Pipeline package cable for robots

Abstract

This utility model discloses a cable for robot conduits, comprising: insulated core wires, two insulated core wires twisted together to form a twisted pair, a first PTFE tape wrapped around the twisted pair, a first wound shielding layer wound around the first PTFE tape, a first non-woven fabric wrapped around the first wound shielding layer, four sets of twisted pairs wrapped with the first non-woven fabric twisted circumferentially around a central filler rope to form a cable, three composite filler ropes and one ground wire filling the four gaps between the four sets of twisted pairs in the cable, the composite filler ropes and the ground wire having the same diameter, a second PTFE tape wrapped around the four sets of twisted pairs in the cable, a second wound shielding layer wound around the second PTFE tape, a second non-woven fabric wrapped around the second wound shielding layer, and a sheath extruded onto the second non-woven fabric. This utility model has excellent bending resistance, torsion resistance, and tensile strength, and can maintain good shielding performance even under frequent bending and torsion.

Description

Technical Field

[0001] This utility model relates to the field of cables, and more particularly to cable sheaths for robots. Background Technology

[0002] Robot cable sheathing is a high-performance cable specifically designed for industrial robots. As the robot's "lifeline," it is responsible for transmitting power, control signals, and data signals between the robot's moving parts. These cables need to withstand millions of bending, stretching, and torsion cycles as the robot moves, and maintain sufficient anti-interference performance under repetitive actions. Currently available cable sheathing on the market lacks sufficient bending resistance, torsion resistance, and tensile strength, making it prone to breakage after frequent bending, stretching, and torsion. Utility Model Content

[0003] The purpose of this invention is to provide a cable for robot tubing with excellent bending resistance, torsion resistance, and tensile strength.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a cable for robot pipelines, comprising: insulated core wires, two insulated core wires twisted together to form a pair of twisted wires, a first PTFE wrapping tape wrapped around the twisted wires, a first winding shielding layer wrapped around the first PTFE wrapping tape, a first non-woven fabric wrapped around the first winding shielding layer, four pairs of twisted wires wrapped with the first non-woven fabric twisted together in a circle with a central filling rope as the center, three composite filling ropes and a ground wire filling the four gaps between the four pairs of twisted wires in the cable, the composite filling ropes and the ground wire having the same diameter, a second PTFE wrapping tape wrapped around the four pairs of twisted wires in the cable, a second winding shielding layer wrapped around the second PTFE wrapping tape, a second non-woven fabric wrapped around the second winding shielding layer, and a sheath extruded onto the second non-woven fabric; The insulated core wire includes: a first conductor and a first insulation layer. The first insulation layer is extruded onto the first conductor. The first conductor is made of φ0.08mm Category 6 copper wire and φ0.1mm Category 6 copper wire twisted together. The φ0.08mm Category 6 copper wire is twisted into a flexible inner core by a 1+6 type structure, and the φ0.1mm Category 6 copper wire is re-twisted on the outer layer with the flexible inner core as the center. The composite filler rope includes: aramid fibers and foamed TPU elastomer, with the foamed TPU elastomer wrapped and composited on the aramid fibers; The ground wire includes a second conductor and a second insulation layer. The second insulation layer is extruded onto the second conductor. The second conductor is made of φ0.08mm Category 6A copper wire and φ0.1mm Category 6A copper wire twisted together. The φ0.08mm Category 6A copper wire is twisted into a flexible core using a 1+6 structure, and the φ0.1mm Category 6A copper wire is twisted in an outer layer around the flexible core.

[0005] Furthermore, in the aforementioned robot cable, the flexible inner core has a pitch of 8–12 × φ0.08 mm, the outer stranded layer has a pitch of 20–25 × φ0.1 mm, and the pitch ratio between the outer stranded layer pitch and the flexible inner core pitch is 2–3:1.

[0006] Furthermore, in the aforementioned robot cable conduit, the twisting direction of the flexible inner core is opposite to that of the outer layer of twisted cable, and the coverage of the outer layer of twisted cable is ≥90%.

[0007] Furthermore, in the aforementioned robot cable wrapping system, the wrapping direction of the first nonwoven fabric is opposite to the wrapping direction of the first winding shielding layer.

[0008] Furthermore, in the aforementioned robot cable-insulated cable, both the first and second winding shielding layers are made of 0.1mm tin-plated copper wire, and the winding shielding density of both the first and second winding shielding layers is 100%.

[0009] Furthermore, the aforementioned robot uses a cable-insulated conduit, wherein the central filler rope is a PP rope.

[0010] Furthermore, in the aforementioned robot cable conduit, the first insulation layer in the insulated core wire and the second insulation layer in the ground wire are both made of TPE.

[0011] Furthermore, the aforementioned robot uses a conduit-wrapped cable, wherein the sheath is made of halogen-free, flame-retardant, flexible polyether-type polyurethane elastomer.

[0012] Furthermore, in the aforementioned robot cable-insulated cable, the thickness of the first PTFE wrapping tape and the second PTFE wrapping tape are both 35μm, the thickness of the first nonwoven fabric is 40μm, and the thickness of the second nonwoven fabric is 35μm.

[0013] The advantages of this invention are as follows: the first insulation layer in the insulated core wire and the second insulation layer in the ground wire are both made of TPE, which can ensure the electrical performance of the cable with a smaller insulation thickness. Therefore, the outer diameter of the insulated core wire and the ground wire is smaller than that of the insulated core wire and the ground wire in traditional cables. The outer diameter of the composite filler rope is the same as that of the ground wire. As the outer diameter of the ground wire is reduced, the outer diameter of the composite filler rope is also reduced accordingly. In addition, by using a first PTFE wrapping tape with a thickness of only 35μm, a second PTFE wrapping tape, a second non-woven fabric, and a first non-woven fabric with a thickness of only 40μm for wrapping and dragging, the outer diameter of the cable can be reduced by 15% compared with similar products.

[0014] Using first and second PTFE wrapping tapes allows the stranded wires to shift and slide during bending and twisting, thereby improving the cable's flexibility and anti-twist performance. The use of Category 6 copper wire with a rigid-flexible progressive stranding method for the first conductor in the insulated core improves the flexibility and anti-twist performance of the first conductor. Combined with a composite filler rope with deformation resistance, a flexible sheath, and first and second winding shielding layers, the minimum bending radius of the cable can be controlled at 5D. With a minimum bending radius of 5D, the cable's service life is increased to 3 million cycles. At the same time, at a torsional angle of ±180° / m, the cable's service life is increased to 5 million cycles.

[0015] The use of Category 6 copper wire in the first conductor, combined with a rigid-flexible progressive stranding method, can improve the tensile strength of the first conductor. Furthermore, the use of aramid fibers with excellent tensile strength in the composite filler rope can further enhance the tensile strength of the cable.

[0016] Moreover, the first and second winding shielding layers will not break under frequent bending and twisting, enabling the cable to maintain good shielding performance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the cable-insulated conduit for the robot described in this utility model.

[0018] Figure 2 yes Figure 1 A schematic diagram of the structure of the first conductor in the middle. Detailed Implementation

[0019] The technical solution of this utility model will be further described below with reference to the accompanying drawings and preferred embodiments.

[0020] like Figure 1 , Figure 2As shown, the robot cable sheath of this utility model includes: an insulated core wire 1, two insulated core wires 1 twisted together to form a twisted pair, and a first PTFE wrapping tape 11 with a thickness of 35μm wrapped around the twisted pair. PTFE has excellent electrical insulation and an extremely low coefficient of friction. Using the first PTFE wrapping tape 11 reduces the friction between the twisted pair and the first PTFE wrapping tape 11, making the twisted wire more flexible. A first wound shielding layer 2 is wound around the first PTFE wrapping tape 11. The first wound shielding layer 2 is made of φ0.1mm tinned copper wire, and the winding shielding density of the first wound shielding layer 2 is uniform. The first winding shielding layer 2 is 100% complete. A first non-woven fabric 21 with a thickness of 40μm is wrapped around it. The wrapping direction of the first non-woven fabric 21 is opposite to the winding direction of the first winding shielding layer 2. This not only helps to fix the first winding shielding layer 2, but also enhances the tightness and continuity of the first winding shielding layer 2, reducing electromagnetic interference. Four sets of twisted pairs wrapped with the first non-woven fabric 21 are twisted into a cable around a central filling rope 3. The central filling rope 3 is a PP rope with a smooth surface, low friction, and is not easily deformed. Three composite filling ropes 4 and one ground wire 5 are filled in the four gaps between the four sets of twisted pairs of the cable. The diameter is the same as that of the ground wire 5, ensuring the roundness of the cable. A second PTFE wrapping tape 12 with a thickness of 35μm is wrapped around the four twisted pairs of the cable. This increases both the tightness between the four twisted pairs and the friction between the four twisted pairs and the second PTFE wrapping tape 12, making the cable more flexible. A second wound shielding layer 6 is wound around the second PTFE wrapping tape 12. The second wound shielding layer 6 is made of φ0.1mm tinned copper wire, and the winding shielding density of the second wound shielding layer 6 is 100%. The second wound shielding layer 6, as the overall shield, combined with the four first wound shielding layers 2, as sub-shields, can effectively prevent… To prevent signal transmission errors or failures caused by electromagnetic interference (EMI), and compared with braided shielding, the torsional performance of spiral shielding is significantly improved. A second non-woven fabric 61 with a thickness of 35μm is wrapped on the second spiral shielding layer 6, and a sheath 7 is extruded on the second non-woven fabric 61. The second non-woven fabric 61 can prevent the second spiral shielding layer 6 from sticking to the sheath 7, thereby enhancing the flexibility and bending resistance of the cable. The sheath 7 is made of halogen-free flame-retardant soft polyether polyurethane elastomer. The Shore hardness of the halogen-free flame-retardant soft polyether polyurethane elastomer is 87A, making the cable more flexible and also having excellent flame-retardant properties.

[0021] The insulated core wire 1 includes: a first conductor 13 and a first insulation layer 14. The first insulation layer 14 is extruded on the first conductor 13. The first conductor 13 is made of φ0.08mm Category 6 copper wire and φ0.1mm Category 6 copper wire twisted together. The φ0.08mm Category 6 copper wire is twisted into a flexible inner core by a 1+6 type structure. The φ0.1mm Category 6 copper wire is twisted in the outer layer with the flexible inner core as the center to achieve a gradual distribution of rigidity and flexibility. The ground wire 5 includes a second conductor 51 and a second insulation layer 52. The second insulation layer 52 is extruded onto the second conductor 51. The second conductor 51 is made of φ0.08mm Category 6 copper wire and φ0.1mm Category 6 copper wire twisted together. The φ0.08mm Category 6 copper wire is twisted into a flexible core through a 1+6 structure, and the φ0.1mm Category 6 copper wire is twisted in the outer layer with the flexible core as the center to achieve a gradual distribution of rigidity and flexibility.

[0022] The pitch of the flexible inner core in the first conductor 13 and the second conductor 51 is 8-12 × φ0.08 mm, ensuring that the monofilaments are tightly fitted in a spiral shape, avoiding excessive gaps that could lead to loosening. The smaller pitch also provides higher flexibility. The pitch of the outer stranded layer is 20-25 × φ0.1 mm. The longer pitch provides both support and improved torsional resistance. The pitch ratio between the outer stranded layer pitch and the flexible inner core pitch is 2-3:1. The smaller pitch of the flexible inner core ensures flexibility, while the larger pitch of the outer stranded layer improves resistance to deformation. This allows the first conductor 13 and the second conductor 51 to balance flexibility and stability. The stranding direction of the flexible inner core is opposite to that of the outer stranded layer, which can offset torque accumulation. The coverage of the outer stranded layer is ≥90%, preventing the flexible inner core from being exposed and causing sudden changes in local stress.

[0023] The first insulation layer 14 in the insulated core wire 1 and the second insulation layer 52 in the ground wire 5 are both made of TPE. TPE has high tensile strength, high elasticity, excellent resistance to bending fatigue and creep, ensuring the stability of the cable during later operation. At the same time, the high volume resistivity of this material allows the electrical performance of the cable to be guaranteed with a smaller insulation thickness, thereby reducing the diameter of the insulated core wire 1 and the ground wire 5, and thus reducing the outer diameter of the entire cable.

[0024] The composite filler rope 4 comprises aramid fiber 41 and foamed TPU elastomer 42, with the foamed TPU elastomer 42 wrapped around the aramid fiber 41. The aramid fiber 41 possesses excellent tensile strength and bears the main tensile force, while the foamed TPU elastomer 42 is lightweight and highly resilient. When the composite filler rope 4 fills the gaps between the twisted pairs, the foamed TPU elastomer 42 can tightly fill the gaps through plastic deformation to support the twisted pairs. During bending and torsion, the aramid fiber 41 provides precise support and resistance to deformation, while the foamed TPU elastomer 42 acts as a flexible buffer and compensates for plastic deformation, preventing the aramid fiber 41 from failing due to excessive strain. The aramid fiber 41 with excellent tensile strength in the composite filler rope 4, combined with the rigid-flexible progressive distribution twisting method of the first conductor 13, can improve the overall tensile strength of the cable.

[0025] The first insulation layer 14 in the insulated core wire 1 and the second insulation layer 52 in the ground wire 5 are both made of TPE. The electrical performance of the cable can be guaranteed with a small insulation thickness. Therefore, the outer diameter of the insulated core wire 1 and the ground wire 5 is smaller than that of the insulated core wire and the ground wire in traditional cables. The outer diameter of the composite filler rope 4 is the same as that of the ground wire 5. As the outer diameter of the ground wire 5 is reduced, the outer diameter of the composite filler rope 4 is also reduced accordingly. In addition, the use of the first PTFE wrapping tape 11, the second PTFE wrapping tape 12, the second non-woven fabric 61 and the first non-woven fabric 21 with a thickness of only 35μm for wrapping and dragging can reduce the outer diameter of the cable by 15% compared with similar products.

[0026] Using the first PTFE wrapping tape 11 and the second PTFE wrapping tape 12 for wrapping allows the stranded wires to shift and slide when the cable is bent and twisted, thereby improving the cable's flexibility and anti-twist performance. The first conductor 13 in the insulated core wire 1 is made of Category 6 copper wire with a rigid-flexible progressive distribution stranding, which can improve the flexibility and anti-twist performance of the first conductor 13. Combined with the deformation-resistant composite filler rope 4, the flexible sheath 7, and the first winding shielding layer 2 and the second winding shielding layer 6, the minimum bending radius of the cable can be controlled at 5D. Under the condition of a minimum bending radius of 5D, the service life of the cable is increased to 3 million cycles. At the same time, under the torsion angle of ±180° / m, the service life of the cable is increased to 5 million cycles.

[0027] Moreover, the first winding shielding layer 2 and the second winding shielding layer 6 will not break under frequent bending and twisting, which enables the cable to maintain good shielding performance.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A line package cable for a robot, characterized by: include: The cable consists of four sets of twisted pairs of insulated core wires, each with two insulated core wires twisted together. A first PTFE tape is wrapped around the twisted pair, a first wound shielding layer is wound around the first PTFE tape, and a first non-woven fabric is wrapped around the first wound shielding layer. The four sets of twisted pairs wrapped with the first non-woven fabric are twisted together in a circle with the central filler rope as the center. Three composite filler ropes and one ground wire are filled in the four gaps between the four sets of twisted pairs of the cable. The composite filler ropes and the ground wire have the same diameter. A second PTFE tape is wrapped around the four sets of twisted pairs of the cable, a second wound shielding layer is wound around the second PTFE tape, a second non-woven fabric is wrapped around the second wound shielding layer, and a sheath is extruded onto the second non-woven fabric. The insulated core wire includes: a first conductor and a first insulation layer. The first insulation layer is extruded onto the first conductor. The first conductor is made of φ0.08mm Category 6 copper wire and φ0.1mm Category 6 copper wire twisted together. The φ0.08mm Category 6 copper wire is twisted into a flexible inner core by a 1+6 type structure, and the φ0.1mm Category 6 copper wire is re-twisted on the outer layer with the flexible inner core as the center. The composite filler rope includes: aramid fibers and foamed TPU elastomer, with the foamed TPU elastomer wrapped and composited on the aramid fibers; The ground wire includes a second conductor and a second insulation layer. The second insulation layer is extruded onto the second conductor. The second conductor is made of φ0.08mm Category 6A copper wire and φ0.1mm Category 6A copper wire twisted together. The φ0.08mm Category 6A copper wire is twisted into a flexible core using a 1+6 structure, and the φ0.1mm Category 6A copper wire is twisted in an outer layer around the flexible core.

2. The robotic line-pack cable of claim 1, wherein: The pitch of the flexible inner core is 8-12×φ0.08mm, the pitch of the outer layer is 20-25×φ0.1mm, and the pitch ratio between the outer layer and the flexible inner core is 2-3:

1.

3. The robotic line-pack cable of claim 2, wherein: The twisting direction of the flexible inner core is opposite to that of the outer layer, and the coverage of the outer layer is ≥90%.

4. The robotic line-pack cable of claim 1, wherein: The wrapping direction of the first nonwoven fabric is opposite to the wrapping direction of the first wound shielding layer.

5. The robotic line-pack cable of claim 1, wherein: Both the first and second winding shielding layers are made of 0.1mm tin-plated copper wire, and the winding shielding density of both the first and second winding shielding layers is 100%.

6. The robotic line-pack cable of claim 1, wherein: The center filler rope is PP rope.

7. The cable sheath for robots according to claim 1, characterized in that: The first insulation layer in the insulated core wire and the second insulation layer in the ground wire are both made of TPE.

8. The robotic line-pack cable of claim 1, wherein: The sheath is made of halogen-free, flame-retardant, soft polyether-type polyurethane elastomer.

9. The robotic line-pack cable of claim 1, wherein: The thickness of the first PTFE wrapping tape and the second PTFE wrapping tape is 35 μm, the thickness of the first nonwoven fabric is 40 μm, and the thickness of the second nonwoven fabric is 35 μm.

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