Flexible impact-resistant cable and its use in industrial robots

Abstract

The present application relates to a kind of flexible impact cable and its application in industrial robot, belong to cable technical field.The present application provides a kind of cable, from outside to inside successively includes energy-absorbing outer layer, buffer inner layer, impact insulation layer, wherein the TPU molecular chain of energy-absorbing outer layer can provide free rotation ability, microsphere foaming agent forms elastic micropore in TPU, reduces overall modulus, improves bendability;The use of methyl vinyl silicone rubber in buffer inner layer gives high flexibility and resilience, effectively prevents local fracture;Low-density polyethylene in impact insulation layer also has good softness and elasticity, while aluminium hydroxide and nano silicon dioxide form enhanced network, resist internal deformation;Each layer material is adhered by silicone reinforced interface, forms stress transition zone, can effectively disperse external stress, improve impact resistance, also can provide sufficient softness for cable, has good application prospect in industrial robot.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cables and relates to a flexible impact-resistant cable and application thereof in industrial robots. BACKGROUND

[0002] Industrial robot cables are high-performance cables specially designed for industrial robot systems, used for transmitting power, signals and data, and are one of the key components for the normal operation of robots, widely used in industrial fields such as automobile manufacturing, electronic assembly, logistics and warehousing, food processing, etc. With the increasing degree of industrial automation, the demand for robot cables is growing, and their performance and quality directly affect the reliability and flexibility of the entire automated production line.

[0003] In practical applications, industrial robot cables need to have multiple high-performance characteristics to meet the requirements of harsh industrial environments. However, many current industrial robot cables have obvious deficiencies in practical applications. For example, the softness of some cables is not enough, and robots need to move at high speed and multiple angles frequently. Ordinary cables are prone to internal wire breakage or insulation layer damage due to long-term bending. Secondly, the impact resistance of some cables is poor, and the insulation layer is easily damaged when subjected to equipment collision or falling object impact, leading to power transmission interruption or signal interference, and in severe cases, may cause electrical leakage or fire risk. SUMMARY

[0004] The purpose of the present application is to provide a flexible impact-resistant cable and its application in industrial robots. The present application provides an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer structure. The TPU molecular chain of the energy-absorbing outer layer provides free rotation capability, and the microsphere foaming agent forms elastic micro-holes in the TPU, reducing the overall modulus and improving bendability. The use of methyl vinyl silicone rubber in the buffer inner layer gives high flexibility and resilience, effectively preventing local breakage. The low-density polyethylene in the impact-resistant insulation layer also has good softness and elasticity, while the aluminum hydroxide and nano-silicon dioxide form a reinforced network to resist internal deformation. The materials of each layer are enhanced by silicone to improve adhesion at the interface, forming a stress transition zone that can effectively disperse external stress, improve impact resistance, and provide sufficient softness for the cable, making it have good application prospects in industrial robots.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] A flexible impact-resistant cable, the cable comprises, from outside to inside, an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer. The mass ratio of the energy-absorbing outer layer, the buffer inner layer, and the impact-resistant insulation layer is 1.5-1.9:0.8-1.2:1-1.4.

[0007] Further, the raw material of the energy-absorbing outer layer comprises 86-90 parts of TPU, 8-12 parts of microsphere foaming agent, 0.6-1 part of antioxidant 1010 and 1-3 parts of silicone by weight.

[0008] Further, the preparation method of the microsphere foaming agent comprises the following steps:

[0009] D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water to obtain a core emulsion;

[0010] D2, adding methyl methacrylate dropwise to the core emulsion, stirring for the first time, then adding mixed monomers dropwise, stirring for the second time, adding 1 / 2 potassium peroxydisulfate each time, cooling to room temperature, ethanol washing, centrifugation, vacuum drying at 60℃ to obtain microspheres;

[0011] D3, after the microspheres are treated by supercritical CO2, they are transferred to a foaming oven for gradient temperature rising foaming, and then cooled to room temperature to obtain a microsphere foaming agent.

[0012] Further, the mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water in step D1 is 1:0.02-0.04:0.003-0.005:3.1-3.5; the mixing refers to heating to 73-77℃ and reacting for 5-6h.

[0013] Further, the mass ratio of the emulsion, methyl methacrylate, mixed monomers and potassium peroxydisulfate in step D2 is 10-11:2.3-2.7:2.3-2.7:0.05-0.06; the dropwise adding speed of the methyl methacrylate is 0.5-1.5 drops / s; the first stirring refers to stirring at 78-82℃ and 150-250rpm for 1.8-2.2h; the mixed monomers are obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 4.8-5.2:1-1.2, and the dropwise adding speed is 1-2 drops / s; the second stirring is at 80-84℃ and 100-200rpm for 2.3-2.7h.

[0014] Further, the supercritical CO2 treatment in step D3 refers to passing CO2 to 10MPa and treating at 40℃ for 4-5h; the gradient temperature rising foaming refers to heating at a heating rate of 2.5-3.5℃ / min to 98-102℃, holding for 8-12min, then heating at a heating rate of 0.5-1.5℃ / min to 148-152℃, holding for 4-6min.

[0015] Further, the raw materials of the buffer inner layer include, by weight, 95-105 parts of methyl vinyl silicone rubber, 28-32 parts of white carbon black, 2.1-2.5 parts of gamma-aminopropyl triethoxysilane, 1.3-1.7 parts of dicumyl peroxide, and 3-3.4 parts of silicone.

[0016] Further, the raw materials of the impact-resistant insulation layer include, by weight, 100-110 parts of low-density polyethylene, 0.05-0.09 parts of nano-silicon dioxide, 13-17 parts of aluminum hydroxide, 2-3 parts of dicumyl peroxide, 0.5-0.7 parts of antioxidant 1010, and 2.1-2.3 parts of silicone.

[0017] Further, the flexible impact-resistant cable is applied to an industrial robot.

[0018] The beneficial effects of the present application are as follows:

[0019] (1) The present application provides an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer structure. The TPU molecular chain of the energy-absorbing outer layer can provide free rotation capability, and the microsphere foaming agent forms elastic micro-holes in the TPU, reducing the overall modulus and improving the bendability. The use of methyl vinyl silicone rubber in the buffer inner layer gives high flexibility and resilience, effectively preventing local breakage. The low-density polyethylene in the impact-resistant insulation layer also has good softness and elasticity, and the aluminum hydroxide and nano-silicon dioxide form a reinforced network to resist internal deformation. The materials of each layer are enhanced by silicone to improve the interface adhesion and form a stress transition zone, which can effectively disperse external stress, improve impact resistance, and provide sufficient softness for the cable, making it have good application prospects in industrial robots.

[0020] (2) The present application introduces a microsphere foaming agent. The soft inner core of the microsphere foaming agent is made of butadiene-styrene copolymer, which can provide instantaneous elasticity when receiving external pressure, thereby dispersing stress. Then, methyl methacrylate is introduced to promote the formation of copolymer and provide a rigid skeleton. Further, methyl methacrylate and glycidyl methacrylate are added to further form a shell layer while introducing an epoxy group to enhance the interfacial bonding force with TPU and adjust the flexibility of the shell layer. On this basis, supercritical treatment is performed to pre-expand the microspheres to prevent them from breaking during subsequent foaming. Then, gradient heating foaming is performed to uniformly expand the microspheres first, and then stabilize the pore structure to prevent collapse, further improving the impact resistance of the cable. DETAILED DESCRIPTION

[0021] To further illustrate the technical means and effects adopted by the present application to achieve the predetermined invention purposes, the specific embodiments, structures, features, and effects thereof according to the present application are described in detail as follows in combination with examples.

[0022] The styrene-diene block copolymer in all examples and comparative examples of the present application is purchased from Guangdong Dingxin Polymer Technology Co., Ltd.; sodium dodecyl sulfate, potassium peroxodisulfate, methyl methacrylate are purchased from Sigma-Aldrich (Shanghai) Trading Co., Ltd.; glycidyl methacrylate is purchased from Shanghai Maikelin Biochemical Technology Co., Ltd.

[0023] Example 1

[0024] A flexible impact-resistant cable, the cable comprises, from outside to inside, an energy-absorbing outer layer, a buffer inner layer and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer and the impact-resistant insulation layer is 1.5:0.8:1.

[0025] The raw material of the energy-absorbing outer layer comprises, by weight, 86 parts of TPU, 8 parts of microsphere foaming agent, 0.6 parts of antioxidant 1010 and 1 part of silicone.

[0026] The preparation method of the microsphere foaming agent comprises the following steps:

[0027] D1, mixing styrene-diene block copolymer, sodium dodecyl sulfate, potassium peroxodisulfate and deionized water to obtain a core emulsion;

[0028] D2, adding methyl methacrylate dropwise into the core emulsion, stirring for the first time, then adding a mixed monomer dropwise, stirring for the second time, adding 1 / 2 potassium peroxodisulfate each time, cooling to room temperature, ethanol washing, centrifugation, and vacuum drying at 60℃ to obtain microspheres;

[0029] D3, after the microspheres are treated by supercritical CO2, they are transferred into a foaming oven for gradient temperature rising foaming, and then cooled to room temperature to obtain a microsphere foaming agent.

[0030] The mass ratio of the styrene-diene block copolymer, sodium dodecyl sulfate, potassium peroxodisulfate and deionized water in step D1 is 1:0.02:0.003:3.1; the mixing refers to heating to 73℃ and reacting for 5h.

[0031] The mass ratio of the emulsion, methyl methacrylate, mixed monomer and potassium peroxodisulfate in step D2 is 10:2.3:2.3:0.05; the dropping speed of the methyl methacrylate is 0.5 drops / s; the first stirring refers to stirring at 150rpm for 1.8h at 78℃; the mixed monomer is obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 4.8:1, and the dropping speed is 1 drop / s; the second stirring is carried out at 100rpm for 2.3h at 80℃.

[0032] The supercritical CO2 treatment in step D3 refers to the treatment of CO2 at 10 MPa and 40℃ for 4h; the gradient temperature foaming refers to the temperature rising to 98℃ at a rate of 2.5℃ / min, keeping for 8min, then rising to 148℃ at a rate of 0.5℃ / min, keeping for 4min.

[0033] The raw materials of the buffer inner layer include 95 parts of methyl vinyl silicone rubber, 28 parts of white carbon black, 2.1 parts of γ-aminopropyl triethoxysilane, 1.3 parts of dicumyl peroxide, and 3 parts of silicone, by weight.

[0034] The raw materials of the impact-resistant insulation layer include 100 parts of low-density polyethylene, 0.05 parts of nano-silicon dioxide, 13 parts of aluminum hydroxide, 2 parts of dicumyl peroxide, 0.5 parts of antioxidant 1010, and 2.1 parts of silicone, by weight.

[0035] The flexible impact-resistant cable is applied to industrial robots.

[0036] Embodiment 2

[0037] A flexible impact-resistant cable, the cable includes, from outside to inside, an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer, and the impact-resistant insulation layer is 1.6:0.9:1.1.

[0038] The raw materials of the energy-absorbing outer layer include 87 parts of TPU, 9 parts of microsphere foaming agent, 0.7 parts of antioxidant 1010, and 1.5 parts of silicone, by weight.

[0039] The preparation method of the microsphere foaming agent comprises the following steps:

[0040] D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate, and deionized water to obtain a core emulsion;

[0041] D2, adding methyl methacrylate dropwise to the core emulsion, stirring for the first time, then adding a mixed monomer dropwise, stirring for the second time, adding 1 / 2 potassium peroxydisulfate each time, cooling to room temperature, washing with ethanol, centrifuging, and vacuum drying at 60℃ to obtain microspheres;

[0042] D3, after the microspheres are treated by supercritical CO2, they are transferred to a foaming oven for gradient temperature foaming, and then cooled to room temperature to obtain a microsphere foaming agent.

[0043] The mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate, and deionized water in step D1 is 1:0.02:0.003:3.2; the mixing refers to the reaction at 747℃ for 5.3h.

[0044] The mass ratio of the emulsion, methyl methacrylate, mixed monomers, and potassium peroxodisulfate in Step D2 is 10.2:2.4:2.4:0.053; the dropping speed of the methyl methacrylate is 0.5 drop / s; the first stirring is stirring at 180 rpm for 1.9 h at 79℃; the mixed monomers are obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 4.9:1.05, and the dropping speed is 1 drop / s; the second stirring is stirring at 120 rpm for 2.4 h at 81℃.

[0045] The supercritical CO2 treatment in Step D3 refers to passing CO2 to 10 MPa and treating at 40℃ for 4.3 h; the gradient temperature foaming refers to heating to 99℃ at a heating rate of 2.5℃ / min, keeping for 9 min, and then heating to 149℃ at a heating rate of 0.5℃ / min, keeping for 4 min.

[0046] The raw materials of the buffer inner layer include, by weight fraction, 98 parts of methyl vinyl silicone rubber, 29 parts of white carbon black, 2.2 parts of γ-aminopropyl triethoxysilane, 1.4 parts of dicumyl peroxide, and 3.1 parts of silicone.

[0047] The raw materials of the impact-resistant insulation layer include, by weight fraction, 102 parts of low-density polyethylene, 0.06 parts of nano-silicon dioxide, 14 parts of aluminum hydroxide, 2.3 parts of dicumyl peroxide, 0.5 parts of antioxidant 1010, and 2.16 parts of silicone.

[0048] The flexible impact-resistant cable is applied to an industrial robot.

[0049] Embodiment 3

[0050] A flexible impact-resistant cable, the cable comprising, from outside to inside, an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer, and the impact-resistant insulation layer is 1.7:1:1.2.

[0051] The raw materials of the energy-absorbing outer layer include, by weight fraction, 88 parts of TPU, 10 parts of microsphere foaming agent, 0.8 parts of antioxidant 1010, and 2 parts of silicone.

[0052] The preparation method of the microsphere foaming agent comprises the following steps:

[0053] D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxodisulfate, and deionized water to obtain a core emulsion;

[0054] D2, adding methyl methacrylate dropwise to the core emulsion, stirring for the first time, then adding mixed monomers dropwise, stirring for the second time, adding 1 / 2 potassium peroxodisulfate each time, cooling to room temperature, washing with ethanol, centrifuging, and vacuum drying at 60℃ to obtain microspheres;

[0055] D3, after the microspheres are treated by supercritical CO2, the microspheres are transferred into a foaming furnace to perform gradient temperature rising foaming, and then cooled to room temperature to obtain microsphere foaming agent.

[0056] The mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water in step D1 is 1:0.03:0.004:3.3; the mixing refers to that after being heated to 75℃, the reaction is performed for 5.5h.

[0057] The mass ratio of the emulsion, methyl methacrylate, mixed monomers and potassium peroxydisulfate in step D2 is 10.5:2.5:2.5:0.055; the dropping speed of the methyl methacrylate is 1 drop / s; the first stirring refers to that at 80℃, the stirring is performed at 200rpm for 2h; the mixed monomers are obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 5:1.1, and the dropping speed is 1.5 drops / s; the second stirring is performed at 82℃ at 150rpm for 2.5h.

[0058] The supercritical CO2 treatment in step D3 refers to that CO2 is introduced to 10MPa, and the treatment is performed at 40℃ for 4.5h; the gradient temperature rising foaming refers to that the temperature is raised to 100℃ at a temperature rising rate of 3℃ / min, and then the temperature is kept for 10min, and then the temperature is raised to 150℃ at a temperature rising rate of 1℃ / min, and then the temperature is kept for 5min.

[0059] The raw materials of the buffer inner layer include 100 parts of methyl vinyl silicone rubber, 30 parts of white carbon black, 2.3 parts of γ-aminopropyl triethoxysilane, 1.5 parts of dicumyl peroxide, and 3.2 parts of silicone, by weight.

[0060] The raw materials of the impact-resistant insulation layer include 105 parts of low-density polyethylene, 0.07 parts of nano-silicon dioxide, 15 parts of aluminum hydroxide, 2.5 parts of dicumyl peroxide, 0.6 parts of antioxidant 1010, and 2.2 parts of silicone, by weight.

[0061] The flexible impact-resistant cable is applied to an industrial robot.

[0062] Example 4

[0063] A flexible impact-resistant cable, the cable includes, from outside to inside, an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer, and the impact-resistant insulation layer is 1.8:1.1:1.3.

[0064] The raw materials of the energy-absorbing outer layer include 89 parts of TPU, 11 parts of microsphere foaming agent, 0.9 parts of antioxidant 1010, and 2.8 parts of silicone, by weight.

[0065] The preparation method of the microsphere foaming agent comprises the following steps:

[0066] D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water to obtain a core emulsion;

[0067] D2, adding methyl methacrylate dropwise to the core emulsion, stirring for the first time, then adding mixed monomers dropwise, stirring for the second time, adding 1 / 2 potassium peroxydisulfate each time, cooling to room temperature, ethanol washing, centrifugation, vacuum drying at 60℃ to obtain microspheres;

[0068] D3, after the microspheres are treated by supercritical CO2, they are transferred into a foaming furnace for gradient temperature rising foaming, and then cooled to room temperature to obtain microsphere foaming agents.

[0069] The mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water in step D1 is 1:0.04:0.005:3.4; the mixing refers to heating to 76℃ and reacting for 5.7h.

[0070] The mass ratio of the emulsion, methyl methacrylate, mixed monomers and potassium peroxydisulfate in step D2 is 10.8:2.6:2.6:0.057; the dropwise adding speed of the methyl methacrylate is 1.5 drops / s; the first stirring refers to stirring at 81℃ and 230rpm for 2.1h; the mixed monomers are obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 5.1:1.13, and the dropwise adding speed is 2 drops / s; the second stirring is at 84℃ and 180rpm for 2.6h.

[0071] The supercritical CO2 treatment in step D3 refers to passing CO2 to 10MPa and treating at 40℃ for 4.8h; the gradient temperature rising foaming refers to heating to 101℃ at a heating rate of 3.5℃ / min, keeping for 11min, then heating to 151℃ at a heating rate of 1.5℃ / min, keeping for 6min.

[0072] The raw materials of the buffer inner layer include 102 parts of methyl vinyl silicone rubber, 31 parts of white carbon black, 2.4 parts of γ-aminopropyl triethoxysilane, 1.6 parts of dicumyl peroxide, and 3.3 parts of silicone, by weight.

[0073] The raw materials of the impact-resistant insulation layer include 107 parts of low-density polyethylene, 0.08 parts of nano-silicon dioxide, 16 parts of aluminum hydroxide, 2.7 parts of dicumyl peroxide, 0.7 parts of antioxidant 1010, and 2.24 parts of silicone, by weight.

[0074] The flexible impact-resistant cable is applied to industrial robots.

[0075] Embodiment 5

[0076] A flexible impact-resistant cable, the cable comprising, from outside to inside, an energy-absorbing outer layer, a buffer inner layer, and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer, and the impact-resistant insulation layer is 1.9:1.2:1.4.

[0077] The raw materials of the energy-absorbing outer layer comprise, by weight, 90 parts of TPU, 12 parts of microsphere foaming agent, 1 part of antioxidant 1010, and 3 parts of silicone.

[0078] The preparation method of the microsphere foaming agent comprises the following steps:

[0079] D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxodisulfate, and deionized water to obtain a core emulsion;

[0080] D2, adding methyl methacrylate dropwise to the core emulsion, stirring for the first time, then adding a mixed monomer dropwise, stirring for the second time, adding 1 / 2 potassium peroxodisulfate each time, cooling to room temperature, ethanol washing, centrifugation, and vacuum drying at 60℃ to obtain microspheres;

[0081] D3, after the microspheres are treated with supercritical CO2, they are transferred to a foaming oven for gradient temperature rising foaming, and then cooled to room temperature to obtain a microsphere foaming agent.

[0082] The mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxodisulfate, and deionized water in step D1 is 1:0.04:0.005:3.5; the mixing refers to heating to 77℃ and reacting for 6h.

[0083] The mass ratio of the emulsion, methyl methacrylate, mixed monomer, and potassium peroxodisulfate in step D2 is 11:2.7:2.7:0.06; the dropping speed of the methyl methacrylate is 1.5 drops / s; the first stirring refers to stirring at 82℃ and 250rpm for 2.2h; the mixed monomer is obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 5.2:1.2, and the dropping speed is 2 drops / s; the second stirring refers to stirring at 84℃ and 200rpm for 2.7h.

[0084] The supercritical CO2 treatment in step D3 refers to introducing CO2 to 10MPa and treating at 40℃ for 5h; the gradient temperature rising foaming refers to heating to 102℃ at a heating rate of 3.5℃ / min, maintaining for 12min, then heating to 152℃ at a heating rate of 1.5℃ / min, and maintaining for 6min.

[0085] The raw materials of the buffer inner layer include 105 parts of methyl vinyl silicone rubber, 32 parts of white carbon black, 2.5 parts of gamma-aminopropyl triethoxysilane, 1.7 parts of dicumyl peroxide, 3.4 parts of silicone, by weight.

[0086] The raw materials of the impact-resistant insulation layer include 110 parts of low-density polyethylene, 0.09 parts of nano-silicon dioxide, 17 parts of aluminum hydroxide, 3 parts of dicumyl peroxide, 0.7 parts of antioxidant 1010, and 2.3 parts of silicone, by weight.

[0087] The flexible impact-resistant cable is applied to an industrial robot.

[0088] Example 6

[0089] On the basis of Example 3, the microsphere foaming agent is removed, and an equal weight of expanded microspheres is used to replace it, the expanded microspheres are purchased from Suzhou Zhongesixin Import and Export Co., Ltd., and the model is YYC008, and other conditions remain unchanged.

[0090] Comparative Example 1

[0091] On the basis of Example 3, other conditions remain unchanged, and the cable structure is changed to include, from the outside to the inside, a buffer outer layer, an energy-absorbing inner layer, and an impact-resistant insulation layer, and the mass ratio of the buffer outer layer, the energy-absorbing inner layer, and the impact-resistant insulation layer is 1.7:1:1.2.

[0092] Comparative Example 2

[0093] On the basis of Example 3, other conditions remain unchanged, and the cable structure is changed to include, from the outside to the inside, an energy-absorbing outer layer and an impact-resistant insulation layer, and the mass ratio of the energy-absorbing outer layer and the impact-resistant insulation layer is 2.8:1.2.

[0094] Comparative Example 3

[0095] On the basis of Example 3, other conditions remain unchanged, and the preparation method of the microsphere foaming agent is changed to the following steps:

[0096] D1, the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate, and deionized water are mixed to obtain a core emulsion;

[0097] D2, methyl methacrylate is added to the core emulsion at a drop rate of 1 drop / s, and then potassium peroxydisulfate is added, and stirred at 200 rpm at 80℃ for 4.5h, cooled to room temperature, washed with ethanol, centrifuged, and vacuum dried at 60℃ to obtain microspheres;

[0098] D3, after the microspheres are treated with supercritical CO2, they are transferred to a foaming oven for gradient temperature foaming, and then cooled to room temperature to obtain the microsphere foaming agent.

[0099] Comparative Example 4

[0100] On the basis of Example 3, other conditions remain unchanged, the preparation method of microsphere foaming agent is changed to the following steps:

[0101] D1, the styrene-diene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water are mixed to obtain a core emulsion;

[0102] D2, methyl methacrylate and glycidyl methacrylate are added to the core emulsion at a drop rate of 1.5s / drop, and then potassium peroxydisulfate is added, stirred at 82℃ for 4.5h at 150rpm, cooled to room temperature, washed with ethanol, centrifuged, and vacuum dried at 60℃ to obtain microspheres;

[0103] D3, the microspheres are transferred into a supercritical CO2 treatment, then into a foaming oven, and gradient temperature foaming is carried out, and cooled to room temperature to obtain microsphere foaming agent.

[0104] Comparative Example 5

[0105] On the basis of Example 3, other conditions remain unchanged, the preparation method of microsphere foaming agent is changed to the following steps:

[0106] D1, the styrene-diene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water are mixed to obtain a core emulsion;

[0107] D2, methyl methacrylate is added to the core emulsion, first stirred, then the mixed monomers are added, and second stirred, and 1 / 2 of the potassium peroxydisulfate is added each time, cooled to room temperature, washed with ethanol, centrifuged, and vacuum dried at 60℃ to obtain microspheres;

[0108] D3, the microspheres are transferred into a foaming oven, and gradient temperature foaming is carried out, and cooled to room temperature to obtain microsphere foaming agent.

[0109] Comparative Example 6

[0110] On the basis of Example 3, other conditions remain unchanged, the preparation method of microsphere foaming agent is changed to the following steps:

[0111] D1, the styrene-diene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water are mixed to obtain a core emulsion;

[0112] D2, methyl methacrylate is added to the core emulsion, first stirred, then the mixed monomers are added, and second stirred, and 1 / 2 of the potassium peroxydisulfate is added each time, cooled to room temperature, washed with ethanol, centrifuged, and vacuum dried at 60℃ to obtain microspheres;

[0113] D3, the microspheres are treated by supercritical CO2, then transferred into a foaming oven, heated to 150℃ at a heating rate of 3℃ / min, kept for 15 min, and cooled to room temperature to obtain the microsphere foaming agent.

[0114] Comparative Example 7

[0115] Based on Example 3, the preparation method of the microsphere foaming agent is changed to the following steps:

[0116] D1, the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water are mixed to obtain a core emulsion;

[0117] D2, methyl methacrylate is added dropwise to the core emulsion, stirred for the first time, then the mixed monomers are added dropwise, stirred for the second time, 1 / 2 of the potassium peroxydisulfate is added each time, cooled to room temperature, washed with ethanol, centrifuged, and vacuum dried at 60℃ to obtain the microspheres;

[0118] D3, the microspheres are treated by supercritical CO2, then transferred into a foaming oven, heated to 100℃ at a heating rate of 3℃ / min, kept for 15 min, and cooled to room temperature to obtain the microsphere foaming agent.

[0119] The energy-absorbing outer layer, the buffer inner layer and the impact-resistant insulation layer prepared in Examples 1-6 and Comparative Examples 1-7 are extruded in sequence on the surface of the armored wire core, and cooled and formed to obtain corresponding cables, which are used as samples;

[0120] One end of a 50cm-long sample is installed on a fixed chuck, and the other end is installed on a rotating chuck. A weight with a load W = 5N (500gf) is hung at the lower end of the sample. By rotating the rotating chuck, a ±180-degree torsion is applied to the part between the fixed chuck and the rotating chuck of the sample, that is, the rotating chuck first rotates +180 degrees and returns to the original position, then rotates -180 degrees and returns to the original position, and the cycle is repeated. The torsion speed is 30 times / min, and the torsion number is counted as 1 round trip in each direction. The bending number of the sample under a load of 500gf is tested, and the results are shown in Table 1 as follows:

[0121] The impact strength of the sample is tested according to GB / T 1043.1-2008, and the results are shown in Table 1 as follows.

[0122]

[0123] As shown in Table 1, the flexible impact-resistant cable prepared by the present application has good impact resistance while maintaining softness, and has good application prospects in industrial robots.

[0124] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, as long as the changes or modifications do not deviate from the technical solution of the present application. Any indirect modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present application still belong to the scope of the technical solution of the present application.

Claims

1. A flexible, impact resistant cable, characterized by: The cable comprises, from outside to inside, an energy-absorbing outer layer, a buffer inner layer and an impact-resistant insulation layer; the mass ratio of the energy-absorbing outer layer, the buffer inner layer and the impact-resistant insulation layer is 1.5-1.9:0.8-1.2:1-1.4; The raw material of the energy-absorbing outer layer comprises, by weight fraction, 86-90 parts of TPU, 8-12 parts of microsphere foaming agent, 0.6-1 part of antioxidant 1010 and 1-3 parts of silicone; The preparation method of the microsphere foaming agent comprises the following steps: D1, mixing styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water to obtain a core emulsion; D2, adding methyl methacrylate dropwise into the core emulsion, stirring for the first time, then adding mixed monomers dropwise, stirring for the second time, adding 1 / 2 potassium peroxydisulfate each time, cooling to room temperature, washing with ethanol, centrifuging and vacuum drying at 60℃ to obtain microspheres; D3, after the microspheres are treated by supercritical CO2, they are transferred into a foaming oven for gradient temperature rising foaming, and then cooled to room temperature to obtain the microsphere foaming agent; The mass ratio of the styrene-butadiene block copolymer, sodium dodecyl sulfate, potassium peroxydisulfate and deionized water in step D1 is 1:0.02-0.04:0.003-0.005:3.1-3.5; the mixing refers to heating to 73-77℃ and reacting for 5-6h; The mass ratio of the emulsion, methyl methacrylate, mixed monomers and potassium peroxydisulfate in step D2 is 10-11:2.3-2.7:2.3-2.7:0.05-0.06; the dropping speed of the methyl methacrylate is 0.5-1.5 drops / s; the first stirring refers to stirring at 150-250rpm for 1.8-2.2h at 78-82℃; the mixed monomers are obtained by mixing methyl methacrylate and glycidyl methacrylate at a mass ratio of 4.8-5.2:1-1.2, and the dropping speed is 1-2 drops / s; the second stirring is carried out at 80-84℃ and 100-200rpm for 2.3-2.7h.

2. A flexible, impact-resistant cable according to claim 1, characterized in that: The supercritical CO2 treatment in step D3 refers to introducing CO2 to 10MPa and treating at 40℃ for 4-5h; the gradient temperature rising foaming refers to heating at a heating rate of 2.5-3.5℃ / min to 98-102℃, maintaining for 8-12min, then heating at a heating rate of 0.5-1.5℃ / min to 148-152℃, and maintaining for 4-6min.

3. A flexible, impact-resistant cable according to claim 1, characterized in that: The raw material of the buffer inner layer comprises, by weight fraction, 95-105 parts of methyl vinyl silicone rubber, 28-32 parts of white carbon black, 2.1-2.5 parts of γ-aminopropyl triethoxysilane, 1.3-1.7 parts of dicumyl peroxide and 3-3.4 parts of silicone.

4. A flexible, impact-resistant cable according to claim 1, characterized in that: The raw material of the impact-resistant insulation layer comprises, by weight fraction, 100-110 parts of low-density polyethylene, 0.05-0.09 parts of nano-silicon dioxide, 13-17 parts of aluminum hydroxide, 2-3 parts of dicumyl peroxide, 0.5-0.7 parts of antioxidant 1010 and 2.1-2.3 parts of silicone.

5. Use of a flexible impact-resistant cable according to any one of claims 1-4, characterized in that: The flexible impact-resistant cable is applied to industrial robots.

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