High-wear-resistance spiral cable for robot and preparation method of high-wear-resistance spiral cable

Abstract

The invention discloses a high-wear-resistance robot spiral cable and a preparation method thereof, and belongs to the technical field of power cables. The robot spiral cable sequentially comprises a wire, an anti-oxidation shielding layer, a self-lubricating filling layer and a wear-resistant sheath from inside to outside, each wire is composed of a plurality of internal conductors and a peripheral insulating layer, the plurality of wires are distributed in the inner periphery of the anti-oxidation shielding layer in an annular array, and polyethylene filling ropes are filled between the wires and the anti-oxidation shielding layer; the self-lubricating filling layer is obtained by extruding and processing a self-lubricating filling agent; and the wear-resistant sheath is obtained by extruding and processing a wear-resistant sheath combination agent. The high-wear-resistance spiral cable for the robot has good dynamic bendability and wear resistance.

Description

Technical Field

[0001] The invention belongs to the technical field of power cables, and in particular relates to a highly wear-resistant robot spiral cable and a preparation method thereof. Background Art

[0002] As a key component of the robot system, the robot spiral cable plays an extremely important role in ensuring the stable operation of the robot, just like the nerves and blood vessels of the human body. With the rapid development of industrial automation, especially in the automobile manufacturing, electronic equipment production, logistics and warehousing industries, the application of robots has become more extensive and in-depth, which has put forward more stringent requirements on the performance of robot spiral cables, among which wear resistance has become a key indicator to measure the quality and life of the cable. Early robot cables were mostly made of ordinary materials with poor wear resistance. During the frequent movement of the robot, the cable will produce continuous friction and collision with the surrounding equipment, causing the cable sheath to wear quickly. For example, in an automobile manufacturing workshop, welding robots perform welding operations continuously and at high speed, and the cables need to be bent, stretched, and twisted frequently. In such a high-intensity use environment, the sheath of ordinary cables often breaks and cracks in a short period of time, which not only increases maintenance costs and downtime, but also seriously affects production efficiency. When the insulation layer of the cable is damaged due to wear, it is very likely to cause a short circuit failure, which in turn damages the entire production line and causes huge economic losses.

[0003] Therefore, the present invention develops a highly wear-resistant robot spiral cable and a preparation method thereof, which are used to solve the technical problems in the prior art that the wear resistance of robot cables is insufficient and it is difficult to balance flexibility and wear resistance. Summary of the invention

[0004] The purpose of the present invention is to provide a highly wear-resistant robot spiral cable and a preparation method thereof, so as to solve the technical problems in the prior art that the wear resistance of robot cables is insufficient and it is difficult to balance flexibility and wear resistance.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A highly wear-resistant robot spiral cable comprises, from the inside to the outside, a conductor, an anti-oxidation shielding layer, a self-lubricating filling layer and a wear-resistant sheath; the conductor is composed of a plurality of internal conductors and an insulating layer on the outside, a plurality of conductors are distributed in a ring array inside the anti-oxidation shielding layer, and a polyethylene filling rope is filled between the conductor and the anti-oxidation shielding layer; the self-lubricating filling layer is obtained by extrusion processing of a self-lubricating filler; the wear-resistant sheath is obtained by extrusion processing of a wear-resistant sheath composite agent.

[0006] The preparation method of the self-lubricating filler comprises the following steps: S1. Add fluorinated graphite into a sodium borohydride solution, stir and react, filter, wash, and dry to obtain modified fluorinated graphite; add the modified fluorinated graphite and carbon nanotubes into absolute ethanol respectively, mix and ultrasonicate, then dry to obtain a three-dimensional composite material; S2. Mix and stir a methyl silicone resin solution and a polyurethane resin solution, add a leveling agent, and stir to obtain a silicone resin - polyurethane resin composite solution; S3. Heat and stir silicone oil, and sequentially add a thickening agent, polytetrafluoroethylene micropowder, the three-dimensional composite material, the silicone resin - polyurethane resin composite, 2,6 - di - tert - butyl - p - cresol, and an extreme pressure additive, then ultrasonically stir to obtain a self - lubricating filler.

[0007] Further, in S1, the concentration of the sodium borohydride solution is 0.1 - 0.5 mol / L, the mass ratio of fluorinated graphite to the sodium borohydride solution is 1:1 - 5, the stirring speed is 200 - 500 r / min, the reaction temperature is 30 - 60 °C, the reaction time is 1 - 3 h, wash with deionized water and absolute ethanol 3 - 5 times, and the drying temperature is 60 - 80 °C; the mass ratio of the modified fluorinated graphite to the carbon nanotubes is 1 - 5:1, the dosage ratio of the modified fluorinated graphite to ethanol is 1 - 5:100 g / mL, the ultrasonic power is 100 - 300 W, the ultrasonic time is 1 - 2 h, and the drying temperature is 60 - 80 °C; in S2, the methyl silicone resin solution is prepared by dissolving methyl silicone resin in ethyl acetate, the mass concentration of the methyl silicone resin solution is 35 - 65 wt%, the polyurethane resin solution is prepared by dissolving polyurethane resin in ethyl acetate, the mass concentration of the polyurethane resin solution is 30 - 45 wt%, the volume ratio of the methyl silicone resin solution to the polyurethane resin solution is 1:1, and the stirring speed is 300 - 500 r / min; in S3, the silicone oil is a mixture of dimethyl silicone oil and hydrogen - containing silicone oil, the mass ratio of dimethyl silicone oil to hydrogen - containing silicone oil is 3 - 4:1, and the mass ratio of the silicone oil, the thickening agent, the polytetrafluoroethylene micropowder, the three - dimensional composite material, the silicone resin - polyurethane resin composite solution, 2,6 - di - tert - butyl - p - cresol, and the extreme pressure additive is 10 - 30:1 - 5:10 - 20:5 - 20:30 - 60:0.1 - 1:1 - 5; the stirring speed is 200 - 400 r / min, and the stirring time for each added substance is 20 - 30 min.

[0008] The preparation method of the wear - resistant sheath combination agent comprises the following steps: Q1. Clean carbon fiber with acetone, dry, and perform plasma treatment to obtain modified carbon fiber; soak glass fiber, nano - silicon carbide, and graphene in a silane coupling agent solution, and dry to obtain a silane - modified composition; Q2. Stir and mix ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, and silane-modified composition, and sequentially add silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whisker, diisopropylbenzene peroxide, and trimethylolpropane trimethacrylate, and perform ultrasonic stirring to obtain a wear-resistant sheath combination agent.

[0009] Further, in the Q1 plasma treatment, the reaction chamber is evacuated to 10 -2 -10 -3 Pa, the gas introduced is argon, the gas pressure is 10 - 100 Pa, the power is 100 - 300 W, and the treatment time is 5 - 15 min; the silane coupling agent solution is γ-aminopropyltriethoxysilane solution with a mass concentration of 1 - 5 wt%, and the mass ratio of glass fiber, nano-silicon carbide, and graphene is 70 - 80:15 - 25:5 - 10; in Q2, the stirring speed is 300 - 500 r / min, the stirring time is 20 - 30 min, and the mass ratio of ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, silane-modified composition, silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whisker, diisopropylbenzene peroxide, and trimethylolpropane trimethacrylate is 50 - 60:10 - 20:5 - 10:10 - 20:1 - 2:0.2 - 0.8:0.2 - 0.8:2 - 5:3 - 10:1.5 - 4:0.5 - 2.5.

[0010] The present invention also provides a preparation method of the above-mentioned high wear-resistant robot spiral cable, including the following steps: (1) Strands of copper wires are stranded to obtain a conductor, cross-linked polyethylene is extruded and coated on the surface of the conductor to form an insulating layer, a polyethylene filling rope is added outside the insulating layer, and silver-plated copper wires are woven outside the insulating layer to form an antioxidant shielding layer, thereby obtaining a cable core; (2) Extrude and coat the self-lubricating filler on the outside of the cable core to obtain a self-lubricating filler layer cable; granulate the wear-resistant sheath combination agent, perform gradient cross-linking, extrude and coat it on the surface of the self-lubricating filler layer cable, and wind it into a spiral shape to obtain a high wear-resistant robot spiral cable.

[0011] Further, in step (1), the thickness of the insulating layer is 0.5 - 1.0 mm, the filling rate of the filling rope is controlled at 30 - 40%, and the weaving speed is 20 - 30 r / min; in step (2), the extrusion speed is 5 - 10 m / min, the thickness of the self-lubricating filler layer is 1 - 2 mm, the gradient cross-linking means that the temperature at the inlet section of the cross-linking pipe is 120 - 140 °C, the residence time is 2 - 3 min, the temperature at the middle section of the cross-linking pipe is 160 - 180 °C, the residence time is 3 - 5 min, the temperature at the outlet section of the cross-linking pipe is 140 - 160 °C, the residence time is 1 - 2 min, the spiral pitch is 10 - 20 mm, and the winding tension is 5 - 10 N.

[0012] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows: 1. By improving the cable structure, the present invention includes a conductor, an antioxidant shielding layer, a self-lubricating filling layer, and a wear-resistant sheath from the inside to the outside in sequence; the conductor is composed of several internal conductors and an insulating layer surrounding them, and several conductors are distributed in an annular array inside the antioxidant shielding layer, and a polyethylene filling rope is filled between the conductor and the antioxidant shielding layer; the multi-layer structure design enables each layer to perform different functions and cooperate with each other; the self-lubricating filling layer provides a self-lubricating function, reducing the friction between the layers inside the cable and between the cable and the external environment; the wear-resistant sheath directly resists external wear and protects the internal structure of the cable; therefore, the spiral cable of the present invention has high wear resistance, low friction, and high stability when applied to a robot.

[0013] 2. After the combination of carbon nanotubes and modified fluorinated graphite, a three-dimensional network structure is formed in the present invention. This structure not only enhances the strength and toughness of the material but also provides a good lubrication channel, enabling the self-lubricating filler to better play its self-lubricating role during use, reducing friction and wear; the silicone resin-polyurethane resin composite ensures the flexibility and wear resistance of the filler, thereby enhancing the dynamic bending performance of the cable.

[0014] 3. By modifying carbon fiber through plasma treatment, glass fiber, nano-silicon carbide, and graphene are modified by a silane coupling agent to form a silane-modified composition, and then cooperate with various components such as ultra-high molecular weight polyethylene and styrene-butadiene-styrene block copolymer. Under the action of a cross-linking agent, a three-dimensional network structure is formed, enabling the wear-resistant sheath to have good wear resistance, flexibility, and mechanical strength, effectively protecting the internal structure of the cable and extending its service life in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0016] Figure 1 It is a schematic cross-sectional structure diagram of a high-wear-resistant robot spiral cable according to an embodiment of the present invention; Among them, the reference numerals: 1: Conductor; 2: Insulating layer; 3: Polyethylene filling rope; 4: Antioxidant shielding layer; 5: Self-lubricating filling layer; 6: Wear-resistant sheath. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment 1:

[0018] Refer to Figure 1 As shown, this embodiment discloses a highly wear-resistant robot spiral cable, which sequentially includes a wire, an antioxidant shielding layer 4, a self-lubricating filling layer 5, and a wear-resistant sheath 6 from the inside to the outside. The wire is composed of several conductors 1 inside and an insulating layer 2 outside. The several wires are distributed in a circular array inside the antioxidant shielding layer 4, and a polyethylene filling rope 3 is filled between the wire and the antioxidant shielding layer 4. In this embodiment, the number of conductors 1 in a single wire is preferably 4, and the number of wires distributed in a circular array is preferably four.

[0019] This embodiment discloses a preparation method of a self-lubricating filler, which includes the following steps: S1. Add 10 g of fluorinated graphite to 10 g of 0.1 mol / L sodium borohydride solution, stir and react. The stirring speed is 200 r / min, the reaction temperature is 30 °C, and the reaction time is 1 h. Filter, wash 3 times with deionized water and absolute ethanol, and dry. The drying temperature is 60 °C to obtain modified fluorinated graphite; add 1 g of modified fluorinated graphite and 1 g of carbon nanotubes to 100 mL of absolute ethanol respectively, mix and ultrasonicate. The ultrasonic power is 100 W, and the ultrasonic time is 1 h. Dry, and the drying temperature is 60 °C to obtain a three-dimensional composite material; S2. Mix and stir 100 mL of 35 wt% methyl silicone resin solution and 100 mL of 30 wt% polyurethane resin solution, add a leveling agent, and stir. The stirring speed is 300 r / min to obtain a silicone resin-polyurethane resin composite solution; S3. Heat and stir 7.5 g of dimethyl silicone oil and 2.5 g of hydrogen-containing silicone oil, and sequentially add 1 g of fumed silica, 10 g of polytetrafluoroethylene micropowder, 5 g of three-dimensional composite material, 30 g of silicone resin-polyurethane resin composite, 0.1 g of 2,6-di-tert-butyl-p-cresol, and 1 g of zinc thiophosphate, and ultrasonically stir. The stirring speed is 200 r / min, and the stirring time is 20 min for each addition of a substance to obtain a self-lubricating filler.

[0020] The preparation method of the wear-resistant sheath combination agent includes the following steps: Q1. Clean the carbon fiber with acetone, dry it, and perform plasma treatment. During the plasma treatment, the reaction chamber is evacuated to 10 -2Pa, the gas introduced is argon, the air pressure is 10 Pa, the power is 100 W, and the treatment time is 5 min. Modified carbon fibers are obtained. 70 g of glass fibers, 15 g of nano silicon carbide, and 5 g of graphene are immersed in a 1 wt% γ-aminopropyltriethoxysilane solution, dried, and a silane-modified composition is obtained; Q2. 50 g of ultra-high molecular weight polyethylene, 10 g of styrene-butadiene-styrene block copolymer, 5 g of modified carbon fibers, and 10 g of the silane-modified composition are stirred and mixed. 1 g of polydimethylsiloxane micropowder, 0.2 g of pentaerythritol ester of [β-(3,5-di-tert-butyl-4-hydroxyphenyl)propionic acid], 0.2 g of 2-(2-hydroxy-5-methylphenyl)benzotriazole, 2 g of dioctyl phthalate, 3 g of potassium titanate whiskers, 1.5 g of diisopropylbenzene peroxide, and 0.5 g of trimethylolpropane trimethacrylate are added in sequence, and ultrasonic stirring is performed. The stirring speed is 300 r / min, and the stirring time is 20 min to obtain a wear-resistant sheath combination agent.

[0021] This example discloses a preparation method of a highly wear-resistant robot spiral cable, including the following steps: (1) The copper wires are stranded to obtain a conductor. Crosslinked polyethylene is extruded and coated on the surface of the conductor to form an insulating layer. A polyethylene filling rope is added outside the insulating layer. The thickness of the insulating layer is 0.5 mm, and the filling rate of the filling rope is controlled at 30%. Silver-plated copper wires are braided outside the insulating layer at a braiding speed of 20 r / min to form an antioxidant shielding layer, and a cable core is obtained; (2) A self-lubricating filler is extruded and coated outside the cable core at an extrusion speed of 5 m / min. The thickness of the self-lubricating filler layer is 1 mm to obtain a self-lubricating filler layer cable. The wear-resistant sheath combination agent is granulated and subjected to gradient crosslinking. The temperature at the inlet section of the crosslinking pipe for gradient crosslinking is 120 °C, the residence time is 2 min, the temperature in the middle section of the crosslinking pipe is 160 °C, the residence time is 3 min, the temperature at the outlet section of the crosslinking pipe is 140 °C, and the residence time is 1 min. It is extruded and coated on the surface of the self-lubricating filler layer cable and wound into a spiral shape with a spiral pitch of 10 mm and a winding tension of 5 N to obtain a highly wear-resistant robot spiral cable. Example 2:

[0022] Refer to Figure 1 As shown, this example discloses a highly wear-resistant robot spiral cable, which sequentially includes a wire, an antioxidant shielding layer 4, a self-lubricating filler layer 5, and a wear-resistant sheath 6 from the inside to the outside. The wire is composed of several conductors 1 inside and an insulating layer 2 outside. Several wires are distributed in a circular array inside the antioxidant shielding layer 4, and a polyethylene filling rope 3 is filled between the wire and the antioxidant shielding layer 4. In this example, the number of conductors 1 in a single wire is preferably 4, and the number of wires distributed in a circular array is preferably 4.

[0023] This embodiment discloses a preparation method of a self-lubricating filler, which includes the following steps: S1. Add 10 g of fluorinated graphite into 30 g of 0.1 - 0.5 mol / L sodium borohydride solution, stir and react. The stirring speed is 400 r / min, the reaction temperature is 50 °C, and the reaction time is 2 h. Filter, wash 4 times with deionized water and absolute ethanol, and dry at a drying temperature of 70 °C to obtain modified fluorinated graphite. Add 3 g of modified fluorinated graphite and 1 g of carbon nanotubes into 100 mL of absolute ethanol respectively, mix and ultrasonicate. The ultrasonic power is 200 W, and the ultrasonic time is 1.5 h. Then dry at a drying temperature of 70 °C to obtain a three-dimensional composite material; S2. Mix and stir 100 mL of 50 wt% methyl silicone resin solution and 100 mL of 40 wt% polyurethane resin solution, add a leveling agent, and stir at a stirring speed of 400 r / min to obtain a silicone resin - polyurethane resin composite solution; S3. Heat and stir 15 g of dimethyl silicone oil and 5 g of hydrogen-containing silicone oil, and sequentially add 2.5 g of fumed silica, 15 g of polytetrafluoroethylene micropowder, 13 g of the three-dimensional composite material, 45 g of the silicone resin - polyurethane resin composite, 0.5 g of 2,6 - di-tert-butyl-p-cresol, and 3 g of zinc thiophosphate, and ultrasonically stir at a stirring speed of 300 r / min. Stir for 25 min each time after adding a substance to obtain a self-lubricating filler.

[0024] The preparation method of the wear-resistant sheath combination agent includes the following steps: Q1. Clean carbon fiber with acetone, dry it, and perform plasma treatment. During the plasma treatment, evacuate the reaction chamber to 10 -2 Pa, introduce argon gas with a gas pressure of 60 Pa and a power of 200 W, and the treatment time is 10 min to obtain modified carbon fiber. Immerse 75 g of glass fiber, 20 g of nano silicon carbide, and 8 g of graphene in a 3 wt% γ-aminopropyltriethoxysilane solution, and dry to obtain a silane-modified composition; Q2. Stir and mix 55 g of ultra-high molecular weight polyethylene, 15 g of styrene - butadiene - styrene block copolymer, 8 g of modified carbon fiber, and 15 g of the silane-modified composition, and sequentially add 1.5 g of polydimethylsiloxane micropowder, 0.6 g of pentaerythritol [β-(3,5 - di-tert-butyl - 4 - hydroxyphenyl) propionate], 0.6 g of 2-(2 - hydroxy - 5 - methylphenyl) benzotriazole, 4 g of dioctyl phthalate, 7 g of potassium titanate whiskers, 3 g of diisopropylbenzene peroxide, and 1.5 g of trimethylolpropane trimethacrylate, and ultrasonically stir at a stirring speed of 400 r / min for 25 min to obtain a wear-resistant sheath combination agent.

[0025] This embodiment discloses a preparation method of a highly wear-resistant robot spiral cable, which includes the following steps: (1) Stranded the copper wires to obtain a conductor, extruded cross-linked polyethylene to coat the surface of the conductor to form an insulating layer, added a polyethylene filling rope outside the insulating layer, the thickness of the insulating layer was 0.8 mm, the filling rate of the filling rope was controlled at 35%, braided silver-plated copper wires outside the insulating layer, and the braiding speed was 25 r / min to form an antioxidant shielding layer, thus obtaining a cable core; (2) Extruded and coated a self-lubricating filler outside the cable core, the extrusion speed was 8 m / min, and the thickness of the self-lubricating filler layer was 1.5 mm to obtain a self-lubricating filler layer cable; Granulated the wear-resistant sheath compound and carried out gradient cross-linking. The temperature at the inlet section of the cross-linking pipeline was 130 °C, the residence time was 2.5 min, the temperature in the middle section of the cross-linking pipeline was 170 °C, the residence time was 4 min, the temperature at the outlet section of the cross-linking pipeline was 150 °C, and the residence time was 1.5 min. Extruded and coated it on the surface of the self-lubricating filler layer cable and wound it into a spiral shape with a spiral pitch of 15 mm and a winding tension of 8 N to obtain a highly wear-resistant robot spiral cable. Example 3:

[0026] Refer to Figure 1 As shown, this example discloses a highly wear-resistant robot spiral cable, which sequentially includes a wire, an antioxidant shielding layer 4, a self-lubricating filler layer 5, and a wear-resistant sheath 6 from the inside to the outside. The wire is composed of several conductors 1 inside and an insulating layer 2 around it. Several wires are distributed in an annular array inside the antioxidant shielding layer 4. A polyethylene filling rope 3 is filled between the wire and the antioxidant shielding layer 4. In this example, the number of conductors 1 in a single wire is preferably 4, and the number of wires distributed in an annular array is preferably 4.

[0027] This example discloses a preparation method of a self-lubricating filler, including the following steps: S1. Added 10 g of fluorinated graphite to 50 g of 0.5 mol / L sodium borohydride solution, stirred and reacted, the stirring speed was 500 r / min, the reaction temperature was 60 °C, the reaction time was 3 h, filtered, washed 5 times with deionized water and absolute ethanol, and dried at a drying temperature of 80 °C to obtain modified fluorinated graphite; Added 5 g of modified fluorinated graphite and 1 g of carbon nanotubes to 100 mL of absolute ethanol respectively, mixed and ultrasonicated, the ultrasonic power was 300 W, the ultrasonic time was 2 h, and dried at a drying temperature of 80 °C to obtain a three-dimensional composite material; S2. Mixed and stirred 100 mL of 65 wt% methyl silicone resin solution and 100 mL of 45 wt% polyurethane resin solution, added a leveling agent, and stirred at a stirring speed of 500 r / min to obtain a silicone resin - polyurethane resin composite solution; S3. Heat and stir 24 g of dimethyl silicone oil and 6 g of hydrogen-containing silicone oil, and sequentially add 5 g of fumed silica, 20 g of polytetrafluoroethylene micropowder, 20 g of three-dimensional composite material, 60 g of silicone resin-polyurethane resin composite, 1 g of 2,6-di-tert-butyl-p-cresol, and 5 g of zinc thiophosphate, and stir ultrasonically at a stirring speed of 400 r / min. Stir for 30 min each time a substance is added to obtain a self-lubricating filler.

[0028] The preparation method of the wear-resistant sheath combination agent includes the following steps: Q1. Clean carbon fiber with acetone, dry it, and perform plasma treatment. During the plasma treatment, evacuate the reaction chamber to 10 -3 Pa, introduce argon gas with a gas pressure of 100 Pa and a power of 300 W, and treat for 15 min to obtain modified carbon fiber. Immerse 80 g of glass fiber, 25 g of nano silicon carbide, and 10 g of graphene in a 5 wt% γ-aminopropyltriethoxysilane solution, and dry to obtain a silane-modified composition. Q2. Stir and mix 60 g of ultra-high molecular weight polyethylene, 20 g of styrene-butadiene-styrene block copolymer, 0 g of modified carbon fiber, and 20 g of silane-modified composition, and sequentially add 2 g of polydimethylsiloxane micropowder, 0.8 g of pentaerythritol [β-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate], 0.8 g of 2-(2-hydroxy-5-methylphenyl)benzotriazole, 5 g of dioctyl phthalate, 10 g of potassium titanate whiskers, 4 g of dicumyl peroxide, and 2.5 g of trimethylolpropane trimethacrylate, and stir ultrasonically at a stirring speed of 500 r / min for 30 min to obtain a wear-resistant sheath combination agent.

[0029] This embodiment discloses a preparation method of a highly wear-resistant robot spiral cable, including the following steps: (1) Strands of copper wires to obtain a conductor, extrude cross-linked polyethylene to coat the surface of the conductor to form an insulating layer, add a polyethylene filling rope outside the insulating layer, control the filling rate of the filling rope at 40%, braid silver-plated copper wires outside the insulating layer at a braiding speed of 30 r / min to form an antioxidant shielding layer, and obtain a cable core. (2)Extrude and coat the self-lubricating filler around the cable core at an extrusion speed of 10 m / min with the thickness of the self-lubricating filler layer being 2 mm to obtain a cable with a self-lubricating filler layer; granulate the wear-resistant sheath compound and perform gradient cross-linking. For gradient cross-linking, the temperature at the inlet section of the cross-linking pipe is 140 °C with a residence time of 3 min, the temperature at the middle section of the cross-linking pipe is 180 °C with a residence time of 5 min, and the temperature at the outlet section of the cross-linking pipe is 160 °C with a residence time of 2 min. Then extrude and coat it on the surface of the cable with a self-lubricating filler layer and wind it into a spiral shape with a spiral pitch of 20 mm and a winding tension of 10 N to obtain a highly wear-resistant robotic spiral cable.

[0030] Comparative Example 1: Compared with Example 3, in the preparation process of the highly wear-resistant robotic spiral cable in Comparative Example 1, no self-lubricating filler layer is added, and other conditions remain unchanged.

[0031] Comparative Example 2: Compared with Example 3, in the preparation process of the highly wear-resistant robotic spiral cable in Comparative Example 2, a polyethylene sheath is used to replace the wear-resistant sheath, and other conditions remain unchanged.

[0032] Experimental Example: Perform performance tests on the samples of the highly wear-resistant robotic spiral cables prepared in Examples 1 - 3 and Comparative Examples 1 - 2: Dynamic Bending Performance Test Cut samples with a length of 1 m from the robotic spiral cables prepared in Examples 1 - 3 and Comparative Examples 1 - 2, with 5 samples in each group. Carefully check the appearance of the samples to ensure that there are no obvious scratches, damages, or bubbles and other defects. Then number each sample with a marker pen, and the test results are averaged; use a robotic simulation bending test machine, set the bending radius to 6 times the cable diameter (6D), and the frequency to 1 Hz; fix the specimen: fix both ends of the cable to the drag chain track, and adjust the bending radius according to the T / SZRCA002 - 2022 standard; parameter settings: bending angle: ±90°, number of cycles: 500,000 times; additional load: 500 g weight; perform cyclic bending in the conducting state and monitor the change rate of the conductor resistance in real time. Check the appearance of the sheath every 100,000 times and record the crack or conductor exposure situation. Qualification standard: After 500,000 cycles, the sheath has no cracking and the change rate of the conductor resistance ≤ 5%. Failure determination: If conduction alarm or sheath damage occurs, immediately terminate the test. The test results are shown in Table 1: Table 1 Group Number of cycles (ten thousand times) Sheath status Conductor resistance change rate Example 1 48 No damage ≤2% Example 2 49 No damage ≤2% Example 3 50 No damage ≤2% Comparative example 1 10 Severe damage ≥10% Comparative example 2 7 Severe damage ≥10% As can be seen from the test results in Table 1, the high wear-resistant robot spiral cables prepared in Examples 1-3 of the present invention have good dynamic bending performance compared with Comparative Examples 1-2. The addition of the self-lubricating filling layer and the wear-resistant sheath can significantly improve the dynamic bending performance of the robot spiral cable.

[0033] II. Abrasion Resistance Test According to JB / T13795-2020 "Industrial Robot Cables", abrasion resistance tests were carried out on the samples of the high wear-resistant robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2. From the robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2, samples with a length of 1.5 m were respectively intercepted. The two ends were peeled off by 50 mm, and the insulating core wires were peeled off by 15 mm and connected in series to form a circuit. There were 5 samples in each group. The appearance of the samples was carefully inspected to ensure that there were no obvious scratches, damages or bubbles and other defects. Then, each sample was numbered with a marker pen, and the test results were averaged; a reciprocating wire abrasion resistance tester was used with a load of 3 kg and 240-mesh sandpaper; test conditions: friction speed 30 times / minute, stroke 50 mm, friction times 1000 times. Installation method: After fixing the test sample cable, a vertical pressure was applied, and the wear amount was checked every 100 times; the change of insulation resistance was monitored in real time, and the temperature rise during friction was recorded (friction temperature rise < 10 °C). Qualification standard: wear amount ≤ 0.5 mm, insulation resistance after wear ≥ 100 MΩ·km.

[0034] After the test, an insulation resistance tester was used to measure the insulation resistance of the samples. The insulation resistance was the resistance between the conductor and the sheath measured at 500 V DC, and the reading was taken after 1 minute. Before the measurement, the samples were left standing at room temperature for 1.5 hours to restore to a stable state. The test results are shown in Table 2: Table 2 Group Number of friction times Wear amount (mm) Insulation resistance (MΩ·km) Whether qualified Example 1 1000 0.2 ≥600 Yes Example 2 1000 0.3 ≥500 Yes Example 3 1000 0.1 ≥800 Yes Comparative example 1 300 0.6 ≤50 No Comparative example 2 200 0.7 ≤20 No As can be seen from the test results in Table 2, the high wear-resistant robot spiral cables prepared in Examples 1-3 of the present invention have good abrasion resistance compared with Comparative Examples 1-2. The absence of a self-lubricating layer leads to the accumulation of frictional heat and accelerates the wear of the sheath. The addition of the self-lubricating filling layer and the wear-resistant sheath can significantly improve the abrasion resistance of the robot spiral cable.

[0035] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

[0036] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only the specific embodiments. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A highly wear-resistant robot spiral cable, characterized in that, It sequentially includes a wire, an antioxidant shielding layer (4), a self-lubricating filling layer (5) and a wear-resistant sheath (6) from the inside to the outside; the wire is composed of several internal conductors (1) and an insulating layer (2) surrounding them, and several wires are distributed in an annular array inside the antioxidant shielding layer (4), and a polyethylene filling cord (3) is filled between the wire and the antioxidant shielding layer (4); the self-lubricating filling layer is obtained by extrusion processing of a self-lubricating filler; the wear-resistant sheath is obtained by extrusion processing of a wear-resistant sheath combination agent.

2. The high wear-resistant robot spiral cable according to claim 1, wherein The preparation method of the self-lubricating filler includes the following steps: S1. Add fluorinated graphite into a sodium borohydride solution, stir and react, filter, wash and dry to obtain modified fluorinated graphite; add the modified fluorinated graphite and carbon nanotubes into absolute ethanol respectively, mix and ultrasonicate, and then dry to obtain a three-dimensional composite material; S2. Mix and stir a methyl silicone resin solution and a polyurethane resin solution, add a leveling agent, and stir to obtain a silicone resin-polyurethane resin composite solution; S3. Heat and stir silicone oil, and sequentially add a thickening agent, polytetrafluoroethylene micropowder, the three-dimensional composite material, the silicone resin-polyurethane resin composite, 2,6-di-tert-butyl-p-cresol and an extreme pressure additive, and ultrasonically stir to obtain a self-lubricating filler.

3. The high wear-resistant robot spiral cable according to claim 2, characterized in that, In S1, the concentration of the sodium borohydride solution is 0.1-0.5 mol / L, and the mass ratio of fluorinated graphite to the sodium borohydride solution is 1:1-5; the mass ratio of the modified fluorinated graphite to the carbon nanotubes is 1-5:1, and the dosage ratio of the modified fluorinated graphite to ethanol is 1-5:100 g / mL.

4. The high wear-resistant robot spiral cable according to claim 2, characterized in that, In S2, the methyl silicone resin solution is prepared by dissolving methyl silicone resin in ethyl acetate, the mass concentration of the methyl silicone resin solution is 35-65 wt%, the polyurethane resin solution is prepared by dissolving polyurethane resin in ethyl acetate, the mass concentration of the polyurethane resin solution is 30-45 wt%, and the volume ratio of the methyl silicone resin solution to the polyurethane resin solution is 1:

1.

5. The high wear-resistant robot spiral cable according to claim 2, characterized in that, In S3, the silicone oil is a mixture of dimethyl silicone oil and hydrogen-containing silicone oil, the mass ratio of dimethyl silicone oil to hydrogen-containing silicone oil is 3-4:1, and the mass ratio of the silicone oil, the thickening agent, the polytetrafluoroethylene micropowder, the three-dimensional composite material, the silicone resin-polyurethane resin composite solution, 2,6-di-tert-butyl-p-cresol and the extreme pressure additive is 10-30:1-5:10-20:5-20:30-60:0.1-1:1-5.

6. The high wear-resistant robot spiral cable according to claim 1, characterized in that The preparation method of the wear-resistant sheath combination agent includes the following steps: Q1. Clean carbon fiber with acetone, dry, and perform plasma treatment to obtain modified carbon fiber. Immerse glass fiber, nano silicon carbide and graphene in a silane coupling agent solution, and dry to obtain a silane-modified composition; Q2. Stir and mix ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber and the silane-modified composition, and sequentially add silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whisker, dicumyl peroxide and trimethylolpropane trimethacrylate, and ultrasonically stir to obtain a wear-resistant sheath combination agent.

7. The high wear-resistant robot spiral cable according to claim 6, characterized in that, In Q1, the mass ratio of glass fiber, nano silicon carbide and graphene is 70-80:15-25:5-10.

8. A highly wear-resistant robot spiral cable according to claim 6, characterized in that, The stirring speed in Q2 is 300 - 500 r / min, the stirring time is 20 - 30 min, and the mass ratio of ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, silane-modified composition, silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whisker, diisopropylbenzene peroxide and trimethylolpropane trimethacrylate is 50 - 60:10 - 20:5 - 10:10 - 20:1 - 2:0.2 - 0.8:0.2 - 0.8:2 - 5:3 - 10:1.5 - 4:0.5 - 2.

5.

9. A preparation method of a highly wear-resistant robot spiral cable, characterized in that, It includes the following steps: (1) Stranding copper wires to obtain a conductor, extruding and coating cross-linked polyethylene on the surface of the conductor to form an insulating layer, adding a polyethylene filling rope outside the insulating layer, and braiding silver-plated copper wires outside the insulating layer to form an antioxidant shielding layer to obtain a cable core; (2) Extruding and coating a self-lubricating filler outside the cable core to obtain a self-lubricating filler layer cable; granulating the wear-resistant sheath combination agent, performing gradient cross-linking, extruding and coating it on the surface of the self-lubricating filler layer cable, and winding it into a spiral shape to obtain a highly wear-resistant robot spiral cable.

10. The preparation method of a highly wear-resistant robot spiral cable according to claim 9, characterized in that, In step (2), the gradient cross-linking means that the temperature of the inlet section of the cross-linking pipe is 120 - 140 °C, the residence time is 2 - 3 min, the temperature of the middle section of the cross-linking pipe is 160 - 180 °C, the residence time is 3 - 5 min, the temperature of the outlet section of the cross-linking pipe is 140 - 160 °C, and the residence time is 1 - 2 min.

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