High-wear-resistance robot spiral cable and preparation method thereof

Abstract

The application 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 comprises, from inside to outside, a wire, an oxidation-resistant shielding layer, a self-lubricating filling layer and a wear-resistant sheath; the wire is composed of a plurality of conductors in the inside and an insulating layer in the periphery; the plurality of wires are arranged in a ring array in the inside of the oxidation-resistant shielding layer, and polyethylene filling ropes are filled between the wire and the oxidation-resistant shielding layer; the self-lubricating filling layer is obtained by extrusion processing of a self-lubricating filling agent; and the wear-resistant sheath is obtained by extrusion processing of a wear-resistant sheath combination agent.The high-wear-resistance robot spiral cable has good dynamic bending property and wear resistance.

Description

Technical Field

[0001] This invention belongs to the field of power cable technology, specifically relating to a high wear-resistant robot spiral cable and its preparation method. Background Technology

[0002] As a key component of robot systems, the robot spiral cable, much like the nerves and blood vessels of the human body, plays a vital role in ensuring the stable operation of robots. With the rapid development of industrial automation, especially in industries such as automobile manufacturing, electronic equipment production, and logistics warehousing, the application of robots is becoming increasingly widespread and in-depth. This places more stringent requirements on the performance of robot spiral cables, among which abrasion resistance has become a key indicator for measuring cable quality and lifespan.

[0003] Early robot cables were mostly made of ordinary materials with poor abrasion resistance. During the frequent movements of robots, the cables experience continuous friction and collisions with surrounding equipment, causing the cable sheath to wear down rapidly. For example, in automobile manufacturing workshops, welding robots perform continuous and high-speed welding operations, requiring cables to be frequently bent, stretched, and twisted. Under such high-intensity operating conditions, the outer sheath of ordinary cables often shows problems such as damage and cracking within a short period of time, not only increasing maintenance costs and downtime but also seriously affecting production efficiency. When the cable insulation layer is damaged due to wear, it is highly likely to cause a short circuit, which can damage the entire production line and lead to huge economic losses.

[0004] Therefore, this invention develops a high wear-resistant robot spiral cable and its preparation method to solve the technical problems of insufficient wear resistance and difficulty in balancing flexibility and wear resistance in existing robot cables. Summary of the Invention

[0005] The purpose of this invention is to provide a high wear-resistant robot spiral cable and its preparation method, which solves the technical problems of insufficient wear resistance and difficulty in balancing flexibility and wear resistance in existing robot cables.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A high wear-resistant robot spiral cable comprises, from the inside out, a conductor, an anti-oxidation shielding layer, a self-lubricating filler layer, and a wear-resistant sheath. The conductor consists of several internal conductors and an external insulation layer. The conductors are arranged in a ring array within the anti-oxidation shielding layer, and polyethylene filler rope is filled between the conductors and the anti-oxidation shielding layer. The self-lubricating filler layer is obtained by extrusion processing of a self-lubricating filler. The wear-resistant sheath is obtained by extrusion processing of a wear-resistant sheathing compound.

[0008] The method for preparing the self-lubricating filler includes the following steps:

[0009] S1. Fluorinated graphite is added to sodium borohydride solution, stirred and reacted, filtered, washed and dried to obtain modified fluorinated graphite; the modified fluorinated graphite and carbon nanotubes are added to anhydrous ethanol respectively, mixed and sonicated, and dried to obtain a three-dimensional composite material.

[0010] S2. Mix and stir the methyl silicone resin solution and the polyurethane resin solution, add the leveling agent, and stir to obtain a silicone resin-polyurethane resin composite solution.

[0011] S3. Heat and stir the silicone oil, then add the thickener, polytetrafluoroethylene micro powder, three-dimensional composite material, silicone-polyurethane resin composite, 2,6-di-tert-butyl-p-cresol and extreme pressure additive in sequence, and ultrasonically stir to obtain a self-lubricating filler.

[0012] Further, in S1, the concentration of sodium borohydride solution is 0.1-0.5 mol / L, the mass ratio of fluorinated graphite to sodium borohydride solution is 1:1-5, the stirring speed is 200-500 r / min, the reaction temperature is 30-60℃, the reaction time is 1-3 h, and it is washed 3-5 times with deionized water and anhydrous ethanol, and the drying temperature is 60-80℃; the mass ratio of modified fluorinated graphite to carbon nanotubes is 1-5:1, the amount ratio of 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℃; 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%, and the polyurethane resin... The ester 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 methyl silicone resin solution to polyurethane resin solution is 1:1. The stirring speed is 300-500 r / min. The silicone oil in S3 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. The mass ratio of silicone oil, thickener, polytetrafluoroethylene micro powder, three-dimensional composite material, silicone resin-polyurethane resin composite solution, 2,6-di-tert-butyl-p-cresol, and 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 is 20-30 min for each substance added.

[0013] The preparation method of the wear-resistant sheathing compound includes the following steps:

[0014] Q1. The carbon fiber is cleaned with acetone, dried, and plasma treated to obtain modified carbon fiber. Glass fiber, nano-silicon carbide and graphene are immersed in silane coupling agent solution and dried to obtain silane modified composition.

[0015] Q2. Mix ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, and silane modified composition. Then, add silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whiskers, dicumyl peroxide, and trimethylolpropane trimethacrylate in sequence. Stir ultrasonically to obtain a wear-resistant sheathing compound.

[0016] Furthermore, the reaction chamber in the Q1 plasma treatment is evacuated to 10... -2 -10 -3 The gas introduced is argon, with a pressure of 10-100 Pa, a power of 100-300 W, and a processing time of 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; the stirring speed in Q2 is 300-500 r / min, and the stirring time is 20-30 min. The mass ratio of polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, silane modified composition, silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whiskers, dicumyl 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.

[0017] This invention also provides a method for preparing the above-mentioned high wear-resistant robot spiral cable, comprising the following steps:

[0018] (1) Twist copper wires to obtain a conductor, extrude cross-linked polyethylene to coat the surface of the conductor to form an insulation layer, add polyethylene filler rope outside the insulation layer, and weave silver-plated copper wire outside the insulation layer to form an anti-oxidation shielding layer to obtain a cable core.

[0019] (2) The self-lubricating filler is extruded and coated on the outside of the cable core to obtain a self-lubricating filler cable; the wear-resistant sheathing agent is granulated, cross-linked in a gradient, extruded and coated on the surface of the self-lubricating filler cable, and wound into a spiral shape to obtain a high wear-resistant robot spiral cable.

[0020] Further, in step (1), the insulation layer thickness is 0.5-1.0 mm, the filling rate of the filler 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 crosslinking is as follows: the crosslinking pipe inlet section temperature is 120-140℃, the residence time is 2-3 min, the crosslinking pipe middle section temperature is 160-180℃, the residence time is 3-5 min, the crosslinking pipe outlet section temperature is 140-160℃, the residence time is 1-2 min, the helical pitch is 10-20 mm, and the winding tension is 5-10 N.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] 1. This invention improves the cable structure, comprising, from the inside out, a conductor, an anti-oxidation shielding layer, a self-lubricating filler layer, and a wear-resistant sheath. The conductor consists of several internal conductors and an outer insulation layer. The conductors are arranged in a ring array within the anti-oxidation shielding layer, and polyethylene filler rope is inserted between the conductors and the anti-oxidation shielding layer. The multi-layer structure design allows each layer to perform different functions and cooperate with each other. The self-lubricating filler layer provides self-lubrication, reducing friction between the internal layers of 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 this invention, when applied to robots, exhibits high wear resistance, low friction, and high stability.

[0023] 2. This invention combines carbon nanotubes with modified fluorinated graphite to form a three-dimensional network structure. This structure not only enhances the strength and toughness of the material but also provides excellent lubrication channels, allowing the self-lubricating filler to better exert its self-lubricating effect 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.

[0024] 3. This invention modifies carbon fiber through plasma treatment, and glass fiber, nano-silicon carbide and graphene are modified with silane coupling agent to form a silane modified composition. Then, it is synergistically combined with various components such as ultra-high molecular weight polyethylene and styrene-butadiene-styrene block copolymer, and a three-dimensional network structure is formed under the action of crosslinking agent. This gives the wear-resistant sheath good wear resistance, flexibility and mechanical strength, effectively protects the internal structure of the cable and extends its service life in complex environments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic cross-sectional view of a high wear-resistant robot spiral cable according to an embodiment of the present invention;

[0027] In the attached figures, the following labels are used:

[0028] 1: Conductor; 2: Insulation layer; 3: Polyethylene filler rope; 4: Antioxidant shielding layer; 5: Self-lubricating filler layer; 6: Wear-resistant sheath. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1:

[0030] See Figure 1 As shown, this embodiment discloses a high wear-resistant robot spiral cable, which includes, from the inside out, a conductor, an anti-oxidation shielding layer 4, a self-lubricating filling layer 5, and a wear-resistant sheath 6. The conductor consists of several internal conductors 1 and an external insulation layer 2. The conductors are arranged in a ring array within the anti-oxidation shielding layer 4, and polyethylene filler rope 3 is filled between the conductors and the anti-oxidation shielding layer 4. In this embodiment, the number of conductors 1 in a single conductor is preferably four, and the number of conductors in the ring array is preferably four.

[0031] This embodiment discloses a method for preparing a self-lubricating filler, including the following steps:

[0032] S1. Add 10g of fluorinated graphite to 10g of 0.1mol / L sodium borohydride solution, stir the mixture at 200r / min, at 30℃ for 1h, filter, wash three times with deionized water and anhydrous ethanol, and dry at 60℃ to obtain modified fluorinated graphite; add 1g of modified fluorinated graphite and 1g of carbon nanotubes to 100mL of anhydrous ethanol respectively, mix and sonicate at 100W for 1h, and dry at 60℃ to obtain a three-dimensional composite material.

[0033] S2. Mix 100 mL of 35 wt% methyl silicone resin solution and 100 mL of 30 wt% polyurethane resin solution, add leveling agent, and stir at a speed of 300 r / min to obtain silicone resin-polyurethane resin composite solution.

[0034] S3. Heat and stir 7.5g of dimethyl silicone oil and 2.5g of hydrogen-containing silicone oil, then add 1g of fumed silica, 10g of polytetrafluoroethylene micro powder, 5g of three-dimensional composite material, 30g of silicone resin-polyurethane resin composite, 0.1g of 2,6-di-tert-butyl-p-cresol and 1g of zinc thiophosphate in sequence. Stir ultrasonically at a speed of 200r / min, and stir for 20min after each addition to obtain a self-lubricating filler.

[0035] The preparation method of the wear-resistant sheathing compound includes the following steps:

[0036] Q1. Clean the carbon fiber with acetone, dry it, and then subject it to plasma treatment. During the plasma treatment, the reaction chamber is evacuated to 10°C. -2 Pa, the gas introduced is argon, the gas pressure is 10Pa, the power is 100W, the processing time is 5min, and modified carbon fiber is obtained. 70g glass fiber, 15g nano silicon carbide and 5g graphene are soaked in 1wt% γ-aminopropyltriethoxysilane solution and dried to obtain silane modified composition.

[0037] Q2. Mix 50g of ultra-high molecular weight polyethylene, 10g of styrene-butadiene-styrene block copolymer, 5g of modified carbon fiber, and 10g of silane-modified composition. Then, add 1g of polydimethylsiloxane micro powder, 0.2g of pentaerythritol [β-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate], 0.2g of 2-(2-hydroxy-5-methylphenyl)benzotriazole, 2g of dioctyl phthalate, 3g of potassium titanate whiskers, 1.5g of dicumyl peroxide, and 0.5g of trimethylolpropane trimethacrylate. Stir ultrasonically at 300 rpm for 20 minutes to obtain the wear-resistant sheathing compound.

[0038] This embodiment discloses a method for preparing a high wear-resistant robot spiral cable, including the following steps:

[0039] (1) Twist copper wires to obtain a conductor, extrude cross-linked polyethylene to cover the surface of the conductor to form an insulation layer, add polyethylene filler rope outside the insulation layer, the insulation layer thickness is 0.5mm, the fill rate of the filler rope is controlled at 30%, and braid silver-plated copper wire outside the insulation layer at a braiding speed of 20r / min to form an anti-oxidation shielding layer to obtain the cable core.

[0040] (2) The self-lubricating filler is extruded and coated on the outside of the cable core at an extrusion speed of 5 m / min and a thickness of 1 mm to obtain a self-lubricating filler cable; the wear-resistant sheathing agent is granulated and cross-linked in a gradient manner. The gradient cross-linking is performed with a cross-linking pipe inlet temperature of 120°C and a residence time of 2 min, a cross-linking pipe middle section temperature of 160°C and a residence time of 3 min, and a cross-linking pipe outlet section temperature of 140°C and a residence time of 1 min. The cross-linking agent is extruded and coated on the surface of the self-lubricating filler cable and wound into a spiral shape with a spiral pitch of 10 mm and a winding tension of 5 N to obtain a high wear-resistant robot spiral cable. Example 2:

[0041] See Figure 1 As shown, this embodiment discloses a high wear-resistant robot spiral cable, which includes, from the inside out, a conductor, an anti-oxidation shielding layer 4, a self-lubricating filling layer 5, and a wear-resistant sheath 6. The conductor consists of several internal conductors 1 and an external insulation layer 2. The conductors are arranged in a ring array within the anti-oxidation shielding layer 4, and polyethylene filler rope 3 fills the space between the conductors and the anti-oxidation shielding layer 4. In this embodiment, the number of conductors 1 in a single conductor is preferably 4, and the number of conductors in the ring array is preferably 4.

[0042] This embodiment discloses a method for preparing a self-lubricating filler, including the following steps:

[0043] S1. Add 10g of fluorinated graphite to 30g of 0.1-0.5mol / L sodium borohydride solution, stir the mixture at 400r / min, at 50℃ for 2h, filter, wash four times with deionized water and anhydrous ethanol, and dry at 70℃ to obtain modified fluorinated graphite; add 3g of modified fluorinated graphite and 1g of carbon nanotubes to 100mL of anhydrous ethanol respectively, mix and sonicate at 200W for 1.5h, and dry at 70℃ to obtain a three-dimensional composite material;

[0044] S2. Mix 100 mL of 50 wt% methyl silicone resin solution and 100 mL of 40 wt% polyurethane resin solution, add leveling agent, and stir at a speed of 400 r / min to obtain silicone resin-polyurethane resin composite solution.

[0045] S3. Heat and stir 15g of dimethyl silicone oil and 5g of hydrogen-containing silicone oil, then add 2.5g of fumed silica, 15g of polytetrafluoroethylene micro powder, 13g of three-dimensional composite material, 45g of silicone resin-polyurethane resin composite, 0.5g of 2,6-di-tert-butyl-p-cresol and 3g of zinc thiophosphate in sequence. Stir ultrasonically at a speed of 300r / min, and stir for 25min after each addition to obtain a self-lubricating filler.

[0046] The preparation method of the wear-resistant sheathing compound includes the following steps:

[0047] Q1. Clean the carbon fiber with acetone, dry it, and then subject it to plasma treatment. During the plasma treatment, the reaction chamber is evacuated to 10°C. -2 Pa, the gas introduced is argon, the gas pressure is 60Pa, the power is 200W, the processing time is 10min, and modified carbon fiber is obtained. 75g glass fiber, 20g nano silicon carbide and 8g graphene are soaked in 3wt% γ-aminopropyltriethoxysilane solution and dried to obtain silane modified composition.

[0048] Q2. Mix 55g of ultra-high molecular weight polyethylene, 15g of styrene-butadiene-styrene block copolymer, 8g of modified carbon fiber, and 15g of silane-modified composition. Then, add 1.5g of polydimethylsiloxane micro powder, 0.6g of pentaerythritol [β-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate], 0.6g of 2-(2-hydroxy-5-methylphenyl)benzotriazole, 4g of dioctyl phthalate, 7g of potassium titanate whiskers, 3g of dicumyl peroxide, and 1.5g of trimethylolpropane trimethacrylate. Stir ultrasonically at 400 rpm for 25 minutes to obtain the wear-resistant sheathing compound.

[0049] This embodiment discloses a method for preparing a high wear-resistant robot spiral cable, including the following steps:

[0050] (1) Twist copper wires to obtain a conductor, extrude cross-linked polyethylene to coat the surface of the conductor to form an insulation layer, add polyethylene filler rope outside the insulation layer, the insulation layer thickness is 0.8mm, the fill rate of the filler rope is controlled at 35%, and braid silver-plated copper wire outside the insulation layer at a braiding speed of 25r / min to form an anti-oxidation shielding layer to obtain the cable core.

[0051] (2) The self-lubricating filler is extruded and coated on the outside of the cable core at an extrusion speed of 8 m / min and a thickness of 1.5 mm to obtain a self-lubricating filler cable; the wear-resistant sheathing agent is granulated and cross-linked in a gradient manner. The gradient cross-linking is performed with a cross-linking pipe inlet temperature of 130°C and a residence time of 2.5 min, a cross-linking pipe middle section temperature of 170°C and a residence time of 4 min, and a cross-linking pipe outlet section temperature of 150°C and a residence time of 1.5 min. The cross-linking is then extruded and coated on the surface of the self-lubricating filler cable and wound into a spiral shape with a spiral pitch of 15 mm and a winding tension of 8 N to obtain a high wear-resistant robot spiral cable. Example 3:

[0052] See Figure 1As shown, this embodiment discloses a high wear-resistant robot spiral cable, which includes, from the inside out, a conductor, an anti-oxidation shielding layer 4, a self-lubricating filling layer 5, and a wear-resistant sheath 6. The conductor consists of several internal conductors 1 and an external insulation layer 2. The conductors are arranged in a ring array within the anti-oxidation shielding layer 4, and polyethylene filler rope 3 fills the space between the conductors and the anti-oxidation shielding layer 4. In this embodiment, the number of conductors 1 in a single conductor is preferably 4, and the number of conductors in the ring array is preferably 4.

[0053] This embodiment discloses a method for preparing a self-lubricating filler, including the following steps:

[0054] S1. Add 10g of fluorinated graphite to 50g of 0.5mol / L sodium borohydride solution, stir the mixture at 500r / min, at 60℃ for 3h, filter, wash five times with deionized water and anhydrous ethanol, and dry at 80℃ to obtain modified fluorinated graphite; add 5g of modified fluorinated graphite and 1g of carbon nanotubes to 100mL of anhydrous ethanol respectively, mix and sonicate at 300W for 2h, and dry at 80℃ to obtain a three-dimensional composite material.

[0055] S2. Mix 100 mL of 65 wt% methyl silicone resin solution and 100 mL of 45 wt% polyurethane resin solution, add leveling agent, and stir at a speed of 500 r / min to obtain silicone resin-polyurethane resin composite solution.

[0056] S3. Heat and stir 24g of dimethyl silicone oil and 6g of hydrogen-containing silicone oil, then add 5g of fumed silica, 20g of polytetrafluoroethylene micro powder, 20g of three-dimensional composite material, 60g of silicone resin-polyurethane resin composite, 1g of 2,6-di-tert-butyl-p-cresol, and 5g of zinc thiophosphate in sequence. Stir ultrasonically at a speed of 400r / min, and stir for 30min after each addition to obtain a self-lubricating filler.

[0057] The preparation method of the wear-resistant sheathing compound includes the following steps:

[0058] Q1. Clean the carbon fiber with acetone, dry it, and then subject it to plasma treatment. During the plasma treatment, the reaction chamber is evacuated to 10°C. -3 Pa, the gas introduced is argon, the gas pressure is 100Pa, the power is 300W, the processing time is 15min, and modified carbon fiber is obtained. 80g glass fiber, 25g nano silicon carbide and 10g graphene are soaked in 5wt% γ-aminopropyltriethoxysilane solution and dried to obtain silane modified composition.

[0059] Q2. Mix 60g of ultra-high molecular weight polyethylene, 20g of styrene-butadiene-styrene block copolymer, 0g of modified carbon fiber, and 20g of silane-modified composition. Then, add 2g of polydimethylsiloxane micro powder, 0.8g of pentaerythritol [β-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate], 0.8g of 2-(2-hydroxy-5-methylphenyl)benzotriazole, 5g of dioctyl phthalate, 10g of potassium titanate whiskers, 4g of dicumyl peroxide, and 2.5g of trimethylolpropane trimethacrylate. Stir ultrasonically at 500 rpm for 30 minutes to obtain the wear-resistant sheathing compound.

[0060] This embodiment discloses a method for preparing a high wear-resistant robot spiral cable, including the following steps:

[0061] (1) Twist copper wires to obtain a conductor, extrude cross-linked polyethylene to cover the surface of the conductor to form an insulation layer, add polyethylene filler rope outside the insulation layer, the insulation layer thickness is 1.0 mm, the fill rate of the filler rope is controlled at 40%, and braid silver-plated copper wire outside the insulation layer at a braiding speed of 30 r / min to form an anti-oxidation shielding layer to obtain the cable core.

[0062] (2) The self-lubricating filler is extruded and coated on the outside of the cable core at an extrusion speed of 10 m / min and a thickness of 2 mm to obtain a self-lubricating filler cable; the wear-resistant sheathing agent is granulated and cross-linked in a gradient manner. The gradient cross-linking is performed with a cross-linking pipe inlet temperature of 140℃ and a residence time of 3 min, a cross-linking pipe middle section temperature of 180℃ and a residence time of 5 min, and a cross-linking pipe outlet section temperature of 160℃ and a residence time of 2 min. The cross-linking agent is extruded and coated on the surface of the self-lubricating filler cable and wound into a spiral shape with a spiral pitch of 20 mm and a winding tension of 10 N to obtain a high wear-resistant robot spiral cable.

[0063] Comparative Example 1:

[0064] Compared with Example 3, Comparative Example 1 did not add a self-lubricating filler layer during the preparation of the high wear-resistant robot spiral cable, while other conditions remained unchanged.

[0065] Comparative Example 2:

[0066] Compared with Example 3, Comparative Example 2 used a polyethylene sheath instead of a wear-resistant sheath in the preparation process of the high wear-resistant robot spiral cable, while keeping other conditions unchanged.

[0067] Experimental example:

[0068] Performance tests were conducted on samples of the high abrasion-resistant robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2:

[0069] Dynamic bending performance test

[0070] Five 1m samples were cut from the robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2, respectively. The samples were carefully inspected to ensure there were no obvious scratches, damage, or bubbles. Each sample was then numbered with a marker, and the average test result was taken. A robot-simulated bending tester was used, with a bending radius set to 6 times the cable diameter (6D) and a frequency of 1Hz. Sample fixing: Both ends of the cable were fixed to the cable chain track, and the bending radius was adjusted according to the T / SZRCA002-2022 standard. Parameter settings: Bending angle: ±90°, number of cycles: 500,000; Additional load: 500g weight; Cyclic bending was performed in the conductive state, and the conductor resistance change rate was monitored in real time. The sheath appearance was checked every 100,000 cycles, and the presence of cracks or exposed conductors was recorded. Acceptance criteria: No cracking of the sheath after 500,000 cycles, and the conductor resistance change rate ≤5%. Failure judgment: If a continuity alarm or sheath damage occurs, the test is immediately terminated. The test results are shown in Table 1.

[0071] Table 1

[0072] Group Number of loops (in 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%

[0073] According to 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 filler layer and the wear-resistant sheath can significantly improve the dynamic bending performance of the robot spiral cable.

[0074] II. Abrasion Resistance Test

[0075] According to JB / T13795-2020 "Industrial Robot Cables", the abrasion resistance of samples of high abrasion-resistant robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2 was tested. Samples with a length of 1.5m were cut from the robot spiral cables prepared in Examples 1-3 and Comparative Examples 1-2, with 50mm of insulation stripped from both ends and 15mm of insulation stripped from the core wire, and connected in series to form a circuit. Five samples were used in each group. The appearance of the samples was carefully inspected to ensure there were no obvious scratches, damage, or bubbles. Each sample was then numbered with a marker, and the average value of the test results was taken. A reciprocating wire abrasion tester was used with a load of 3kg and 240-mesh sandpaper. Test conditions: friction speed 30 times / minute, stroke 50mm, and 1000 cycles. Installation method: After fixing the sample cable, apply vertical pressure and check the wear every 100 times; monitor the change in insulation resistance in real time and record the temperature rise during the friction process (friction temperature rise < 10℃). The qualified standard is: wear amount ≤ 0.5mm, and insulation resistance after wear ≥ 100MΩ·km.

[0076] After the test, the insulation resistance of the sample was measured using an insulation resistance tester. The insulation resistance was measured at 500V DC between the conductor and the sheath, and the reading was taken after 1 minute. Before measurement, the sample was left to stand at room temperature for 1.5 hours to allow it to return to a stable state. The test results are shown in Table 2.

[0077] Table 2

[0078] Group Number of frictions Wear amount (mm) Insulation resistance (MΩ·km) Is it 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

[0079] According to the test results in Table 2, the high wear-resistant robot spiral cables prepared in Examples 1-3 of the present invention have good wear resistance compared with Comparative Examples 1-2. The lack 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 filler layer and the wear-resistant sheath can significantly improve the wear resistance of the robot spiral cable.

[0080] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0081] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A high wear-resistant robot spiral cable, characterized in that, From the inside out, it includes a conductor, an anti-oxidation shielding layer (4), a self-lubricating filler layer (5), and a wear-resistant sheath (6). The conductor consists of several conductors (1) inside and an insulating layer (2) around it. The conductors are arranged in a ring array around the inner periphery of the anti-oxidation shielding layer (4). Polyethylene filler rope (3) is filled between the conductors and the anti-oxidation shielding layer (4). The self-lubricating filler layer is obtained by extrusion of a self-lubricating filler. The wear-resistant sheath is obtained by extrusion of a wear-resistant sheath compound. The method for preparing the self-lubricating filler includes the following steps: S1. Fluorinated graphite is added to sodium borohydride solution, stirred and reacted, filtered, washed and dried to obtain modified fluorinated graphite; the modified fluorinated graphite and carbon nanotubes are added to anhydrous ethanol respectively, mixed and sonicated, and dried to obtain a three-dimensional composite material. S2. Mix and stir the methyl silicone resin solution and the polyurethane resin solution, add the leveling agent, and stir to obtain a silicone resin-polyurethane resin composite solution. S3. Heat and stir the silicone oil, then add the thickener, polytetrafluoroethylene micro powder, three-dimensional composite material, silicone-polyurethane resin composite, 2,6-di-tert-butyl-p-cresol and extreme pressure additive in sequence, and stir ultrasonically to obtain a self-lubricating filler. The preparation method of the wear-resistant sheathing compound includes the following steps: Q1. The carbon fiber is cleaned with acetone, dried, and plasma treated to obtain modified carbon fiber. Glass fiber, nano-silicon carbide and graphene are immersed in silane coupling agent solution and dried to obtain silane modified composition. Q2. Mix ultra-high molecular weight polyethylene, styrene-butadiene-styrene block copolymer, modified carbon fiber, and silane modified composition. Then, add silicone powder, antioxidant, ultraviolet absorber, plasticizer, potassium titanate whiskers, dicumyl peroxide, and trimethylolpropane trimethacrylate in sequence. Stir ultrasonically to obtain a wear-resistant sheathing compound.

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

3. The high wear-resistant robot spiral cable according to claim 1, characterized in that, In S2, the methyl silicone resin solution is prepared by dissolving methyl silicone resin in ethyl acetate, and 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, and 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.

4. The high wear-resistant robot spiral cable according to claim 1, characterized in that, The silicone oil in S3 is a mixture of dimethyl silicone oil and hydrogen-containing silicone oil, with a mass ratio of 3-4:

1. The mass ratio of silicone oil, thickener, polytetrafluoroethylene micro powder, three-dimensional composite material, silicone resin-polyurethane resin composite solution, 2,6-di-tert-butyl-p-cresol, and extreme pressure additive is 10-30:1-5:10-20:5-20:30-60:0.1-1:1-5.

5. A high wear-resistant robot spiral cable according to claim 1, characterized in that, The mass ratio of Q1 glass fiber, nano-silicon carbide, and graphene is 70-80:15-25:5-10.

6. The high wear-resistant robot spiral cable according to claim 1, characterized in that, 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 whiskers, dicumyl 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.

7. A method for preparing a high-wear-resistant robot spiral cable according to any one of claims 1-6, characterized in that, Includes the following steps: (1) Twist copper wires to obtain a conductor, extrude cross-linked polyethylene to coat the surface of the conductor to form an insulation layer, add polyethylene filler rope outside the insulation layer, and weave silver-plated copper wire outside the insulation layer to form an anti-oxidation shielding layer to obtain a cable core. (2) The self-lubricating filler is extruded and coated on the outside of the cable core to obtain a self-lubricating filler cable; the wear-resistant sheathing agent is granulated, cross-linked in a gradient, extruded and coated on the surface of the self-lubricating filler cable, and wound into a spiral shape to obtain a high wear-resistant robot spiral cable.

8. The method for preparing a high wear-resistant robot spiral cable according to claim 7, characterized in that, In step (2), the gradient crosslinking process involves a crosslinking pipe inlet section temperature of 120-140℃ and a residence time of 2-3 min, a crosslinking pipe middle section temperature of 160-180℃ and a residence time of 3-5 min, and a crosslinking pipe outlet section temperature of 140-160℃ and a residence time of 1-2 min.

Images