A high-flexible torsion-resistant robot cable copper conductor and a method for manufacturing the same

Abstract

The application relates to the technical field of flexible cables, in particular to a high-flexibility and high-torsion-resistance robot cable copper conductor and a preparation method thereof. The high-flexibility and high-torsion-resistance robot cable copper conductor is prepared from a copper pole through the processes of a Nihoff large-drawing, a Nihoff multi-head drawing, a bundle twisting and a re-twisting. The application adopts wire-drawing annealing and twisting equipment for fine processing, and no wire breaking and oxidation occurs in the wire-drawing annealing process; the prepared robot cable copper conductor has a twisted outer diameter of less than or equal to 3.3 mm and a direct-current resistance of less than or equal to 3.3 omega / km, and has the advantages of high strength, high flexibility, good torsion resistance and high safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible cables, in particular to a high-flexibility and high-torsion-resistance robot cable copper conductor and a preparation method thereof. BACKGROUND

[0002] With the rapid development of science and technology and the continuous upgrading of industrial production market, industrial robots have gradually broken away from the traditional single constraint and developed towards more complex and multi-functional. In this context, the replacement of manpower by machines has become an irreversible trend, indicating the arrival of the era of industrial robots.

[0003] The market of industrial robots in China develops rapidly, accounting for about one-third of the global market share, and is the world's largest industrial robot application market. At present, the demand for intelligent transformation and upgrading of production in China is increasingly prominent, and the market demand for industrial robots is still strong. According to statistics, the sales volume of industrial robots in China reached 6.23 billion US dollars in 2018, and it is predicted that the sales volume will exceed 19 billion US dollars in 2024.

[0004] As an important component of robots, the market demand for wires and cables is showing explosive growth. As the carrier and important component of power transmission and control ability, robot cable is particularly important for the normal operation of robots. It plays a role similar to the central nervous system of humans, and once any link fails, the entire system will not work properly.

[0005] With the maturation of industrial robot technology, the application of industrial robots has begun to be rapidly promoted. Robot cables not only need to have excellent electrical conductivity and mechanical properties, but also must have unique high-flexibility and high-torsion-resistance to meet the needs of different environments and application scenarios. With the rapid growth of the robot industry, the use environment is becoming more and more demanding, and the requirements for robot cables are also becoming higher and higher. High flexibility and torsion resistance are the most concerned aspects of robot cables.

[0006] Robot cables must have good high flexibility, torsion resistance, etc. This requires not only that the outer layer of the cable has good electrical insulation, flexibility, impact resistance, but also that the robot cable core conductor has good electrical conductivity, mechanical properties, high-flexibility and high-torsion-resistance. Currently, the copper conductor material for robot cables used in medium and high frequency torsion and bending stress scenarios must have a bending performance of more than 8 million times. With the development of industrial robots, the bending performance requirements of the copper conductor material for robot cables will be higher and higher, while the bending performance of the copper conductor material for robot cables in China is generally between 5 million and 8 million, and high-quality copper conductor materials still rely on imports, which restricts the development of industrial robots in China. Therefore, the present application provides a high-flexibility and high-torsion-resistance robot cable copper conductor and a preparation method thereof. SUMMARY

[0007] In order to solve the difficulty existing in the prior art, the inventors provide a high-soft and torsion-resistant robot cable copper conductor and a preparation method thereof, the robot cable copper conductor has a stranded outer diameter of ≤3.3 mm and a direct current resistance of ≤3.3 Ω / km, and the bending performance is ≥1200 million times.

[0008] The high-soft and torsion-resistant robot cable copper conductor provided by the application is realized by the following technical scheme.

[0009] The high-soft and torsion-resistant robot cable copper conductor comprises a copper rod prepared by the following steps of Neumann large-drawing, Neumann multi-head drawing, bunching and re-stranding.

[0010] The application adopts wire drawing annealing and stranding equipment for fine processing, and no wire breaking or oxidation occurs in the wire drawing annealing process.

[0011] The prepared robot cable copper conductor has a stranded outer diameter of ≤3.3 mm and a direct current resistance of ≤3.3 Ω / km, and has the advantages of high strength, high flexibility, good torsion resistance and high safety.

[0012] The preparation method of the high-soft and torsion-resistant robot cable copper conductor provided by the application is realized by the following scheme.

[0013] The preparation method of the high-soft and torsion-resistant robot cable copper conductor comprises the following steps.

[0014] Step one: surface impurity removal treatment is performed on the raw material copper rod to remove oil stains and oxides of the raw material copper rod;

[0015] Step two: the copper rod subjected to the impurity removal treatment in step one is input into a Neumann double-head large-drawing machine for Neumann large-drawing treatment, and the copper rod subjected to the Neumann large-drawing treatment is processed into a bus bar with a diameter of 1.82 mm to 1.84 mm;

[0016] Step three: the bus bar with a diameter of 1.82 mm to 1.84 mm in step two is input into a Neumann multi-head wire drawing machine for Neumann multi-head drawing treatment, and the bus bar subjected to the Neumann multi-head drawing treatment is processed into copper wires with a diameter of 0.200 to 0.202 mm;

[0017] Step five, the copper wire bundle with a diameter of 1.25±0.02 mm obtained in step four is input into a high-speed stranding machine for re-stranding treatment, so that a high-soft-torsion robot cable copper conductor with a diameter of 3.2±0.02 mm and a DC resistance of ≤3.3 Ω / km is obtained.

[0018] The preparation method provided by the application has low operation difficulty, is convenient for industrialized manufacturing, and reduces overall production cost.

[0019] Preferably, the raw material copper rod in step one has a diameter of 8±0.05 mm; and the raw material copper rod is made of pure copper or a copper alloy.

[0020] Preferably, the raw material copper rod is a copper alloy, the copper rod made of the copper alloy is formed by extrusion or one-piece casting; the copper alloy comprises 3D graphene and copper, the content of the 3D graphene is 0.5-2 wt%, the surface of the 3D graphene is doped with at least one of nano-copper clusters, nano-silver clusters, monatomic copper and monatomic silver, the number of layers of the 3D graphene is 3-4, the thickness of the 3D graphene is 1.3-1.4 nm, the size of the 3D graphene is 0.5-8 microns, and the electrical conductivity of the 3D graphene is >3000 S / m.

[0021] By adopting the above technical solution, the processability, heat conduction performance and flexibility of the prepared robot cable copper conductor can be improved.

[0022] Preferably, the content of the 3D graphene is 1.0-1.5 wt%, the surface of the 3D graphene is doped with monatomic copper and monatomic silver, the mass ratio of the monatomic copper to the monatomic silver is (2-4):1, and the mass ratio of the total amount of the doped monatomic copper and monatomic silver to the 3D graphene is 1:(20-50).

[0023] In the application, the 3D graphene doped with monatomic copper and monatomic silver has good compatibility with the copper base material, so that the 3D graphene can be uniformly dispersed in the copper base material by a traditional melting and casting process, which can effectively improve the electrical conductivity of the prepared robot cable copper conductor, and improve the ductility, flexibility, processing lubricity and surface cleanliness of the robot cable copper conductor, thereby improving the overall processing yield of the robot cable copper conductor.

[0024] Preferably, in step two, the copper rod subjected to the impurity removal treatment in step one is input into a Nihoff double-end large-drawing machine for Nihoff large-drawing treatment, the wire drawing liquid temperature is 35-45℃, the annealing coefficient is 7.5-8.5, the cooling liquid temperature is 35-45℃, and the equipment speed is 25-28 m / S, so that the copper rod subjected to the Nihoff large-drawing treatment is processed into a bus bar with a diameter of 1.82-1.84 mm.

[0025] Preferably, the step three, the diameter 1.82mm~1.84mm bus in step two is input into the Nihoff multi-head drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 35~45℃, drawing oil concentration: 4%~9%, annealing liquid temperature: 35~45℃, annealing liquid concentration: 0.5%~1.0%, annealing coefficient: 8.0~9.2, wire speed: 24~28m / s, the bus processed by Nihoff multi-head drawing is copper wire with diameter 0.200~0.202mm.

[0026] Preferably, the step four, the diameter 0.200~0.202mm copper wire in step three is input into the high-speed stranding machine for bundle stranding treatment: wire tension: 15±2N, take-up tension: 35±5%, speed: 3200±200TPM, wire structure: 3+1, die: 1.25±0.02mm, after bundle stranding treatment, copper wire bundle with diameter 1.25±0.02mm is obtained.

[0027] Preferably, the step five, the diameter 1.25±0.02mm copper wire bundle obtained in step four is input into the high-speed stranding machine for re-stranding treatment: wire tension: 35±2N, take-up tension: 100±5N, speed: 1600±200TPM, wire structure: 1+6, die: 3.2±0.02mm, high-soft-torsion-resistant robot cable copper conductor with diameter 3.2±0.02mm and DC resistance≤3.3Ω / km is obtained.

[0028] Through the influence of annealing coefficient on wire elongation, the annealing coefficient is adjusted in real time online according to the change of wire elongation, so as to control the change of temperature difference, make the elongation of wire in a certain range, realize the uniformity of softness of different batches of wires, and further ensure that the prepared robot cable copper conductor has the advantages of high strength, high flexibility, good torsion resistance and high safety.

[0029] Preferably, the preparation method of the high-soft-torsion-resistant robot cable copper conductor comprises the following steps:

[0030] Step one, the diameter 8±0.05mm copper rod is subjected to surface impurity removal treatment to remove oil stains and oxides of the copper rod;

[0031] Step two, the copper rod subjected to impurity removal treatment in step one is input into the Nihoff double-head large drawing machine for Nihoff large drawing treatment: drawing liquid temperature: 40℃, annealing coefficient: 8.5, cooling liquid temperature: 45℃, equipment speed: 26m / s, the copper rod processed by Nihoff large drawing is bus with diameter 1.82mm~1.84mm;

[0032] Step three, the diameter 1.82mm~1.84mm of the bus in step two is input into the Nihoff multi-head drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 40 DEG C, drawing oil concentration: 8%, annealing liquid temperature: 40 DEG C, annealing liquid concentration: 0.8%, annealing coefficient: 9.0, linear speed: 28m / s, the bus after Nihoff multi-head drawing treatment is processed into copper wire with a diameter of 0.200~0.202mm;

[0033] Step four, a plurality of copper wires with a diameter of 0.200~0.202mm in step three are input into a high-speed stranding machine for bundle stranding treatment: wire setting tension: 15N, take-up setting tension: 35%, setting speed: 3000TPM, wire structure: 3+1, die: 1.25±0.02mm, after bundle stranding treatment, copper wire bundles with a diameter of 1.25±0.02mm are obtained;

[0034] Step five, the copper wire bundles with a diameter of 1.25±0.02mm obtained in step four are input into a high-speed stranding machine for re-stranding treatment: wire tension: 35N, take-up tension: 100N, speed: 1500TPM, wire structure: 1+6, die: 3.2±0.02mm, and high-soft-torsion robot cable copper conductors with a diameter of 3.2±0.02mm and DC resistance ≤3.3Ω / km are obtained.

[0035] The preparation method for industrialized high-quality production of cable copper conductors is obtained through experimental research, which not only can ensure that the robot cable copper conductors have the advantages of high strength, high flexibility, good torsion resistance and high safety, but also can reduce energy consumption, improve the processing yield of robot cable copper conductors, optimize the cost of robot cable copper conductors and improve the core competitiveness.

[0036] In summary, the present application has the following advantages:

[0037] 1, the present application adopts drawing annealing and stranding equipment for fine processing, there is no wire breaking, oxidation and other phenomena in the drawing annealing process, which can effectively improve the torsion flexibility of the robot cable copper conductor, and ensure the overall conductivity and safe use.

[0038] 2, through the influence research of annealing coefficient on wire elongation, the annealing coefficient is adjusted in real time according to the change of wire elongation, so as to control the change of temperature difference, make the elongation of wire in a certain range, realize the uniformity of softness of different batches of wires, and further ensure that the robot cable copper conductor has the advantages of high strength, high flexibility, good torsion resistance and high safety.

[0039] 3. Due to the special use of the robot, a torsional motion is generated, so special requirements are made on the softness and surface smoothness of the conductor, etc. In order to ensure the softness of the cable, a plurality of annealed soft copper wires are first used to form a strand, and then the core is twisted in a complex way to ensure the torsional flexibility and conductivity of the copper conductor of the robot cable.

[0040] 4. The preparation method provided by the present application has low operation difficulty, is convenient for industrialized manufacturing, and reduces production cost.

[0041] 5. In the present application, the 3D graphene is surface-modified by monatomic copper + silver, so that the 3D graphene has good compatibility with the copper substrate, and the 3D graphene can be uniformly dispersed in the copper substrate by a traditional melting and casting process. This can effectively improve the conductivity of the prepared robot cable copper conductor, and can improve the ductility, flexibility, processing lubricity and surface cleanliness of the robot cable copper conductor, thereby improving the overall processing yield of the robot cable copper conductor. DETAILED DESCRIPTION

[0042] In order to further understand the present application, the preferred embodiments of the present application are described below in combination with examples and comparative examples.

[0043] A high-soft and torsion-resistant robot cable copper conductor is prepared from a copper rod by a series of processes including a Nihoff large-diameter drawing, a Nihoff multi-head drawing, a bundle twisting and a complex twisting. The prepared high-soft and torsion-resistant robot cable copper conductor has a twisted outer diameter of ≤3.3 mm and a direct current resistance of ≤3.3 Ω / km.

[0044] A preparation method of a high-soft and torsion-resistant robot cable copper conductor includes the following steps:

[0045] Step one: surface impurity removal treatment is performed on the raw material copper rod to remove oil stains and oxides of the raw material copper rod;

[0046] Preferably, the diameter of the raw material copper rod in step one is 8±0.05 mm; the material of the raw material copper rod is pure copper or copper alloy; further preferably, the raw material copper rod is a copper alloy, and the copper rod of the copper alloy is formed by extrusion or one-piece casting; the copper alloy includes 3D graphene and copper, and the content of the 3D graphene is 0.5-2wt%; the surface of the 3D graphene is doped with at least one of nano-copper clusters, nano-silver clusters, monatomic copper and monatomic silver; the number of layers of the 3D graphene is 3-4, the thickness is 1.3-1.4 nm, the size is 0.5-8 microns, and the electrical conductivity is >3000 S / m;

[0047] Preferably, in step two, the copper rod subjected to the impurity removal treatment in step one is input into a Nihoff double-head large-drawing machine for Nihoff large-drawing treatment, and the copper rod subjected to the Nihoff large-drawing treatment is processed into a bus bar with a diameter of 1.82-1.84 mm.

[0048] Step two, the copper rod after impurity removal in step one is input into the Nihoff double-end large-drawing machine for Nihoff large-drawing treatment: drawing liquid temperature: 35-45℃, annealing coefficient: 7.5-8.5, cooling liquid temperature: 35-45℃, equipment speed: 25-28m / s, the copper rod after Nihoff large-drawing treatment is processed into busbars with diameter of 1.82-1.84mm;

[0049] Step three, the busbars with diameter of 1.82-1.84mm in step two are input into the Nihoff multi-end drawing machine for Nihoff multi-end drawing treatment, the busbars after Nihoff multi-end drawing treatment are processed into copper wires with diameter of 0.200-0.202mm;

[0050] Preferably, step three, the busbars with diameter of 1.82-1.84mm in step two are input into the Nihoff multi-end drawing machine for Nihoff multi-end drawing treatment: drawing liquid temperature: 35-45℃, drawing oil concentration: 4%-9%, annealing liquid temperature: 35-45℃, annealing liquid concentration: 0.5%-1.0%, annealing coefficient: 8.0-9.2, wire speed: 24-28m / s, the busbars after Nihoff multi-end drawing treatment are processed into copper wires with diameter of 0.200-0.202mm;

[0051] Step four, a plurality of copper wires with diameter of 0.200-0.202mm in step three are input into the high-speed stranding machine for bundle stranding treatment, and copper wire bundles with diameter of 1.25±0.02mm are obtained after bundle stranding treatment;

[0052] Preferably, step four, a plurality of copper wires with diameter of 0.200-0.202mm in step three are input into the high-speed stranding machine for bundle stranding treatment: wire releasing tension: 15±2N, wire collecting tension: 35±5%, rotating speed: 3200±200TPM, wire separating structure: 3+1, die: 1.25±0.02mm, copper wire bundles with diameter of 1.25±0.02mm are obtained after bundle stranding treatment;

[0053] Step five, the copper wire bundles with diameter of 1.25±0.02mm obtained in step four are input into the high-speed stranding machine for re-stranding treatment, and the high-soft-torsion robot cable copper conductor with diameter of 3.2±0.02mm and DC resistance ≤3.3Ω / km is obtained.

[0054] Preferably, step five, the copper wire bundle with a diameter of 1.25±0.02 mm obtained in step four is input into a high-speed stranding machine for re-stranding treatment: wire release tension: 35±2 N, wire collection tension: 100±5 N, rotation speed: 1600±200 TPM, wire separation structure: 1+6, die: 3.2±0.02 mm, so as to obtain a high-soft-torsion robot cable copper conductor with a diameter of 3.2±0.02 mm and a direct current resistance of ≤3.3 Ω / km.

[0055] Preferably, the 3D graphene content is 1.0-1.5 wt%; the 3D graphene surface is doped with monatomic copper and monatomic silver; the mass ratio of the monatomic copper and the monatomic silver is (2-4):1; and the mass ratio of the total doping mass of the monatomic copper and the monatomic silver to the 3D graphene is 1:(20-50).

[0056] A preparation method for industrialized high-quality production of a cable copper conductor is obtained through experimental research, and specifically as follows:

[0057] Step one, surface impurity removal treatment is performed on a copper rod with a diameter of 8±0.05 mm to remove oil stains and oxides of the copper rod;

[0058] Step two, the copper rod subjected to the impurity removal treatment in step one is input into a Nihoff double-end large-drawing machine for Nihoff large-drawing treatment: drawing liquid temperature: 40°C, annealing coefficient: 8.5, cooling liquid temperature: 45°C, equipment speed: 26 m / s, and the copper rod subjected to the Nihoff large-drawing treatment is processed into a busbar with a diameter of 1.82 mm to 1.84 mm;

[0059] Step three, the busbar with a diameter of 1.82 mm to 1.84 mm in step two is input into a Nihoff multi-end drawing machine for Nihoff multi-end drawing treatment: drawing liquid temperature: 40°C, drawing oil concentration: 8%, annealing liquid temperature: 40°C, annealing liquid concentration: 0.8%, annealing coefficient: 9.0, and wire speed: 28 m / s, and the busbar subjected to the Nihoff multi-end drawing treatment is processed into a copper wire with a diameter of 0.200 to 0.202 mm;

[0060] Step four, a plurality of the copper wires with a diameter of 0.200 to 0.202 mm in step three are input into a high-speed stranding machine for bundle stranding treatment: wire release setting tension: 15 N, wire collection setting tension: 35%, setting rotation speed: 3000 TPM, wire separation structure: 3+1, die: 1.25±0.02 mm, and a copper wire bundle with a diameter of 1.25±0.02 mm is obtained after the bundle stranding treatment;

[0061] Step five, the copper wire bundle with a diameter of 1.25±0.02 mm obtained in step four is input into a high-speed stranding machine for re-stranding treatment: wire releasing tension: 35 N, wire collecting tension: 100 N, rotating speed: 1500 TPM, wire separating structure: 1+6, die: 3.2±0.02 mm, and a high-soft-torsion robot cable copper conductor with a diameter of 3.2±0.02 mm and a direct current resistance of ≤3.3 Ω / km is obtained.

[0062] The preparation method described above not only ensures that the robot cable copper conductor has the advantages of high strength, high flexibility, good torsion resistance, and high safety, but also reduces energy consumption, improves the processing yield of the robot cable copper conductor, optimizes the cost of the robot cable copper conductor, and improves the core competitiveness.

[0063] Embodiment 1: A preparation method of a high-soft-torsion robot cable copper conductor, comprising the following steps:

[0064] Step one, surface impurity removal treatment is performed on a pure copper rod with a diameter of 8±0.05 mm: first, surface sand blasting treatment is performed on the pure copper rod with 2000 mesh diamond sand to remove the oxides on the surface of the pure copper rod, then the pure copper rod is rinsed twice with an ethanol aqueous solution (ethanol / deionized water volume ratio=1:2), twice with an acetone aqueous solution (acetone / deionized water volume ratio=1:9), and three times with deionized water, and the pure copper rod after impurity removal treatment is dried;

[0065] Step two, the pure copper rod with a diameter of 8±0.05 mm after impurity removal treatment in step one is input into an MSM86 Nihoff double-head large-drawing machine for Nihoff large-drawing treatment: drawing liquid (JY-9077F full synthetic copper drawing liquid, concentration 5%, pH value: 8.5±0.5) temperature: 40°C, annealing coefficient: 8.5, cooling liquid temperature: 45°C, equipment speed: 26 m / s, and the copper rod after Nihoff large-drawing treatment is processed into a busbar with a diameter of 1.82 mm to 1.84 mm;

[0066] Step three, the busbar with a diameter of 1.82 mm to 1.84 mm in step two is input into an MMH series Nihoff multi-head drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 40°C, drawing oil concentration in JY-9077F full synthetic copper drawing liquid: 8%, annealing liquid (copper wire annealing liquid C500MT) temperature: 40°C, concentration of copper wire annealing liquid C500MT: 0.8%, annealing coefficient: 9.0, and wire speed: 28 m / s, and the busbar after Nihoff multi-head drawing treatment is processed into a copper wire with a diameter of 0.200 to 0.202 mm;

[0067] Step four, the diameter of 0.200-0.202 mm copper wire in step three is input into FC-650B Fuchuan high speed stranding machine for bundle stranding treatment: wire setting tension: 15 N, take-up setting tension: 35%, setting speed: 3000 TPM, line structure: 3+1, die: 1.25±0.02 mm, after bundle stranding treatment, copper wire bundle with diameter of 1.25±0.02 mm is obtained;

[0068] Step five, the copper wire bundle with diameter of 1.25±0.02 mm obtained in step four is input into another FC-650B Fuchuan high speed stranding machine for re-stranding treatment: wire setting tension: 35 N, take-up setting tension: 100 N, speed: 1500 TPM, line structure: 1+6, die: 3.2±0.02 mm, high flexible and torsion-resistant robot cable copper conductor with diameter of 3.2±0.02 mm and DC resistance≤3.3 Ω / km is obtained, the center of the obtained high flexible and torsion-resistant robot cable copper conductor is circular, and the rest is arc-shaped.

[0069] Example 2 is different from example 1 in that: step two, the diameter of 8±0.05 mm pure copper rod after impurity removal treatment in step one is input into MSM86 Nihoff double-head large-drawing machine for Nihoff large-drawing treatment: drawing liquid temperature: 35℃, annealing coefficient: 7.5, cooling liquid temperature: 35℃, equipment speed: 25 m / S, the copper rod after Nihoff large-drawing treatment is processed into busbar with diameter of 1.82 mm-1.84 mm;

[0070] Step three, the diameter of 1.82 mm-1.84 mm busbar in step two is input into MMH series Nihoff multi-head drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 35℃, drawing oil concentration: 4%, annealing liquid temperature: 35℃, annealing liquid concentration: 0.5%, annealing coefficient: 8.0, line speed: 24 m / s, the busbar after Nihoff multi-head drawing treatment is processed into copper wire with diameter of 0.200-0.202 mm.

[0071] Example 3 is different from example 1 in that: step two, the diameter of 8±0.05 mm pure copper rod after impurity removal treatment in step one is input into MSM86 Nihoff double-head large-drawing machine for Nihoff large-drawing treatment: drawing liquid temperature: 45℃, annealing coefficient: 8.5, cooling liquid temperature: 45℃, equipment speed: 28 m / S, the copper rod after Nihoff large-drawing treatment is processed into busbar with diameter of 1.82 mm-1.84 mm;

[0072] Step three, the diameter of 1.82mm~1.84mm busbar in step two is input into MMH series of Nihoff multi-head wire drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 45℃, drawing oil concentration: 9%, annealing liquid temperature: 45℃, annealing liquid concentration: 1%, annealing coefficient: 9.2, linear speed: 28m / s, the busbar after Nihoff multi-head drawing treatment is processed into copper wire with diameter of 0.200~0.202mm.

[0073] Example 4 is different from example 1 in that: step two, the diameter of 8±0.05mm pure copper rod after impurity removal treatment in step one is input into MSM86 Nihoff double-head large drawing machine for Nihoff large drawing treatment: drawing liquid temperature: 35℃, annealing coefficient: 7.5, cooling liquid temperature: 35℃, equipment speed: 25m / s, the copper rod after Nihoff large drawing treatment is processed into busbar with diameter of 1.82mm~1.84mm;

[0074] Step three, the diameter of 1.82mm~1.84mm busbar in step two is input into MMH series of Nihoff multi-head wire drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 40℃, drawing oil concentration: 8%, annealing liquid temperature: 40℃, annealing liquid concentration: 0.8%, annealing coefficient: 9.0, linear speed: 28m / s, the busbar after Nihoff multi-head drawing treatment is processed into copper wire with diameter of 0.200~0.202mm.

[0075] Example 5 is different from example 1 in that: step two, the diameter of 8±0.05mm pure copper rod after impurity removal treatment in step one is input into MSM86 Nihoff double-head large drawing machine for Nihoff large drawing treatment: drawing liquid temperature: 35℃, annealing coefficient: 7.5, cooling liquid temperature: 35℃, equipment speed: 25m / s, the copper rod after Nihoff large drawing treatment is processed into busbar with diameter of 1.82mm~1.84mm;

[0076] Step three, the diameter of 1.82mm~1.84mm busbar in step two is input into MMH series of Nihoff multi-head wire drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 45℃, drawing oil concentration: 9%, annealing liquid temperature: 45℃, annealing liquid concentration: 1%, annealing coefficient: 9.2, linear speed: 28m / s, the busbar after Nihoff multi-head drawing treatment is processed into copper wire with diameter of 0.200~0.202mm.

[0077] Example 6 differs from Example 1 in that in Step 2, the pure copper rod with a diameter of 8±0.05 mm after the impurity removal treatment in Step 1 is input into the MSM86 Nihard double-end large-drawing machine to perform Nihard large-drawing treatment: drawing liquid temperature: 40°C, annealing coefficient: 8.5, cooling liquid temperature: 45°C, equipment speed: 26 m / S, and the copper rod after the Nihard large-drawing treatment is processed into a busbar with a diameter of 1.82 mm to 1.84 mm;

[0078] In Step 3, the busbar with a diameter of 1.82 mm to 1.84 mm in Step 2 is input into the MMH series Nihard multi-end drawing machine to perform Nihard multi-end drawing treatment: drawing liquid temperature: 45°C, drawing oil concentration: 9%, annealing liquid temperature: 45°C, annealing liquid concentration: 1%, annealing coefficient: 9.2, wire speed: 28 m / s, and the busbar after the Nihard multi-end drawing treatment is processed into a copper wire with a diameter of 0.200 to 0.202 mm.

[0079] Example 7 differs from Example 1 in that in Step 2, the pure copper rod with a diameter of 8±0.05 mm after the impurity removal treatment in Step 1 is input into the MSM86 Nihard double-end large-drawing machine to perform Nihard large-drawing treatment: drawing liquid temperature: 40°C, annealing coefficient: 8.5, cooling liquid temperature: 45°C, equipment speed: 26 m / S, and the copper rod after the Nihard large-drawing treatment is processed into a busbar with a diameter of 1.82 mm to 1.84 mm;

[0080] In Step 3, the busbar with a diameter of 1.82 mm to 1.84 mm in Step 2 is input into the MMH series Nihard multi-end drawing machine to perform Nihard multi-end drawing treatment: drawing liquid temperature: 35°C, drawing oil concentration: 4%, annealing liquid temperature: 35°C, annealing liquid concentration: 0.5%, annealing coefficient: 8.0, wire speed: 24 m / s, and the busbar after the Nihard multi-end drawing treatment is processed into a copper wire with a diameter of 0.200 to 0.202 mm.

[0081] Example 8 differs from Example 1 in that in Step 2, the pure copper rod with a diameter of 8±0.05 mm after the impurity removal treatment in Step 1 is input into the MSM86 Nihard double-end large-drawing machine to perform Nihard large-drawing treatment: drawing liquid temperature: 40°C, annealing coefficient: 8.5, cooling liquid temperature: 35°C, equipment speed: 25 m / S, and the copper rod after the Nihard large-drawing treatment is processed into a busbar with a diameter of 1.82 mm to 1.84 mm;

[0082] Step three, the busbar with diameter of 1.82mm-1.84mm in step two is input into MMH series Nihoff multi-head drawing machine for Nihoff multi-head drawing treatment: drawing liquid temperature: 45℃, drawing oil concentration: 6%, annealing liquid temperature: 40℃, annealing liquid concentration: 0.8%, annealing coefficient: 9.0, linear speed: 25m / s, the busbar after Nihoff multi-head drawing treatment is processed into copper wire with diameter of 0.200-0.202mm.

[0083] Example 9 differs from example 1 in that: step four, the copper wire with diameter of 0.200-0.202mm in step three is input into FC-650B Fukuan high-speed stranding machine for bundle stranding treatment: wire setting tension: 15N, take-up setting tension: 30%, setting speed: 3400TPM, sub-wire structure: 3+1, die: 1.25±0.02mm, after bundle stranding treatment, copper wire bundle with diameter of 1.25±0.02mm is obtained;

[0084] Step five, the copper wire bundle with diameter of 1.25±0.02mm obtained in step four is input into another FC-650B Fukuan high-speed stranding machine for re-stranding treatment: wire tension: 35N, take-up tension: 95N, speed: 1700TPM, sub-wire structure: 1+6, die: 3.2±0.02mm, high-soft and torsion-resistant robot cable copper conductor with diameter of 3.2±0.02mm and DC resistance≤3.3Ω / km is obtained.

[0085] Example 10 differs from example 1 in that: step four, the copper wire with diameter of 0.200-0.202mm in step three is input into FC-650B Fukuan high-speed stranding machine for bundle stranding treatment: wire setting tension: 15N, take-up setting tension: 40%, setting speed: 3200TPM, sub-wire structure: 3+1, die: 1.25±0.02mm, after bundle stranding treatment, copper wire bundle with diameter of 1.25±0.02mm is obtained;

[0086] Step five, the copper wire bundle with diameter of 1.25±0.02mm obtained in step four is input into another FC-650B Fukuan high-speed stranding machine for re-stranding treatment: wire tension: 35N, take-up tension: 105N, speed: 1600TPM, sub-wire structure: 1+6, die: 3.2±0.02mm, high-soft and torsion-resistant robot cable copper conductor with diameter of 3.2±0.02mm and DC resistance≤3.3Ω / km is obtained.

[0087] Example 11 differs from Example 1 in that the raw material copper rod is made of copper alloy. The copper alloy is prepared by using 3D graphene doped with nano-copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano-copper clusters on the surface is 0.5%. The 3D graphene doped with nano-copper clusters on the surface is prepared by a conventional sol-gel method (customized by Xi'an Qiyue Biological Technology Co., Ltd.), and the size of the nano-copper clusters is 20-25 nm. The 3D graphene raw material is purchased from the Chengdu Institute of Organic Chemistry of the Chinese Academy of Sciences TN3DRGO, with 3-4 layers, a thickness of 1.3-1.4 nm, a size of 6-8 microns, and an electrical conductivity of >3000 S / m. The 3D graphene raw material is input into a planetary ball mill for ball milling and refining treatment, and the ball milling speed is 240 rpm. After ball milling and refining treatment for 1 h, 3D graphene carrier material with an average size of 0.5-2 microns is obtained, and the obtained 3D graphene carrier material is loaded with single-atom copper on the surface thereof by the existing preparation method of metal single-atom doped graphene.

[0088] Example 12 differs from Example 11 in that the copper alloy is prepared by using 3D graphene doped with nano-copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano-copper clusters on the surface is 1%.

[0089] Example 13 differs from Example 11 in that the copper alloy is prepared by using 3D graphene doped with nano-copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano-copper clusters on the surface is 1.5%.

[0090] Example 14 differs from Example 11 in that the copper alloy is prepared by using 3D graphene doped with nano-copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano-copper clusters on the surface is 2.0%.

[0091] Example 15 differs from Example 11 in that the raw material copper rod is made of copper alloy. The copper alloy is prepared by using 3D graphene doped with single-atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single-atom copper on the surface is 0.5%. The mass of the single-atom copper doped in the 3D graphene doped with single-atom copper on the surface is 2.02 wt%. The 3D graphene raw material is purchased from the Chengdu Institute of Organic Chemistry of the Chinese Academy of Sciences TN3DRGO, with 3-4 layers, a thickness of 1.3-1.4 nm, a size of 6-8 microns, and an electrical conductivity of >3000 S / m. The 3D graphene raw material is input into a planetary ball mill for ball milling and refining treatment, and the ball milling speed is 240 rpm. After ball milling and refining treatment for 1 h, 3D graphene carrier material with an average size of 0.5-2 microns is obtained, and the obtained 3D graphene carrier material is loaded with single-atom copper on the surface thereof by the existing preparation method of metal single-atom doped graphene.

[0092] The preparation method of the 3D graphene doped with single-atom copper on the surface is as follows:

[0093] Step one, 200 mg of 3D graphene carrier material with an average size of 0.5-2 microns was weighed and dispersed in 200 mL of deionized water to obtain a graphene dispersion liquid, 1.2 g of KOH was weighed and dissolved in 200 mL of deionized water to obtain a KOH solution, the KOH solution was added dropwise to the graphene dispersion liquid, and the mixture was stirred and dried at 80℃ to obtain a graphene / KOH dry powder;

[0094] Step two, 1.72 g of CuCl2 was weighed in a crucible, and 1.4 g of graphene / KOH dry powder was placed in the crucible; the crucible containing CuCl2 and the crucible containing graphene / KOH dry powder were placed in the upstream and downstream zones of the tube furnace respectively, and the tube furnace was sealed; Ar gas was introduced into the tube furnace, and under Ar atmosphere, the upstream temperature zone of the tube furnace was raised from room temperature to 550℃ at a rate of 10℃ / min, and the downstream temperature zone of the tube furnace was raised from room temperature to 550℃ at a rate of 10℃ / min, and the downstream temperature zone of the tube furnace was kept at 550℃ for 1 h, to obtain a metal monatomic copper doped 3D graphene precursor;

[0095] Step three, the metal monatomic copper doped 3D graphene precursor was added to 100 mL of dilute hydrochloric acid with a concentration of 1 mL / L, stirred, vacuum filtered, washed and dried to obtain 3D graphene doped with single atom copper on the surface; the obtained metal monatomic doped graphene sample was subjected to structural characterization, and the results showed that the atoms on the graphene surface existed in the form of copper monatomic; inductively coupled plasma emission spectroscopy analysis showed that the copper monatomic doping amount was about 2.02 wt%.

[0096] Example 16 differs from example 15 in that the copper alloy is prepared by using 3D graphene doped with single atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single atom copper on the surface is 1.0%.

[0097] Example 17 differs from example 15 in that the copper alloy is prepared by using 3D graphene doped with single atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single atom copper on the surface is 1.5%.

[0098] Example 18 differs from example 15 in that the copper alloy is prepared by using 3D graphene doped with single atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single atom copper on the surface is 2.0%.

[0099] Example 19 differs from example 15 in that the copper alloy is prepared by using 3D graphene doped with single atom copper on the surface, 3D graphene doped with single atom silver on the surface and electrolytic copper.

[0100] The 3D graphene doped with monatomic copper on the surface contains 1.0%, and the 3D graphene doped with monatomic silver on the surface contains 0.5%. The mass of the doped monatomic copper in the 3D graphene doped with monatomic copper on the surface is 2.02 wt%. The mass of the doped monatomic silver in the 3D graphene doped with monatomic silver on the surface is 0.97 wt%.

[0101] The preparation method of the 3D graphene doped with monatomic copper on the surface is as follows:

[0102] Step one, 200 mg of 3D graphene carrier material with an average size of 0.5-2 microns is weighed and dispersed in 200 mL of deionized water to obtain a graphene dispersion liquid, 1.2 g of KOH is weighed and dissolved in 200 mL of deionized water to obtain a KOH solution, and the KOH solution is added dropwise to the graphene dispersion liquid, and the mixture is stirred and dried at 80°C to obtain a graphene / KOH dry powder;

[0103] Step two, 1.12 g of AgNO3 is weighed in a crucible, and 1.4 g of graphene / KOH dry powder is placed in the crucible; the crucible containing AgNO3 and the crucible containing graphene / KOH dry powder are placed in the upstream and downstream zones of the tube furnace respectively, and the tube furnace is sealed; Ar gas is introduced into the tube furnace, and under the Ar atmosphere, the upstream temperature zone of the tube furnace is raised from room temperature to 480°C at a rate of 10°C / min, and the downstream temperature zone of the tube furnace is raised from room temperature to 480°C at a rate of 10°C / min, and the mixture is kept at 480°C for 1 h to obtain a metal monatomic copper doped 3D graphene precursor;

[0104] Step three, the metal monatomic copper doped 3D graphene precursor is added to 100 mL of dilute hydrochloric acid with a concentration of 1 mL / L, stirred, vacuum filtered, washed and dried to obtain 3D graphene doped with monatomic copper on the surface. The obtained metal monatomic doped graphene sample is subjected to structural characterization, and the atoms on the graphene surface exist in the form of copper monatomic atoms. Inductively coupled plasma emission spectrum analysis shows that the amount of copper monatomic doping is about 0.97 wt%.

[0105] The difference between Example 20 and Example 19 is that the copper alloy is prepared by using 3D graphene doped with monatomic copper on the surface, 3D graphene doped with monatomic silver on the surface and electrolytic copper. The 3D graphene doped with monatomic copper on the surface contains 0.8%, and the 3D graphene doped with monatomic silver on the surface contains 0.2%. The mass of the doped monatomic copper in the 3D graphene doped with monatomic copper on the surface is 4.95 wt%. The mass of the doped monatomic silver in the 3D graphene doped with monatomic silver on the surface is 1.98 wt%.

[0106] The difference between Comparative Example 1 and Example 11 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene doped with nano copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano copper clusters on the surface is 0.2%.

[0107] The difference between Comparative Example 2 and Example 11 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene doped with nano copper clusters on the surface and electrolytic copper, and the content of 3D graphene doped with nano copper clusters on the surface is 2.5%.

[0108] The difference between Comparative Example 3 and Example 11 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene without nano copper clusters on the surface and electrolytic copper, and the content of 3D graphene without nano copper clusters on the surface is 0.2%.

[0109] The difference between Comparative Example 4 and Example 15 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene doped with single-atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single-atom copper on the surface is 0.1%.

[0110] The difference between Comparative Example 5 and Example 15 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene doped with single-atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single-atom copper on the surface is 2.5%.

[0111] The difference between Comparative Example 6 and Example 15 is that the raw material copper rod is a copper alloy material. The copper alloy is prepared by using 3D graphene doped with single-atom copper on the surface and electrolytic copper, and the content of 3D graphene doped with single-atom copper on the surface is 0.5%. The mass of single-atom copper doped in the 3D graphene doped with single-atom copper on the surface is 0.21wt%.

[0112] Performance test: bending performance test of robot cable copper conductor: according to the standards of China Robot Industry Alliance, such as CRIA 0003.2-2016 "industrial robot special cable part 2: test method", PFG 2577 / 08.16 standard requirements, the bending performance of the robot cable (PVC Huanbo HG-700 injection grade as cable outer skin, thickness 0.80±0.05mm) prepared by the robot cable copper conductor in Examples 1-20 and Comparative Examples 1-6 is tested by using Weikuni robot cable bending tester WK5015D-5SET. Test parameters: bending speed 50 times / min, bending radius 40mm, test stroke 1200mm, bending reference number (standard value, million times) 800 million times.

[0113] Table 1: test parameter table of robot cable in Examples 1-20 and Comparative Examples 1-6

[0114]

[0115]

[0116] It can be seen from the combination of Embodiment 1 and Embodiments 2-9 and Table 1 that, through the influence study of the annealing coefficient on the wire elongation rate, the annealing coefficient is adjusted in real time and online according to the wire elongation rate change, so as to control the temperature difference change, make the wire elongation rate in a certain range, realize the uniformity of the softness of the wires of different batches, and further ensure that the prepared robot cable copper conductor has the advantages of high strength, high flexibility, good torsion resistance performance and high safety.

[0117] It can be seen from the combination of Embodiments 11-14 and Comparative Examples 1-3 and Table 1 that the robot cable copper conductor prepared from the copper rod raw material prepared from the 3D graphene doped with nano copper clusters and electrolytic copper has relatively better high-soft-torsion resistance, and the doping amount of the 3D graphene doped with nano copper clusters is preferably controlled to be 0.5-2.0wt%.

[0118] It can be seen from the combination of Embodiments 15-20 and Comparative Examples 4-6 and Table 1 that the robot cable copper conductor prepared from the copper rod raw material prepared from the 3D graphene doped with single-atom copper and / or silver and electrolytic copper has relatively better high-soft-torsion resistance, and the doping amount of the 3D graphene doped with single-atom copper and / or silver is preferably controlled to be 0.5-2.0wt%.

[0119] Performance detection test: the volume resistivity and tensile strength of the copper alloy materials in Embodiments 11-20 and Comparative Examples 1-6 are tested, and the tensile strength test is carried out according to the copper and copper alloy material room temperature tensile test method GB / T34505-2017. The volume resistivity is tested according to GB / T 3048.2-2007 "Wire and cable electrical performance test method Part 2: Metal material resistivity test".

[0120] Table 2: Test parameter table of copper alloy materials for robot cable copper conductor in Embodiments 1-20 and Comparative Examples 1-6

[0121] Tensile strength MPa Volume resistivity Ω-m Control group 200-300 1.70 to 1.80 x 10 -8 ]] Example 11 330.6 1.56 x 10 -8 ]]> Example 12 344.4 1.49 x 10 -8 ]] Example 13 351.0 1.45 x 10 -8 ]] Example 14 353.9 1.42 x 10 -8 ]]> Example 15 342.1 1.48 x 10 -8 ]]> Example 16 352.5 1.41 x 10 -8 ]]> Example 17 358.2 1.38 x 10 -8 <!-- 11 -->]]> Example 18 362.7 1.35 x 10 -8 ]]> Example 19 360.2 1.36 x 10 -8 ]]> Example 20 354.7 1.39 x 10 -8 ]] Comparative Example 1 305.2 1.64 x 10 -8 ]]> Comparative Example 2 355.1 1.40 x 10 -8 ]] Comparative Example 3 237.8 1.85 x 10 -8 ]] Comparative Example 4 331.5 1.59 x 10 -8 ]] Comparative Example 5 363.8 1.33 x 10 -8 ]]> Comparative Example 6 317.4 1.62 x 10 -8 ]]

[0122] It can be seen from the combination of Embodiments 11-20 and Comparative Examples 1-6 and Tables 1-2 that the robot cable copper conductor in the application has better electrical conductivity and mechanical strength, and can improve the overall high flexibility and torsion resistance performance of the robot cable. The robot cable copper conductor prepared from the 3D graphene doped with single-atom copper and / or silver has better electrical conductivity and mechanical strength.

[0123] The embodiments are only used to explain the present application, and are not used to limit the present application, and any modification without creative contribution made by the person skilled in the art according to the embodiments after reading the specification is protected by the patent law as long as it is within the scope of the claims of the present application.

Claims

1. A method for preparing a copper conductor for a highly flexible and torsion-resistant robot cable, characterized in that, Includes the following steps: Step 1: Perform surface cleaning treatment on the copper rod with a diameter of 8±0.05mm to remove oil stains and oxides; wherein the copper rod is a copper alloy, the copper alloy includes 3D graphene and copper, the 3D graphene content is 0.5-2wt%; the 3D graphene has 3-4 layers, a thickness of 1.3-1.4nm, a size of 0.5-8μm, and an electrical conductivity >3000S / m; The 3D graphene surface is doped with single-atom copper and single-atom silver; the mass ratio of the single-atom copper to the single-atom silver is (2-4):1; The total mass ratio of the doped single-atom copper and single-atom silver to the mass ratio of the 3D graphene is 1:(20-50); Step 2: Input the copper rod that has undergone impurity removal treatment in Step 1 into the Niehoff double-head large drawing machine for Niehoff large drawing treatment: drawing fluid temperature: 40℃, annealing coefficient: 8.5, coolant temperature: 45℃, equipment speed: 26m / S. The copper rod that has undergone Niehoff large drawing treatment is processed into a busbar with a diameter of 1.82mm to 1.84mm. Step 3: Input the 1.82mm~1.84mm diameter busbar from Step 2 into the Niehoff multi-head drawing machine for Niehoff multi-head drawing treatment: drawing fluid temperature: 40℃, drawing oil concentration: 8%, annealing fluid temperature: 40℃, annealing fluid concentration: 0.8%, annealing coefficient: 9.0, line speed: 28m / s. The busbar after Niehoff multi-head drawing treatment is processed into copper wire with a diameter of 0.200~0.202mm. Step 4: Input several copper wires with a diameter of 0.200-0.202mm from Step 3 into a high-speed stranding machine for stranding: unwinding tension: 15N, take-up tension: 35%, set speed: 3000TPM, wire separating structure: 3+1, die: 1.25±0.02mm. After stranding, a copper wire bundle with a diameter of 1.25±0.02mm is obtained. Step 5: Input the copper wire bundle with a diameter of 1.25±0.02mm obtained in Step 4 into a high-speed stranding machine for re-stranding: wire release tension: 35N, wire take-up tension: 100N, speed: 1500TPM, wire separation structure: 1+6, die: 3.2±0.02mm, to obtain a high-flexibility and torsion-resistant robot cable copper conductor with a diameter of 3.2±0.02mm and a DC resistance ≤3.3Ω / km.

2. The method for preparing a high-flexibility, torsion-resistant copper conductor for a robot cable according to claim 1, characterized in that, The 3D graphene content is 1.0-1.5 wt%.

3. A highly flexible and torsion-resistant copper conductor for robot cables, characterized in that... It is prepared by the preparation method according to any one of claims 1-2.

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