Flexible corrosion-resistant robot cable

Abstract

The invention relates to the technical field of cables, and provides a flexible corrosion-resistant robot cable, which sequentially comprises a cable core, a shielding layer, an inner sheath layer and an outer sheath layer from inside to outside, and is characterized in that the cable core sequentially comprises a conductor and an insulating layer from inside to outside; the outer sheath layer comprises the following raw material components in parts by weight: 60-70 parts of high-density polyethylene, 15-25 parts of an ethylene-tetrafluoroethylene copolymer, 0.5-1.5 parts of an antioxidant, 1-3 parts of a plasticizer, 8-12 parts of a flame retardant, 10-20 parts of polyethylene glycol diacrylate composite barium sulfate and 1-2 parts of a lubricant; the polyethylene glycol diacrylate composite barium sulfate is prepared from the following raw materials: polyethylene glycol diacrylate, barium chloride and sodium sulfate. According to the technical scheme, the problem of poor corrosion resistance of the robot cable in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cables, and specifically, to a flexible corrosion-resistant robot cable. Background Art

[0002] Under the background of the booming development of industrial and intelligent manufacturing technologies, robots are widely used in fields such as automobile manufacturing, electronic assembly, chemical production, ocean exploration, and food processing. These application scenarios pose extremely harsh requirements on robot cables. Not only does the cable need to have high flexibility to adapt to complex movements of robots such as frequent bending, twisting, and telescoping, but it also requires the ability to withstand various corrosive media to ensure long-term stable operation in harsh environments. In actual use, especially in special environments such as chemical industries and oceans, the cable will be eroded by corrosive substances such as acid-base solutions, salt spray, and oil stains. The sheath layer based on polyethylene is prone to aging and corrosion, thereby reducing the protection ability of the cable, resulting in short circuits or leakage phenomena, seriously threatening the safe operation of equipment and the personal safety of operators. To solve this problem, the prior art often adds corrosion-resistant inorganic fillers to improve the corrosion resistance of the sheath layer, such as barium sulfate. However, the dispersibility of barium sulfate in polyethylene is poor, resulting in limited improvement in the corrosion resistance of the sheath layer. Therefore, the research and development of a robot cable with high corrosion resistance can not only significantly improve the stability and reliability of robot operation, extend its service life, and reduce maintenance costs; but also promote the development of automated production in high-risk and complex environments, which is of irreplaceable significance for promoting the transformation of industrial intelligence and ensuring production safety and efficiency. Summary of the Invention

[0003] The present invention provides a flexible corrosion-resistant robot cable, which solves the problem of poor corrosion resistance of robot cables in related technologies.

[0004] The technical solution of the present invention is as follows: The present invention provides a flexible corrosion-resistant robot cable, which sequentially includes a cable core, a shielding layer, an inner sheath layer, and an outer sheath layer from inside to outside. The cable core sequentially includes a conductor and an insulating layer from inside to outside. The raw materials of the outer sheath layer include the following components in parts by weight: 60 - 70 parts of high-density polyethylene, 15 - 25 parts of ethylene-tetrafluoroethylene copolymer, 0.5 - 1.5 parts of antioxidant, 1 - 3 parts of plasticizer, 8 - 12 parts of flame retardant, 10 - 20 parts of polyethylene glycol diacrylate composite barium sulfate, 1 - 2 parts of lubricant; the raw materials of the polyethylene glycol diacrylate composite barium sulfate include polyethylene glycol diacrylate, barium chloride, and sodium sulfate.

[0005] As a further technical solution, the preparation method of the polyethylene glycol diacrylate composite barium sulfate includes the following steps: A1. Add barium chloride and polyethylene glycol diacrylate into water to obtain a mixed solution I; A2. Add sodium sulfate to water to obtain mixed solution II; A3. Add mixed solution II to mixed solution I, mix, filter, and dry to obtain polyethylene glycol diacrylate composite barium sulfate.

[0006] In the outer sheath layer of the flexible corrosion-resistant robot cable of the present invention, polyethylene glycol diacrylate is added during the preparation of barium sulfate, which can make the particle size of barium sulfate have a narrow distribution, and polyethylene glycol diacrylate can be evenly adsorbed and wrapped on the surface of barium sulfate to form a steric hindrance layer, preventing the mutual approach and aggregation of barium sulfate particles, improving the dispersibility of barium sulfate in the polyethylene matrix, giving full play to the corrosion resistance of barium sulfate, and further improving the corrosion resistance of the cable.

[0007] As a further technical solution, the addition amount of polyethylene glycol diacrylate is 4% - 7% of the mass of barium chloride.

[0008] Polyethylene glycol diacrylate improves the dispersibility of barium sulfate through steric hindrance effect and electrostatic repulsion. When the addition amount of polyethylene glycol diacrylate is 4% - 7% of the mass of barium chloride, the dispersibility of barium sulfate can be effectively improved; when the addition amount is too low, the amount of polyethylene glycol diacrylate used is small, and a complete adsorption layer cannot be formed on the surface of barium sulfate particles, and the particles are prone to agglomeration due to collision, and the aggregation of barium sulfate particles cannot be effectively prevented; when the addition amount is too much, too many polyethylene glycol diacrylate molecules will entangle with each other, reducing the effective coverage rate on the surface of barium sulfate particles and affecting the dispersion effect.

[0009] As a further technical solution, the mass ratio of barium chloride to sodium sulfate is 1:0.7 - 1.

[0010] As a further technical solution, the mass-volume ratio of barium chloride to water is 1g:80mL.

[0011] As a further technical solution, in step A3, the mixing temperature is 40 - 50°C, and the mixing time is 5 - 7h.

[0012] As a further technical solution, the mixing method is mechanical stirring, and the rotation speed of the mechanical stirring is 600 - 1000rpm.

[0013] As a further technical solution, the weight-average molecular weight of polyethylene glycol diacrylate is 3000 - 5000.

[0014] In the outer sheath layer of the flexible and corrosion-resistant robot cable of the present invention, polyethylene glycol diacrylate itself has certain flexible segments. When the weight-average molecular weight is between 3000 and 5000, when the cable is stretched under force, the molecular chains can stretch and slip relatively freely, making the outer sheath layer have a high elongation at break. When the molecular weight is too low, the entanglement degree between molecular chains is low and the interaction force is weak, resulting in a low elongation at break; when the molecular weight is too high, it affects the activity ability of the flexible segments, and the internal rotation and segmental movement of the molecular chains become difficult, reducing the flexibility of the outer sheath layer.

[0015] As a further technical solution, the ethylene-tetrafluoroethylene copolymer comprises ethylene-tetrafluoroethylene copolymer HT-2004 and ethylene-tetrafluoroethylene copolymer HT-2202 with a mass ratio of 1:2 to 4.

[0016] In the outer sheath layer of the flexible and corrosion-resistant robot cable of the present invention, the ethylene-tetrafluoroethylene copolymer is compounded with two types, HT-2004 and HT-2202, to ensure that the outer sheath layer has good corrosion resistance and elongation at break. Both types of ethylene-tetrafluoroethylene copolymers have good corrosion resistance, but there are some differences in structure. By compounding the two types of ethylene-tetrafluoroethylene copolymers, the molecular chains of the two types can interpenetrate to form a more uniform structure, thereby ensuring the corrosion resistance and flexibility of the outer sheath layer.

[0017] As a further technical solution, the antioxidant comprises one or more of antioxidant 168, antioxidant 1010, and antioxidant 1024.

[0018] The three antioxidants, antioxidant 168, antioxidant 1010, and antioxidant 1024, all have good compatibility in the polyethylene matrix, can effectively inhibit the thermal oxidation reaction of the outer sheath layer of the cable during long-term use, and reduce the thermal degradation rate. Antioxidant 168 is a phosphite antioxidant, which can effectively decompose the hydroperoxides generated during the polymer processing and inhibit the generation of free radicals; antioxidant 1010 belongs to the hindered phenol antioxidant, which can capture free radicals and interrupt the chain oxidation reaction; antioxidant 1024 contains both hindered phenol and sulfur-containing group structures and can play an antioxidant role at different stages.

[0019] As a further technical solution, the plasticizer comprises dioctyl phthalate and epoxidized soybean oil; the mass ratio of the dioctyl phthalate to the epoxidized soybean oil is 5 to 9:1.

[0020] Dioctyl phthalate can effectively insert between the molecular chains of polyethylene, increase the molecular spacing, reduce the intermolecular force, improve flexibility and plasticity. Epoxidized soybean oil has good compatibility with polyethylene, which can not only plasticize but also delay thermal decomposition, playing the role of a stabilizer. When dioctyl phthalate and epoxidized soybean oil are compounded at a mass ratio of 5 - 9:1, the synergistic effect is obvious, which can ensure that the outer sheath layer material has the characteristics of softness and easy processing, and extend the service life of the product.

[0021] As a further technical solution, the lubricant includes one or more of polyethylene wax, paraffin wax, and stearic acid.

[0022] Polyethylene wax has good internal lubrication effect, which can reduce the friction between polymer molecular chains, make the material flow more easily during processing, and reduce the energy consumption during processing; paraffin wax has prominent external lubrication effect, and during processing, a lubricating film is formed on the surface of the material to reduce the friction between the material and the processing equipment; stearic acid has both internal and external lubrication effects. The long carbon chain in the molecular structure can reduce the intermolecular force, and at the same time, the carboxyl group can have a certain affinity with the surface of the processing equipment, playing a good lubrication effect.

[0023] As a further technical solution, the flame retardant includes one or more of resorcinol bis(diphenyl phosphate), ammonium polyphosphate, and melamine.

[0024] During the flame retardant process, resorcinol bis(diphenyl phosphate), ammonium polyphosphate, and melamine produce less toxic and harmful gases compared with some traditional halogen-containing flame retardants, and are more environmentally friendly and safe. Resorcinol bis(diphenyl phosphate) belongs to phosphorus-based flame retardants. During combustion, it will form phosphoric acid, polyphosphoric acid, etc., which can promote the carbonization of the polymer surface and form a dense carbon layer to isolate oxygen and heat; ammonium polyphosphate decomposes when heated to produce phosphoric acid, ammonia, and water vapor. Phosphoric acid can promote the dehydration and carbonization of the polymer, and ammonia and water vapor can dilute the concentration of combustible gases and oxygen; the inert gases such as nitrogen and ammonia produced by the decomposition of melamine when heated can dilute the oxygen concentration, and the nitrogen-containing compounds produced by its decomposition can promote the formation of the carbon layer and improve the strength and stability of the carbon layer.

[0025] The present invention also provides a preparation method of a flexible corrosion-resistant robot cable, including the following steps: S1. Extrude and wrap the insulating layer material on the outside of the conductor to obtain a cable core; S2. Weave the shielding layer material on the outside of the cable core to obtain a shielding layer; S3. Extrude and wrap the inner sheath layer material on the outside of the shielding layer to obtain an inner sheath layer; S4. After mixing the outer sheath layer raw materials, extrude and wrap them on the outside of the inner sheath layer to obtain a flexible corrosion-resistant robot cable.

[0026] As a further technical solution, the insulating layer material is polyvinyl chloride.

[0027] There are no freely moving electrons or ions in the molecular structure of polyvinyl chloride. It has good dielectric properties and insulation resistance, can effectively prevent current leakage and charge conduction, provide reliable insulation protection for the flexible corrosion-resistant robot cable, prevent users from getting an electric shock, and ensure the safety and stability of power transmission.

[0028] As a further technical solution, the conductor is a copper core.

[0029] Copper has an extremely low resistivity. As the conductor, the copper core can ensure that the current loss during transmission is extremely small, can efficiently transmit electrical energy, reduce the heat loss during power transmission, and improve the power transmission efficiency of the flexible corrosion-resistant robot cable.

[0030] As a further technical solution, the shielding layer material is copper wire.

[0031] Copper wire has high flexibility and can be tightly woven outside the cable insulating layer to form a continuous and conforming shielding structure, adapting to the morphological changes of the flexible corrosion-resistant robot cable under complex working conditions such as bending and twisting, and is not prone to breakage or damage to the shielding layer.

[0032] As a further technical solution, the inner sheath layer material is polyurethane elastomer.

[0033] Polyurethane elastomer has high strength, high toughness and good wear resistance, can effectively resist the impact and friction of external mechanical forces on the internal conductor, insulating layer and other structures of the flexible corrosion-resistant robot cable. During the frequent bending and dragging of the cable, the inner sheath layer can remain intact, avoid damage to the internal structure, and ensure the long-term stable operation of the cable.

[0034] The working principle and beneficial effects of the present invention are as follows: In the present invention, by adding ethylene-tetrafluoroethylene copolymer and polyethylene glycol diacrylate composite barium sulfate, the corrosion resistance of the outer sheath layer of the robot cable is improved. At present, polyethylene is often used as the base material for the cable sheath layer, but the corrosion resistance of polyethylene is poor. To solve this problem, corrosion-resistant substances such as barium sulfate are usually added, but the dispersibility of barium sulfate in the polyethylene substrate is poor. Therefore, simply adding barium sulfate has limited improvement in the corrosion resistance of the outer sheath layer. In the present invention, polyethylene glycol diacrylate is used to compound barium sulfate. The molecular chain of polyethylene glycol diacrylate can wrap around the surface of barium sulfate particles, reduce the agglomeration tendency between particles, make barium sulfate evenly dispersed in the polyethylene matrix, improve the dispersibility of barium sulfate, enable barium sulfate to fully play its role in the outer sheath layer, and further improve the corrosion resistance of the outer sheath layer. Specific embodiments

[0035] The following will describe the technical solutions in the embodiments of the present invention clearly and completely in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0036] In the following embodiments and comparative examples: High-density polyethylene, model: P5510N; epoxidized soybean oil, epoxy value: 6%; polyethylene wax, model: PE-420P; paraffin wax, model: 58# semi-refined paraffin wax; barium sulfate, particle size: 1250 mesh.

[0037] Example 1 A preparation method of a flexible corrosion-resistant robot cable includes the following steps: S1. Extrude and wrap a polyvinyl chloride material on the outside of a copper core to obtain a cable core; S2. Weave copper wires on the outside of the cable core to obtain a shielding layer; S3. Extrude and wrap a polyurethane elastomer material on the outside of the shielding layer to obtain an inner sheath layer; S4. Mix 60 parts of high-density polyethylene, 5 parts of ethylene-tetrafluoroethylene copolymer HT-2004, 10 parts of ethylene-tetrafluoroethylene copolymer HT-2202, 0.5 part of antioxidant 168, 0.9 part of dioctyl phthalate, 0.1 part of epoxidized soybean oil, 8 parts of resorcinol bis(diphenyl phosphate), 10 parts of polyethylene glycol diacrylate composite barium sulfate, and 1 part of polyethylene wax, and then extrude and wrap it on the outside of the inner sheath layer to obtain a flexible corrosion-resistant robot cable; A preparation method of polyethylene glycol diacrylate composite barium sulfate includes the following steps: A1. Add 20 g of barium chloride and 0.4 g of polyethylene glycol diacrylate (weight average molecular weight: 2000) to 1600 mL of water to obtain a mixed solution I; A2. Add 14 g of sodium sulfate to 1600 mL of water to obtain a mixed solution II; A3. Add the mixed solution II to the mixed solution I, stir at a speed of 600 rpm at 40 °C for 7 h, and obtain polyethylene glycol diacrylate composite barium sulfate after filtration and drying.

[0038] Example 2 A preparation method of a flexible corrosion-resistant robot cable includes the following steps: S1. Extrude and wrap a polyvinyl chloride material on the outside of a copper core to obtain a cable core; S2. Weave copper wires on the outside of the cable core to obtain a shielding layer; S3. Extrude and wrap a polyurethane elastomer material on the outside of the shielding layer to obtain an inner sheath layer; S4. Mix 65 parts of high-density polyethylene, 5 parts of ethylene-tetrafluoroethylene copolymer HT-2004, 15 parts of ethylene-tetrafluoroethylene copolymer HT-2202, 1 part of antioxidant 1010, 1.7 parts of dioctyl phthalate, 0.3 part of epoxy soybean oil, 10 parts of ammonium polyphosphate, 15 parts of polyethylene glycol diacrylate composite barium sulfate, and 1.5 parts of paraffin wax, and then extrude and wrap them on the outer side of the inner sheath layer to obtain a flexible corrosion-resistant robot cable; The preparation method of polyethylene glycol diacrylate composite barium sulfate includes the following steps: A1. Add 20 g of barium chloride and 0.4 g of polyethylene glycol diacrylate (weight average molecular weight is 2000) into 1600 mL of water to obtain mixed solution I; A2. Add 18 g of sodium sulfate into 1600 mL of water to obtain mixed solution II; A3. Add mixed solution II into mixed solution I, stir at a speed of 800 rpm at 45 °C for 6 h, and obtain polyethylene glycol diacrylate composite barium sulfate through filtration and drying.

[0039] Example 3 A preparation method of a flexible corrosion-resistant robot cable includes the following steps: S1. Extrude and wrap a polyvinyl chloride material on the outer side of a copper core to obtain a cable core; S2. Weave copper wires on the outer side of the cable core to obtain a shielding layer; S3. Extrude and wrap a polyurethane elastomer material on the outer side of the shielding layer to obtain an inner sheath layer; S4. Mix 70 parts of high-density polyethylene, 5 parts of ethylene-tetrafluoroethylene copolymer HT-2004, 20 parts of ethylene-tetrafluoroethylene copolymer HT-2202, 1.5 parts of antioxidant 1024, 2.5 parts of dioctyl phthalate, 0.5 part of epoxy soybean oil, 12 parts of melamine, 15 parts of polyethylene glycol diacrylate composite barium sulfate, and 2 parts of stearic acid, and then extrude and wrap them on the outer side of the inner sheath layer to obtain a flexible corrosion-resistant robot cable; The preparation method of polyethylene glycol diacrylate composite barium sulfate includes the following steps: A1. Add 20 g of barium chloride and 0.4 g of polyethylene glycol diacrylate (weight average molecular weight is 2000) into 1600 mL of water to obtain mixed solution I; A2. Add 20 g of sodium sulfate into 1600 mL of water to obtain mixed solution II; A3. Add mixed solution II into mixed solution I, stir at a speed of 1000 rpm at 50 °C for 5 h, and obtain polyethylene glycol diacrylate composite barium sulfate through filtration and drying.

[0040] Example 4 This example is only different from Example 2 in that the addition amount of polyethylene glycol diacrylate (weight average molecular weight is 2000) is 2 g.

[0041] Example 5 This example is only different from Example 2 in that the addition amount of polyethylene glycol diacrylate (weight average molecular weight is 2000) is 0.8 g.

[0042] Example 6 This example is only different from Example 2 in that the addition amount of polyethylene glycol diacrylate (weight average molecular weight is 2000) is 1.4 g.

[0043] Example 7 This example is only different from Example 6 in that the polyethylene glycol diacrylate with a weight average molecular weight of 2000 is replaced with an equal amount of polyethylene glycol diacrylate with a weight average molecular weight of 6000.

[0044] Example 8 This example is only different from Example 6 in that the polyethylene glycol diacrylate with a weight average molecular weight of 2000 is replaced with an equal amount of polyethylene glycol diacrylate with a weight average molecular weight of 3000.

[0045] Example 9 This example is only different from Example 6 in that the polyethylene glycol diacrylate with a weight average molecular weight of 2000 is replaced with an equal amount of polyethylene glycol diacrylate with a weight average molecular weight of 5000.

[0046] Comparative Example 1 This comparative example is only different from Example 1 in that the polyethylene glycol diacrylate composite barium sulfate is replaced with an equal amount of barium sulfate.

[0047] Comparative Example 2 This comparative example is only different from Example 1 in that the polyethylene glycol diacrylate is replaced with an equal amount of polyvinylpyrrolidone.

[0048] Comparative Example 3 This comparative example is only different from Example 1 in that the preparation method of the polyethylene glycol diacrylate composite barium sulfate includes the following steps: adding 22.4 g of barium sulfate and 0.4 g of polyethylene glycol diacrylate (weight average molecular weight is 2000) into 1600 mL of water, stirring at a speed of 600 rpm at 40 °C for 7 h, and obtaining the polyethylene glycol diacrylate composite barium sulfate through filtration and drying.

[0049] Experimental Example 1 The outer sheath layers of the flexible corrosion-resistant robot cables prepared in Examples 1-6 and Comparative Examples 1-3 were axially cut, and a narrow strip was taken to prepare dumbbell specimens with a thickness of 2 mm. The tensile strength was tested according to the method in GB / T 2951.11-2008 "General test methods for insulating and sheathing materials of cables and optical cables - Part 11: General test methods - Measurement of thickness and overall dimensions, Mechanical properties tests"; the dumbbell specimens were placed in a 10 wt% HCl aqueous solution and soaked for 30 days, and then the tensile strength after soaking was tested. The test results are shown in Table 1.

[0050] Table 1 Test results of the corrosion resistance of the outer sheath layer

[0051] As can be seen from Table 1, compared with Comparative Examples 1-3, after the corrosion resistance test, the change range of the tensile strength of the outer sheath layer of the flexible corrosion-resistant robot cables prepared in Examples 1-6 is smaller, indicating that adding polyethylene glycol diacrylate composite barium sulfate to the outer sheath layer can improve the corrosion resistance of the cable.

[0052] Experimental Example 2 The outer sheath layers of the flexible corrosion-resistant robot cables prepared in Examples 6-9 were axially cut, and a narrow strip was taken to prepare dumbbell specimens with a thickness of 2 mm. The elongation at break was tested according to the method in GB / T 2951.11-2008 "General test methods for insulating and sheathing materials of cables and optical cables - Part 11: General test methods - Measurement of thickness and overall dimensions, Mechanical properties tests". The test results are shown in Table 2.

[0053] Table 2 Test results of the elongation at break of the outer sheath layer

[0054] As can be seen from Table 2, compared with Examples 6-7, the elongation at break of the outer sheath layer of the cables prepared in Examples 8-9 is higher, indicating that when the weight-average molecular weight of polyethylene glycol diacrylate is 100,000-150,000, the prepared robot cables have better flexibility.

[0055] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible corrosion-resistant robot cable, characterized in that, It sequentially includes a cable core, a shielding layer, an inner sheath layer, and an outer sheath layer from the inside to the outside. The cable core sequentially includes a conductor and an insulating layer from the inside to the outside. The raw materials of the outer sheath layer include the following components in parts by weight: 60 - 70 parts of high - density polyethylene, 15 - 25 parts of ethylene - tetrafluoroethylene copolymer, 0.5 - 1.5 parts of antioxidant, 1 - 3 parts of plasticizer, 8 - 12 parts of flame retardant, 10 - 20 parts of polyethylene glycol diacrylate composite barium sulfate, 1 - 2 parts of lubricant; The raw materials of the polyethylene glycol diacrylate composite barium sulfate include polyethylene glycol diacrylate, barium chloride, and sodium sulfate.

2. The flexible corrosion-resistant robot cable according to claim 1, wherein The preparation method of the polyethylene glycol diacrylate composite barium sulfate includes the following steps: A1. Add barium chloride and polyethylene glycol diacrylate into water to obtain a mixed solution I; A2. Add sodium sulfate into water to obtain a mixed solution II; A3. Add the mixed solution II into the mixed solution I for mixing, and obtain polyethylene glycol diacrylate composite barium sulfate after filtration and drying.

3. The flexible corrosion-resistant robot cable according to claim 2, characterized in that, The addition amount of the polyethylene glycol diacrylate is 4% - 7% of the mass of barium chloride.

4. A flexible corrosion-resistant robot cable according to claim 2, characterized in that, The mass ratio of barium chloride to sodium sulfate is 1:0.7 - 1.

5. A flexible and corrosion-resistant robot cable according to claim 2, characterized in that The weight - average molecular weight of the polyethylene glycol diacrylate is 3000 - 5000.

6. A flexible corrosion-resistant robot cable according to claim 1, characterized in that, The ethylene - tetrafluoroethylene copolymer includes ethylene - tetrafluoroethylene copolymer HT - 2004 and ethylene - tetrafluoroethylene copolymer HT - 2202 with a mass ratio of 1:2 - 4.

7. A flexible corrosion-resistant robot cable according to claim 1, wherein The antioxidant includes one or more of antioxidant 168, antioxidant 1010, and antioxidant 1024.

8. A flexible corrosion-resistant robot cable according to claim 1, characterized in that, The plasticizer includes dioctyl phthalate and epoxidized soybean oil; The mass ratio of dioctyl phthalate to epoxidized soybean oil is 5 - 9:

1.

9. A flexible corrosion-resistant robot cable according to claim 1, characterized in that, The lubricant includes one or more of polyethylene wax, paraffin wax, and stearic acid.

10. A flexible corrosion-resistant robot cable according to claim 1, wherein, The flame retardant includes one or more of resorcinol bis(diphenyl phosphate), ammonium polyphosphate, and melamine.

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