermal conductivity (W / (m / K)) TR30(℃) Example 1 0.173 -51 Example 2 0.182 -53 Example 3 0.176 -49 Comparative Example 1 0.129 -52 Comparative Example 2 0.132 -51 Comparative Example 3 0.180 -27 Comparative Example 4 0.182 -36 Comparative Example 5 0.181 -41 A comparison of the experimental data from Example 2 with Comparative Examples 1-2 reveals that this invention adds nano-alumina to the precursor solution of Fe / Co-MOFs material, and prepares modified nano-alumina by growing Fe / Co-MOFs material on the surface of nano-alumina through an in-situ growth method. The modified nano-alumina is then added to silicone rubber to prepare an insulating rubber layer under magnetic field assistance. As a high resistivity material, nano-alumina effectively reduces the conductivity of silicone rubber and improves its insulation performance. The Fe / Co-MOFs material grown on the surface of the modified nano-alumina forms a core-shell structure, further enhancing interfacial bonding and preventing particle agglomeration. This results in composite materials with superior mechanical properties compared to single-filler systems. Furthermore, under the influence of a magnetic field, the nano-alumina can be orderly arranged in the silicone rubber, forming thermal conductive pathways and further improving the thermal conductivity of the insulating rubber layer. A comparison of the experimental data from Example 2 with Comparative Examples 3-5 reveals that this invention uses diallyltetramethyldisiloxane and 1-octene to modify EPDM rubber, and adds silane coupling agent-modified carbon black to prepare a cold-resistant material. Protective layer; During prepolymerization, adding the long chain of 1-octene to EPDM rubber can reduce the packing density of polymer chains, further improving the low-temperature fluidity of the material and avoiding low-temperature brittleness; The siloxane bond in diallyltetramethyldisiloxane is a flexible group, and its insertion into EPDM rubber can impart ultra-high flexibility to the molecular chain, further improving the cold resistance of the protective sleeve. At the same time, the addition of diallyltetramethyldisiloxane provides vulcanization crosslinking sites for EPDM rubber, forming a three-dimensional network structure, further improving the protection. The elasticity of the cold-weather protective layer is enhanced by the addition of carbon black modified with silane coupling agents. Silane coupling agents improve the dispersibility of carbon black in rubber, reduce agglomeration, and thus lower the glass transition temperature of rubber. The siloxane groups in the silane coupling agents also participate in vulcanization, connecting carbon black and rubber molecules to form a stable interfacial bond. This chemical bonding replaces simple physical adsorption, reducing the physical binding of carbon black on rubber chain segments, thereby alleviating the degree of restriction on chain segment movement, helping to maintain flexibility at low temperatures, and improving the cold-weather protection performance of the protective sleeve.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No markings in the claims should be construed as limiting the scope of the claims.

Claims

1. A flexible, torsion-resistant reinforced cable for embodied intelligent robots, characterized in that, Includes conductors, insulating rubber layers, and a cold-proof protective layer; The insulating rubber layer is prepared by adding Fe / Co-MOFs modified nano-alumina into silicone rubber under magnetic field assistance. The cold-proof protective layer is prepared by using diallyltetramethyldisiloxane and 1-octene as modifiers to prepare modified EPDM rubber, which is then blended with EPDM rubber, silane coupling agent modified carbon black, paraffin oil, plasticizer, antioxidant, vulcanizing agent, co-vulcanizing agent and flame retardant.

2. The flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 1, characterized in that, The modified nano-alumina is prepared by adding nano-alumina to a precursor solution of Fe / Co-MOFs material and growing Fe / Co-MOFs material on the surface of nano-alumina by in-situ growth method.

3. A flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 2, characterized in that, The plasticizer is DOS, the antioxidant is at least one of DPPD, RD, MB and CTU, the vulcanizing agent is dicumyl peroxide, the co-vulcanizing agent is tetramethylthiuram disulfide, and the flame retardant is at least one of decabromodiphenyl ether and zinc borate.

4. A method for preparing a flexible, torsion-resistant reinforced cable for an embodied intelligent robot, characterized in that, The preparation steps include the following: (1) Ferrous chloride tetrahydrate and cobalt acetate tetrahydrate are mixed in a molar ratio of 15~20:1 and dissolved in polyvinylpyrrolidone solution. Nano-alumina nanoparticles with a mass of 1.0~2.5 times that of ferrous chloride tetrahydrate are added and stirred to obtain a mixture. Under magnetic stirring, DMF solution of trimellitic acid is added dropwise until the amount of trimellitic acid is 1.5~2.0 times that of ferrous chloride tetrahydrate. The temperature is raised to 150~160℃ and the reaction is carried out for 24h. The mixture is washed and dried to obtain modified nano-alumina. (2) By weight, mix 70-90 parts of methyl vinyl silicone rubber, 1-3 parts of KH550 silane coupling agent, 1-1.5 parts of fumed silica, 2-6 parts of vulcanizing agent DHBP, and 0.5-1.0 parts of modified nano alumina, apply a 1.5T magnetic field for 10 minutes, and then vulcanize to obtain insulating rubber; (3) Dissolve EPDM rubber in an organic solvent and stir at 30-70°C until completely dissolved to obtain a rubber solution system. Add 0.1-0.2 times the mass of EPDM rubber of diallyltetramethyldisiloxane and 0.1-0.25 times the mass of EPDM rubber of 1-octene. Add 2.0%-3.5% of the mass of diallyltetramethyldisiloxane of platinum catalyst. Heat to 160-175°C and react for 20-60 min. Remove the solvent by vacuum distillation and dry to obtain modified EPDM rubber. (4) Mix 30-35 parts of modified EPDM rubber, 30-40 parts of EPDM rubber, 15-25 parts of silane coupling agent modified carbon black, 3-6 parts of paraffin oil, 5-15 parts of plasticizer, 1-3 parts of antioxidant, 3-5 parts of vulcanizing agent, 1-3 parts of co-vulcanizing agent and 3-5 parts of flame retardant, and vulcanize to obtain cold-resistant rubber; (5) The insulating rubber is extruded onto the outer surface of the conductor to obtain an insulating rubber layer, and then covered with cold-proof rubber to obtain a cable.

5. A method for preparing a flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 4, characterized in that, In step (1), the concentration of the DMF solution of pyromellitic acid is 0.035~0.045 mol / L.

6. A method for preparing a flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 4, characterized in that, In step (2), the mixing temperature is 95~125℃, the mixing time is 1~4h, the vulcanization temperature is 160~175℃, the vulcanization pressure is 10~15MPa, and the vulcanization time is 20min.

7. A method for preparing a flexible, torsion-resistant reinforced cable for an embodied intelligent robot according to claim 4, characterized in that, The organic solvent in step (3) is one of toluene, xylene, chlorobenzene, cyclohexane, tetrahydrofuran, and acetone.

8. A method for preparing a flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 4, characterized in that, In step (3), the platinum catalyst contains 8-12% platinum, which is the effective substance.

9. A method for preparing a flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 4, characterized in that, In step (4), the mixing temperature is 105~115℃, the mixing time is 5~8min, the vulcanization temperature is 170~180℃, the vulcanization pressure is 16~18MPa, and the vulcanization time is 6~10min.

10. A method for preparing a flexible, torsion-resistant reinforced cable for a unibody intelligent robot according to claim 4, characterized in that, In step (5), the thickness of the insulating rubber layer is 3~6mm, and the thickness of the cold protection layer is 1.5~3.0mm.