Intelligent digital electric power composite control cable

Abstract

The invention relates to the technical field of cables, in particular to an intelligent digital electric power composite control cable which comprises an inner protection layer, an outer insulation layer and an outer protection layer which are sequentially arranged from inside to outside, a power cable core and a control cable core are arranged in the inner protection layer, and a guide pipe is arranged on the surface of the outer protection layer in the length direction of the outer protection layer. A plurality of guide pipes are distributed on the surface of the outer protection layer, a pull rope is arranged in each guide pipe in a sliding mode, a fixing block and a detection module which are connected with the outer protection layer are installed at the two ends of each guide pipe correspondingly, and the two ends of each pull rope are connected with the corresponding detection module and the corresponding fixing block correspondingly; the detection module is used for detecting tension changes at two ends of the tension rope. Power supply and control connection are completed by one cable. Various conditions, including whether the bending radian exceeds the limit, the internal temperature of the cable, whether the cable is damaged, the current condition of the cable and the like, of the cable can be obtained at any time through the control end, and the intelligent and digital degree of the cable is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cables, and in particular to an intelligent digital power composite control cable. Background Art

[0002] Wires are used to transmit electrical (magnetic) energy, information and realize electromagnetic energy conversion. Wires and cables in a broad sense are also referred to as cables, and cables in a narrow sense refer to insulated cables. In modern society, wires and cables can be seen everywhere, such as wiring cables and broadband access cables used in homes and hotels; power cables and overhead cables laid by power departments. Wires and cables occupy a very important position in the national economy and social activities. With the rapid development of the economy, the wire and cable industry has become the second largest industry in my country.

[0003] With the development of intelligence, the form of cables is also diverse. They are not only used as carriers of electricity, such as composite control cables that bear power and control signals. Composite control cables are widely used in digital intelligent manufacturing systems, especially in industrial robots that use intelligence. For example, multi-joint manipulators or multi-degree-of-freedom robots widely used in the industrial field can rely on their own power energy and control capabilities to achieve various industrial digital manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. The essence of industrial robots is multi-joint manipulators or multi-degree-of-freedom machine devices. The joints of the joint manipulators of the industrial robots, the joints and the base, etc. are connected by composite control cables, including power cables (for power supply of joint rotating motors) and control cables (for transmitting control instructions to each joint through the base). In the prior art, most composite control cables are used to wrap the control cables and power cables together with insulating winding tapes. A small number of composite control cables are made of integrated materials. The composite control cables are mechanically displaced synchronously with the rotation and movement of the robot arm or joint, such as repeated shortening, elongation, bending, twisting, etc.

[0004] During the operation of industrial robots, the reciprocating bending and twisting of control cables will be affected by torsional and tensile forces, which puts high demands on their strength and bending performance. Due to the limited tolerance of the material, control cables will experience mechanical fatigue and aging after long-term work, especially cracks or even breaks on the cable surface, which will expose the inside of the cable and cause the cable to be damaged quickly. On the other hand, although the cables are fixed to the inside or surface of the robot by fixings when in use, so as to avoid the cables from getting tangled up with the robot's twisting, elongation and other operations, in actual use, the loosening of the fixings or some complex operations of the robot arm will cause the cable to be excessively bent or collide with the joints of the robot arm, causing the joints to squeeze the cable and damage the cable. These damages or excessive bending are difficult to observe from the outside, but long-term use will sharply shorten the service life of the cable and cause internal breaks or failures of the cable, thus affecting its use. Summary of the invention

[0005] The object of the present invention is to provide an intelligent digital power composite control cable to solve the problem in the prior art that it is difficult to monitor whether the composite control cable is in an excessive bending state during use.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: An intelligent digital power composite control cable comprises an inner protective layer, an outer insulating layer and an outer protective layer which are arranged in sequence from the inside to the outside; a power cable core and a control cable core are arranged in the inner protective layer; the surfaces of the power cable core and the control cable core are arranged in sequence with an inner insulating layer and a shielding layer; a guide tube is arranged on the surface of the outer protective layer along its length direction; a plurality of guide tubes are distributed on the surface of the outer protective layer; a tension rope is slidably arranged in each guide tube; a fixing block and a detection module connected to the outer protective layer are respectively installed at both ends of each guide tube; the two ends of the tension rope are respectively connected to the detection module and the fixing block; the detection module is used to detect the tension changes at both ends of the tension rope.

[0007] A further technical solution is that a detection cavity is provided in the detection module, and an extension hole connected to the detection cavity is provided at one end of the detection module facing the guide tube, and a first pulley, a second pulley and a fixed shaft are sequentially provided in the detection cavity from the extension hole to the direction away from the extension hole, the first pulley and the cavity wall of the detection cavity are rotatably connected through a first rotating shaft, a detection column is vertically provided at the bottom of the detection cavity, a detection hole is provided at the upper end of the detection column, a sliding column is provided in the detection hole for sliding up and down, a pressure sensor is provided at the bottom of the detection hole, the lower end of the sliding column is connected to the top of the pressure sensor through a spring, and the upper end of the sliding column is rotatably connected to the second pulley above the detection column; after the end of the tension rope passes through the extension hole into the detection cavity, it successively bypasses the lower side of the first pulley and the upper side of the second pulley and is connected to the fixed shaft.

[0008] A further technical solution is that a clamping ring for fixing the guide tube is provided around the outer side of the outer protective layer, and a plurality of clamping grooves matching the guide tube are provided on the clamping ring, and the guide tube is clamped in the clamping grooves.

[0009] A further technical solution is that a damage monitoring layer is arranged between the outer insulating layer and the outer protective layer, a monitoring wire is arranged along the length direction of the damage monitoring layer, a signal transmitting unit is arranged in the detection cavity, and a signal receiving unit is arranged on the side of the fixed block of the outer protective layer away from the detection module, and the two ends of the monitoring wire are respectively connected to the signal transmitting unit and the signal receiving unit.

[0010] A further technical solution is that a plurality of monitoring wires are arranged in the damage detection layer and surround the outer insulating layer.

[0011] A further technical solution is that a hollow tube is provided at the center of the inner protective layer along its length direction, and the power cable core and the control cable core are arranged around the hollow tube.

[0012] A further technical solution is that a connecting wire is arranged in the hollow tube, and a plurality of temperature sensors are distributed on the monitoring wire.

[0013] A further technical solution is that a current sensor is arranged at the end of the outer protective layer, and the power cable core passes through the center of the current sensor.

[0014] A further technical solution is to further include a control end, wherein the current sensor, the temperature sensor, the signal transmitting unit, the signal receiving unit and the pressure sensor are all communicatively connected to the control end.

[0015] Compared with the prior art, the present invention has at least one of the following beneficial effects: 1. When the cable moves with the robotic arm or other intelligent device, as the cable bends, the tension rope that fits the outermost side of the cable's bending arc will increase due to the increase in the arc, causing the distance between the connecting fixed block and the detection module to increase. In this way, the end of the tension rope fixed to the fixed block will generate a pulling force on the detection module. Different pulling forces will be generated according to different bending arcs. In this way, it is possible to monitor whether the bending arc of the cable exceeds the design limit during daily use, so that the cable can be processed in time; 2. By setting a guide tube, the position of the tension rope can be limited so that the tension rope always fits the same position of the outer protective layer, avoiding the position deviation of the tension rope when the cable bends, thereby preventing effective detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a cross-sectional schematic diagram of an intelligent digital power composite control cable according to the present invention.

[0017] Figure 2The present invention is a schematic diagram of the end of an intelligent digital power composite control cable.

[0018] Figure 3 The figure is a side view of an intelligent digital power composite control cable according to the present invention.

[0019] Figure 4 The present invention is a cross-sectional schematic diagram of a detection module of an intelligent digital power composite control cable.

[0020] Icon: 1-inner protective layer, 2-outer insulating layer, 3-outer protective layer, 4-power cable core, 5-control cable core, 6-guide tube, 7-tension rope, 8-fixed block, 9-detection module, 10-detection cavity, 11-extension hole, 12-first pulley, 13-second pulley, 14-fixed shaft, 15-first rotating shaft, 16-detection column, 17-detection hole, 18-sliding column, 19-pressure sensor, 20-spring, 21-second rotating shaft, 22-clamp ring, 23-slot, 24-damage monitoring layer, 25-monitoring wire, 26-signal transmitting unit, 27-signal receiving unit, 28-hollow tube, 29-connecting wire, 30-temperature sensor, 31-current sensor. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0022] Figures 1 to 4 An embodiment of the present invention is shown.

[0023] Example: An intelligent digital power composite control cable comprises an inner protective layer 1, an outer insulating layer 2 and an outer protective layer 3 which are arranged in sequence from the inside to the outside. A power cable core 4 and a control cable core 5 are arranged in the inner protective layer 1. The surfaces of the power cable core 4 and the control cable core 5 are arranged in sequence with inner insulating layers and shielding layers. A guide tube 6 is arranged on the surface of the outer protective layer 3 along its length direction. A plurality of guide tubes 6 are distributed on the surface of the outer protective layer 3. A tension rope 7 is slidably arranged in each guide tube 6. A fixing block 8 and a detection module 9 connected to the outer protective layer 3 are respectively installed at both ends of each guide tube 6. Both ends of the tension rope 7 are respectively connected to the detection module 9 and the fixing block 8. The detection module 9 is used to detect the tension changes at both ends of the tension rope 7. When the cable moves with the robot arm or other intelligent devices, as the cable bends, the tension rope 7 that fits the outermost side of the cable bending arc will increase due to the increase in the arc, causing the distance between the connecting fixed block 8 and the detection module 9 to increase, so that the end of the tension rope 7 fixed to the fixed block 8 will generate tension on the detection module 9. Different tensions will be generated according to different bending arcs, so that it is possible to monitor whether the bending arc of the cable exceeds the design limit during daily use, so that the cable can be processed in time. By setting the guide tube 6, the position of the tension rope 7 can be limited, so that the tension rope 7 always fits the same position of the outer protective layer 3, avoiding the position of the tension rope 7 being offset when the cable is bent, thereby preventing effective detection.

[0024] A detection chamber 10 is provided in the detection module 9. An extension hole 11 connected to the detection chamber 10 is provided at one end of the detection module 9 facing the guide tube 6. A first pulley 12, a second pulley 13 and a fixed shaft 14 are sequentially provided in the detection chamber 10 from the extension hole 11 to a direction away from the extension hole 11. The first pulley 12 and the cavity wall of the detection chamber 10 are rotatably connected through a first rotating shaft 15. A detection column 16 is vertically provided at the cavity bottom of the detection chamber 10. A detection hole 17 is provided at the upper end of the detection column 16. A sliding column 18 is provided in the detection hole 17 for sliding up and down, and a pressure sensor 19 is provided at the bottom of the detection hole 17. The lower end of the sliding column 18 is connected to the pressure sensor 19 through a spring 20, and the upper end of the sliding column 18 is above the detection column 16 and is rotatably connected to the second pulley 13 through the second rotating shaft 21; after the end of the tension rope 7 passes through the extension hole 11 into the detection cavity 10, it successively passes around the lower side of the first pulley 12 and the upper side of the second pulley 13, and is connected to the fixed shaft 14. With such an arrangement, when the cable is bent, the distance between the detection module 9 and the fixed block 8 located at the outermost side of the bending arc becomes larger, so that the tension rope 7 is pulled by the fixed block 8 to move, and the tension rope 7 gradually moves to the outside of the detection module 9 through the extension hole 11. In the process of movement, since the end of the tension rope 7 is fixed to the fixed shaft 14, the tension rope 7 inside the position detection cavity 10 will press down the second pulley 13, so that the second pulley 13 drives the sliding column 18 to compress the spring 20, and different pressures are applied to the pressure sensor 19 through the spring 20. The different pressure values ​​generated can be used to determine the length of the tension rope 7 extending out of the detection cavity 10, thereby determining the curvature of the cable bending.

[0025] A clamping ring 22 for fixing the guide tube 6 is provided around the outer side of the outer protective layer 3, and a plurality of clamping grooves 23 matching the guide tube 6 are provided on the clamping ring 22, and the guide tube 6 is clamped in the clamping grooves 23. By providing the clamping ring 22 and the clamping grooves 23, the guide tube 6 can be fixed to prevent the guide tube 6 from moving along the surface of the outer protective layer 3. The portion of the guide tube 6 between the two clamping rings 22 is fixed to the surface of the outer protective layer 3 by adhesive.

[0026] A damage monitoring layer 24 is also provided between the outer insulating layer 2 and the outer protective layer 3. The damage monitoring layer 24 is provided with a monitoring wire 25 along its length direction. A signal transmitting unit 26 is provided in the detection cavity 10. A signal receiving unit 27 is provided on the side of the outer protective layer 3 away from the detection module 9 at the fixed block 8. The two ends of the monitoring wire 25 are respectively connected to the signal transmitting unit 26 and the signal receiving unit 27. The signal transmitting unit 26 sends a signal to the signal receiving unit 27 through the monitoring wire 25. If the signal receiving unit 27 can receive the signal normally, it proves that the monitoring wire 25 is intact and not broken. When the cable is damaged due to excessive bending or squeezing with the joint position of the robot arm during use, thereby destroying the damage monitoring layer 24, the monitoring wire 25 will be broken. In this way, when the signal transmitting unit 26 sends a signal, the signal receiving unit 27 cannot receive the signal normally. At this time, the staff needs to inspect the cable to find out the cause of the problem, avoid further damage to the cable, or adjust the movement trajectory of the robot arm and the cable layout position.

[0027] Several monitoring wires 25 are arranged in the damage detection layer around the outer insulating layer 2. By arranging several monitoring wires 25, it is possible to monitor whether each position of the cable is damaged.

[0028] A hollow tube 28 is provided at the center of the inner protective layer 1 along its length direction, and the power cable core 4 and the control cable core 5 are arranged around the hollow tube 28. By providing the hollow tube 28, when the cable is bent, an internal bending space can be provided, thereby improving the flexibility of the cable.

[0029] A connecting wire 29 is provided in the hollow tube 28, and a plurality of temperature sensors 30 are distributed on the monitoring wire 25. By providing the temperature sensor 30, the temperature inside the cable can be monitored, so that the operator can monitor the cable at any time. By providing the connecting wire 29, the data of the temperature sensor 30 can be transmitted, and the temperature sensor 30 can be powered.

[0030] A current sensor 31 is provided at the end of the outer protective layer 3, and the power cable core 4 passes through the center of the current sensor 31. By providing the current sensor 31, the current of the power cable core 4 can be monitored, and the operator can judge the working condition of the robot arm through the current condition.

[0031] The control end is also included, and the current sensor 31, the temperature sensor 30, the signal transmitting unit 26, the signal receiving unit 27 and the pressure sensor 19 are all connected to the control end. Through the control end, various conditions of the cable can be obtained at any time, including whether the bending arc exceeds the limit, the internal temperature of the cable, whether the cable is damaged, the current condition of the cable, etc., which improves the intelligence and digitization of the cable, so that when the cable is applied to various smart devices, it can better assist the smart devices to work.

[0032] Although the present invention is described herein with reference to a number of illustrative embodiments of the present invention, it will be appreciated that those skilled in the art may devise many other modifications and implementations that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, drawings, and claims, a variety of variations and modifications may be made to the components and / or layout of the subject combination layout. In addition to the variations and modifications made to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. An intelligent digital power composite control cable, comprising an inner protective layer (1), an outer insulating layer (2) and an outer protective layer (3) arranged in sequence from the inside to the outside, wherein a power cable core (4) and a control cable core (5) are arranged in the inner protective layer (1), and the surfaces of the power cable core (4) and the control cable core (5) are arranged in sequence with an inner insulating layer and a shielding layer, characterized in that: The surface of the outer protective layer (3) is provided with a guide tube (6) along its length direction. A plurality of guide tubes (6) are distributed on the surface of the outer protective layer (3). A tension rope (7) is slidably arranged in each guide tube (6). A fixing block (8) and a detection module (9) connected to the outer protective layer (3) are respectively installed at both ends of each guide tube (6). The two ends of the tension rope (7) are respectively connected to the detection module (9) and the fixing block (8). The detection module (9) is used to detect the tension changes at the two ends of the tension rope (7).

2. The intelligent digital power composite control cable according to claim 1, characterized in that: A detection cavity (10) is provided in the detection module (9); an extension hole (11) communicating with the detection cavity (10) is provided at one end of the detection module (9) facing the guide tube (6); a first pulley (12), a second pulley (13) and a fixed shaft (14) are provided in sequence in the detection cavity (10) from the extension hole (11) to a direction away from the extension hole (11); the first pulley (12) and the cavity wall of the detection cavity (10) are rotationally connected via a first rotating shaft (15); a detection column (16) is vertically provided at the cavity bottom of the detection cavity (10); and a detection hole (17) is provided at the upper end of the detection column (16). A sliding column (18) is provided in the detection hole (17) to slide up and down, a pressure sensor (19) is provided at the bottom of the detection hole (17), the lower end of the sliding column (18) is connected to the pressure sensor (19) by a spring (20), and the upper end of the sliding column (18) is connected to the second pulley (13) through a second rotating shaft (21) above the detection column (16); the end of the tension rope (7) passes through the extension hole (11) into the detection cavity (10), and then passes around the lower side of the first pulley (12) and the upper side of the second pulley (13) in sequence, and is connected to the fixed shaft (14).

3. The intelligent digital power composite control cable according to claim 2 is characterized in that: A clamping ring (22) for fixing the guide tube (6) is provided on the outer sleeve surrounding the outer protective layer (3); a plurality of clamping grooves (23) matching the guide tube (6) are provided on the clamping ring (22); the guide tube (6) is clamped in the clamping grooves (23).

4. The intelligent digital power composite control cable according to claim 2, characterized in that: A damage monitoring layer (24) is further provided between the outer insulating layer (2) and the outer protective layer (3); a monitoring wire (25) is provided on the damage monitoring layer (24) along its length direction; a signal transmitting unit (26) is provided in the detection cavity (10); a signal receiving unit (27) is provided on the side of the fixing block (8) away from the detection module (9) of the outer protective layer (3); and two ends of the monitoring wire (25) are respectively connected to the signal transmitting unit (26) and the signal receiving unit (27).

5. The intelligent digital power composite control cable according to claim 4, characterized in that: A plurality of monitoring wires (25) are arranged in the damage detection layer and surround the outer insulating layer (2).

6. The intelligent digital power composite control cable according to claim 4, characterized in that: A hollow tube (28) is provided at the center of the inner protective layer (1) along its length direction, and the power cable core (4) and the control cable core (5) are arranged around the hollow tube (28).

7. The intelligent digital power composite control cable according to claim 6, characterized in that: A connecting wire (29) is arranged in the hollow tube (28), and a plurality of temperature sensors (30) are distributed and arranged on the monitoring wire (25).

8. The intelligent digital power composite control cable according to claim 7, characterized in that: A current sensor (31) is provided at the end of the outer protective layer (3), and the power cable core (4) passes through the center of the current sensor (31).

9. The intelligent digital power composite control cable according to claim 8, characterized in that: It also includes a control end, and the current sensor (31), the temperature sensor (30), the signal transmitting unit (26), the signal receiving unit (27) and the pressure sensor (19) are all communicatively connected to the control end.

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