Composite motion cable for a machine dog leg

Abstract

The utility model discloses a kind of composite motion cables for machine dog leg part. The composite motion cable outer diameter is less than 8mm, composite core wire is mainly composed of two insulated core wires and is covered with aluminum foil layer, tinned copper foil silk braided shielding layer is covered outside four composite core wires, at least one power line is arranged outside tinned copper foil silk braided shielding layer, cotton thread is arranged outside tinned copper foil silk braided shielding layer, tape layer is covered outside tinned copper foil silk braided shielding layer, power line and cotton thread. The outer surface of tape layer is covered with outer sheath. The utility model has good flexibility, wear resistance, signal transmission stability and anti-interference, and can meet the demand of machine dog leg complex motion.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a composite motion cable for the legs of a robotic dog. Background Technology

[0002] In the field of robotics, the flexibility and movement performance of the legs of a robotic dog, as a biomimetic robot, are crucial to its overall performance. To ensure the flexible movement of the robot dog's legs, a cable capable of withstanding complex movements and providing reliable signal transmission is required. Traditional cables often fail to meet the specific needs of a robotic dog's legs, such as cable flexibility, abrasion resistance, signal transmission stability, and interference resistance. Utility Model Content

[0003] To address the problems existing in the background technology, this utility model provides a composite motion cable for the legs of a robotic dog. This cable has good flexibility, wear resistance, signal transmission stability, and anti-interference, and can meet the needs of complex movements of the robotic dog's legs.

[0004] This utility model cable solves the problems of mechanical stability and electromagnetic compatibility of cables in dynamic environments through the synergistic optimization of materials, layout and shielding design.

[0005] The technical solution adopted in this utility model is:

[0006] The composite motion cable has an outer diameter of less than 8mm and includes the following structure:

[0007] Composite core wire is mainly composed of two insulated core wires twisted together and covered with an aluminum foil layer;

[0008] A tin-plated copper foil braided shielding layer is wrapped around the four composite core wires;

[0009] Power lines, at least one power line is arranged outside the tinned copper foil braided shielding layer;

[0010] At least one cotton thread is placed outside the tinned copper foil braided shielding layer to fill the gaps;

[0011] The wrapping layer is wrapped around the tinned copper foil braided shielding layer, the power line, and the cotton thread;

[0012] The outer sheath, which covers the outer surface of the tape layer, is used to protect the entire cable.

[0013] The composite core wire is mainly composed of a first insulated core wire for transmitting electrical signals, a second insulated core wire for transmitting power, and an aluminum foil layer. The first and second insulated core wires are twisted together and then covered with an aluminum foil layer.

[0014] Both the first and second insulated core wires are mainly composed of an inner tin-plated copper wire and an outer insulating polytetrafluoroethylene layer.

[0015] The wrapping layer is made of polytetrafluoroethylene (PTFE).

[0016] The tin-plated copper foil braided shielding layer is mainly composed of an aluminum foil sub-layer, a tin-plated copper foil braided sub-layer, and a wrapping tape layer arranged from the inside out.

[0017] The outer sheath is made of thermoplastic polyurethane elastomer material (TPU).

[0018] It includes three power lines and two cotton lines. The three power lines are arranged around the outside of the four composite core wires, which are wrapped by a tinned copper foil braided shielding layer. Then, it is covered by a wrapping layer. The cotton lines are filled in the gaps between the tinned copper foil braided shielding layer and the three power lines inside the wrapping layer.

[0019] The four composite core wires are electrically connected to an external set of encoder wires.

[0020] This invention achieves high reliability of the cable under extreme mechanical stress through conductor KEVLAR reinforcement, PTFE / TPU sliding sheath, and multi-layer shielding design, while meeting the EMC requirements of high-frequency signal transmission, filling the gap in dynamic robot cable technology.

[0021] The beneficial effects of this utility model are:

[0022] Through the above-mentioned structural design, the cable of this utility model not only has good flexibility, wear resistance, high temperature resistance and corrosion resistance, but also has stable signal transmission capability and good electromagnetic shielding effect, thereby meeting the needs of complex leg movements of the robot dog. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the composite motion cable for the leg of the robot dog according to this utility model.

[0024] In the diagram: 1. First insulated core wire; 2. Second insulated core wire; 3. Wrapping tape layer; 4. Tinned copper foil braided shielding layer; 5. Outer sheath; 6. Aluminum foil layer; 7. Power wire; 8. Cotton thread. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, the composite motion cable for the leg of the robotic dog of this invention has an outer diameter of less than 8mm and includes the following structure:

[0027] It includes a first insulated core wire 1, a second insulated core wire 2, a wrapping tape layer 3, a tinned copper foil braided shielding layer 4, an outer sheath 5, an aluminum foil layer 6, a power wire 7, and a cotton thread 8.

[0028] Composite core wire is mainly composed of two insulated core wires twisted together and covered with an aluminum foil layer;

[0029] A tinned copper foil braided shielding layer 4 is wrapped around the four composite core wires to provide electromagnetic shielding and reduce signal interference.

[0030] Power line 7, at least one power line 7 is arranged outside the tinned copper foil braided shielding layer 4;

[0031] At least one cotton thread 8 is arranged outside the tin-plated copper foil braided shielding layer 4 to fill the gaps;

[0032] The wrapping layer 3 covers the tin-plated copper foil braided shielding layer 4, the power line 7, and the cotton thread 8, and also wraps around the encoder wires;

[0033] The outer sheath 5 covers the outer surface of the wrapping layer 3 and is used to protect the entire cable.

[0034] The composite core wire is mainly composed of a first insulated core wire 1 for transmitting electrical signals, a second insulated core wire 2 for transmitting power, and an aluminum foil layer 6. The first insulated core wire 1 and the second insulated core wire 2 are twisted together and then covered with an aluminum foil layer 6.

[0035] Both the first insulated core wire 1 and the second insulated core wire 2 are mainly composed of an inner tin-plated copper wire and an outer insulating polytetrafluoroethylene (ETFE) layer.

[0036] Tin-plated copper wire is used to transmit electrical signals and has good conductivity and corrosion resistance.

[0037] The insulating polytetrafluoroethylene (ETFE) layer, made of insulating polytetrafluoroethylene material, is wrapped around tin-plated copper wire to provide additional insulation protection, while also exhibiting excellent chemical corrosion resistance and high-temperature resistance.

[0038] The third layer of the wrapping tape is made of polytetrafluoroethylene (PTFE) material to further enhance the cable's abrasion resistance and high-temperature resistance.

[0039] The tin-plated copper foil braided shielding layer 4 mainly consists of an aluminum foil sub-layer, a tin-plated copper foil braided sub-layer, and a wrapping tape sub-layer arranged from the inside out. The tin-plated copper foil braided shielding layer 4 is used to provide electromagnetic shielding and reduce signal interference.

[0040] The outer sheath 5 is made of thermoplastic polyurethane elastomer material (TPU), which wraps around the entire cable to provide physical protection while also having good flexibility and abrasion resistance.

[0041] In the specific implementation, three power lines 7 and two cotton lines 8 are set up. The three power lines 7 are arranged around the outside of the four composite core wires wrapped by the tinned copper foil braided shielding layer 4. After being twisted together, they are covered by the wrapping layer 3. The cotton lines 8 are filled in the gap between the tinned copper foil braided shielding layer 4 and the three power lines 7 inside the wrapping layer 3.

[0042] The three power lines surrounding the robot dog are used to transmit power signals, ensuring the movement performance of the robot dog's legs.

[0043] The four composite core wires are electrically connected to an external encoder wire group. The encoder is used to transmit data signals and has high-speed data transmission capability.

[0044] In practical implementation, the cable of this invention was used as the electrical connection cable of the robot dog to transmit electrical signals and power for leg motion control. The test results are as follows:

[0045] Torsional resistance test: Torsional angle ±180° / m, ≥10 million cycles without breakage;

[0046] EMC performance: Shielding effectiveness ≥90dB in the 30MHz-1GHz band, ≥70dB in the 1-6GHz band.

[0047] Therefore, this cable is suitable for humanoid robot joint modules, mechanical dog power-communication integrated units, and other scenarios. It maintains signal integrity and current carrying capacity under bending and twisting radii of 5 times the wire diameter, and operates at temperatures from -40℃ to 125℃, ensuring good movement performance of the robot dog's legs.

[0048] The finished product made by this invention has an outer diameter of less than 8mm to fit the compact space of the robot dog's leg.

[0049] The above are merely embodiments of this utility model. Those skilled in the art can make various changes and improvements without departing from the scope of the technical solution of this utility model.

Claims

1. A composite motion cable for the leg of a robotic dog, characterized in that... The composite motion cable has an outer diameter of less than 8mm and includes the following structure: Composite core wire is mainly composed of two insulated core wires twisted together and covered with an aluminum foil layer; A tin-plated copper foil braided shielding layer (4) is wrapped around the four composite core wires; Power line (7), at least one power line (7) is arranged outside the tin-plated copper foil braided shielding layer (4); At least one cotton thread (8) is arranged outside the tin-plated copper foil braided shielding layer (4) to fill the gaps; The wrapping layer (3) covers the tin-plated copper foil braided shielding layer (4), the power line (7) and the cotton thread (8); The outer sheath (5) covers the outer surface of the wrapping layer (3) and is used to protect the entire cable.

2. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: The composite core wire is mainly composed of a first insulated core wire (1) for transmitting electrical signals, a second insulated core wire (2) for transmitting power, and an aluminum foil layer (6). The first insulated core wire (1) and the second insulated core wire (2) are twisted together and then covered with an aluminum foil layer (6).

3. The composite motion cable for a robot dog's leg according to claim 2, characterized in that: The first insulated core wire (1) and the second insulated core wire (2) are mainly composed of an inner tin-plated copper wire and an outer insulating polytetrafluoroethylene layer.

4. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: The wrapping layer (3) is made of polytetrafluoroethylene (PTFE).

5. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: The tin-plated copper foil braided shielding layer (4) is mainly composed of an aluminum foil sub-layer, a tin-plated copper foil braided sub-layer, and a wrapping tape sub-layer arranged from the inside out.

6. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: The outer sheath (5) is made of thermoplastic polyurethane elastomer material (TPU).

7. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: It includes three power lines (7) and two cotton lines (8). The three power lines (7) are arranged around the outside of the four composite core wires wrapped by the tinned copper foil braided shielding layer (4). Then, it is covered by a wrapping layer (3). The cotton lines (8) are filled in the gap between the tinned copper foil braided shielding layer (4) and the three power lines (7) inside the wrapping layer (3).

8. The composite motion cable for a robot dog's leg according to claim 1, characterized in that: The four composite core wires are electrically connected to an external set of encoder wires.

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