A process for the preparation of a robotic cable

Abstract

The present application relates to the technical field of cable preparation, and particularly relates to a preparation process of a robot cable, comprising the following steps: conductor stranding, extruding a shielding layer and a sheath layer outside the conductive wire core, and wrapping a cushion layer, an armor layer and an outer sheath outside the sheath layer, the present application combines metal wires, epoxy coating and aramid fibers, and the composite process brings multiple breakthrough advantages to the cable armor layer through ingenious material design and processing: the firm coating layer formed by the epoxy coating on the surface of the metal wire not only significantly improves the chemical corrosion resistance, but more importantly, in the subsequent heat curing process, the coating layer acts as an active molecular bridge, and the aramid fibers after surface activation form a firm overall network through chemical bonding and mechanical interlocking effect, so that the rigidity and strength of the metal wire and the toughness and impact resistance of the aramid fibers are perfectly coordinated, and the mechanical enhancement effect of synergistic effect is realized, and the tensile strength and repeated bending fatigue resistance are improved.

Description

Technical Field

[0001] This invention relates to the field of cable manufacturing technology, and more specifically to a manufacturing process for a robot cable. Background Technology

[0002] The rapid development of high-precision technologies such as industrial robots and automated equipment has placed unprecedentedly stringent demands on the performance of robot cables, which are their lifeline. During service, robot cables must continuously undergo high-speed, high-frequency twisting and bending movements, and may frequently be subjected to complex and harsh environments such as friction, crushing, oil contamination, moisture, and even sudden mechanical impacts. Therefore, a high-performance robot cable must exhibit excellent comprehensive performance in key areas such as tensile strength, bending fatigue resistance, torsion resistance, compression resistance, and water and moisture resistance.

[0003] Currently, most robot cables on the market use cross-linked polyethylene (XLPE) as the sheath material, with a braided armor layer woven on the outside of the XLPE sheath. Traditionally, the metal armor layer is made of braided steel wire, while the non-metallic armor layer is made of high-strength fiber to enhance mechanical strength. However, both solutions have significant drawbacks. While pure metal armor layers offer high strength, they lack flexibility, are heavy, and are prone to fatigue fracture under repeated dynamic bending. Their large bending radius also makes them unsuitable for the confined space wiring requirements of robots. Furthermore, there is a risk of fretting wear between the metal wires at the braiding points, which can damage the internal insulation or sheath over time. On the other hand, while non-metallic armor layers such as pure aramid fibers are lightweight and flexible, their resistance to flattening and longitudinal tensile strength are often insufficient to withstand extremely complex mechanical stresses on their own.

[0004] To address the above problems, this invention provides a manufacturing process for robot cables. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a manufacturing process for robot cables.

[0006] A manufacturing process for a robot cable includes the following steps:

[0007] S1: Conductor stranding, which involves stranding multiple high-purity aluminum monofilaments together in a clockwise direction and with the correct pitch using a stranding machine to form a conductive core that meets the standard cross-sectional area.

[0008] S2: Wrap a shielding layer and a sheathing layer around the conductive core. Weave a layer of tin-plated copper as a shielding layer on the outer layer of the conductive core. Then, use a twin-screw extruder to extrude cross-linked polyethylene and wrap it around the outside of the shielding layer of the conductive core to obtain the sheathing layer.

[0009] S3: Wrap a pad, armor layer and outer sheath around the outer sheath layer. Cut the superabsorbent polyethylene biomimetic foam into foam strips, wind them into discs to obtain foam discs. Wrap the foam discs around the outer layer of the sheath layer as a pad layer through a longitudinal wrapping device. Then wrap the armor layer through a braiding machine. Finally, extrude a layer of high-density polyethylene as an outer sheath outside the armor layer through an extruder to complete the preparation of the entire cable.

[0010] Furthermore, the diameter of the aluminum monofilament is 3±0.03mm, and the number of aluminum monofilaments is 24-72.

[0011] Furthermore, the cushioning layer is made of superabsorbent polyethylene biomimetic foam, and the preparation method of superabsorbent polyethylene biomimetic foam is as follows:

[0012] 70-80 parts by weight of low-density polyethylene, 5-10 parts by weight of carbon nanofibers, 10-20 parts by weight of carbon microspheres, 1.5-3 parts by weight of zinc oxide, 5-7 parts by weight of AC foaming agent, and 0.5-1 parts by weight of vinyltrimethoxysilane are added to a high-speed mixer and mixed evenly to obtain a mixture. The mixture is then melt-blended and granulated using a twin-screw extruder to obtain a composite masterbatch. The composite masterbatch is then combined with 20-30 parts by weight of low-density polyethylene, 0.8-1 parts by weight of dicumyl peroxide, and 1... 0-15 parts by weight of AC foaming agent and 2-3 parts by weight of citric acid-sodium bicarbonate mixture are mixed to obtain a mixture. The mixture is filled into a mold and placed in a hot press. Under a pressure of 15 MPa, the temperature is first raised to 170-180℃ and held for 10-20 minutes. Then, the temperature is raised to 200-210℃, the pressure is released and the mold is opened. Finally, the foamed board is cured in a drying room at 60-70℃ for 24-26 hours to allow the residual gas to escape completely, thus obtaining a biomimetic foam of superabsorbent polyethylene.

[0013] Furthermore, the method for preparing the armor layer is as follows:

[0014] The metal wire is immersed in an epoxy resin adhesive coating solution with a material-to-liquid ratio of 1:(8-10)g / mL. After immersion for 3-5 minutes, the metal wire is removed, heated at 60-80℃ for 10-20 minutes, and then transferred to a forced-air drying oven and dried at 80-100℃ for 2-3 hours to obtain a coated metal wire.

[0015] A high-speed vertical or horizontal braiding machine with 36 spindles is selected. Coated metal wires and aramid fibers are installed on the spindles of the braiding machine at a ratio of 1:(1-2). The braiding machine is started, and the coated metal wires and aramid fibers are woven into a tight mesh sleeve through the spindles. This is wrapped around the outside of the sheath layer. After weaving, the sheath layer is heat-cured at 120-150℃ for 1-2 minutes to obtain the armor layer.

[0016] Furthermore, the preparation method of the epoxy resin adhesive coating liquid is as follows:

[0017] Bisphenol F epoxy resin and ricinoleic acid were mixed, and 3-5% of the total mass of the two was added as a catalyst, triphenylphosphine. The mixture was stirred and protected with nitrogen gas. The temperature was then raised to 80-90°C and stirred for 20-30 minutes. The temperature was then raised to 110-120°C within 10 minutes and the reaction was continued at this temperature for 2-3 hours. After the reaction endpoint was reached, the heating was stopped and the reaction mixture was cooled to 60-70°C to obtain ricinoleic acid modified resin.

[0018] The ricinoleic acid modified resin is mixed with an active diluent and heated in a water bath at 60°C. The mixture is mechanically stirred until homogeneous. After cooling to room temperature (22-24°C), 1-3% (by weight of the ricinoleic acid modified resin) of silane coupling agent is added and stirred continuously for 30-40 minutes. Then, 2-4% (by weight of the ricinoleic acid modified resin) of curing agent is added and stirred at 50-60 r / min for 5-10 minutes. The mixture is then placed in a vacuum degassing chamber and degassed at -0.1 MPa until the adhesive is clear and free of bubbles, thus obtaining the epoxy resin adhesive coating liquid.

[0019] Furthermore, the volume ratio of citric acid solution to sodium bicarbonate solution in the citric acid-sodium bicarbonate mixture is 1:1.

[0020] Furthermore, the mass ratio of bisphenol F epoxy resin to ricinoleic acid is (1-1.5):1.

[0021] Furthermore, the volume ratio of castor oil-modified resin to reactive diluent is (10-11):1.

[0022] The present invention has the following advantages:

[0023] 1. This invention combines metal wire, epoxy coating, and aramid fiber. This composite process, through ingenious material design and processing, brings multiple breakthrough advantages to the cable armor layer: the strong coating layer formed by the epoxy coating on the surface of the metal wire not only significantly improves its chemical corrosion resistance, but more importantly, in the subsequent thermosetting process, the coating acts as an active molecular bridge, forming a robust overall network with the surface-activated aramid fiber through chemical bonding and mechanical interlocking effects. This perfectly synergizes the rigidity and strength of the metal wire with the toughness and impact resistance of the aramid fiber, achieving a synergistic mechanical enhancement effect. This structure enables the final armor layer to possess excellent tensile strength, resistance to repeated bending fatigue, and strong anti-flattening ability. Its unique flexible braided structure can effectively disperse external mechanical stress and suppress internal fretting wear, thereby providing long-lasting protection for the cable and greatly improving the service life and reliability of the cable in complex and harsh environments.

[0024] 2. The process of modifying and grafting bisphenol F epoxy resin with ricinoleic acid in this invention brings multiple significant benefits to the final epoxy resin adhesive coating liquid and its application in cable armor layers. In this process, the long fatty acid chains of ricinoleic acid are covalently grafted onto the epoxy resin molecular chain. Furthermore, because bisphenol F epoxy resin does not contain the methyl groups in its isopropyl bridging structure, it has lower viscosity and less molecular steric hindrance than bisphenol A epoxy resin. This makes it easier for the long-chain fatty acids of ricinoleic acid to access and undergo a grafting reaction, fundamentally changing the material's properties and improving its impregnation of polar substrates such as metals and aramid fibers. It also has good wettability and adsorption properties; therefore, for epoxy resin adhesive coating liquids, the interfacial bonding force between bisphenol F epoxy resin and metals and fibers can be better improved by modifying it with ricinoleic acid. The long chain of ricinoleic acid plays an internal plasticizing role, effectively alleviating the brittleness of epoxy resin and making it less prone to cracking when bent or twisted. At the same time, the polar groups of bisphenol F epoxy resin introduced by it greatly enhance the chemical adsorption and hydrogen bonding with the surface of the armor layer metal wire and aramid fiber, ensuring that the coating can still adhere firmly under complex stress, thereby maintaining the structural integrity of the armor layer for a long time and ensuring its long-lasting protection of the conductive core.

[0025] 3. This invention uses a method of first foaming polyethylene and then combining it with carbon microspheres to prepare a highly absorbent polyethylene biomimetic foam as a cable pad. The stable three-dimensional foam skeleton composed of cross-linked polyethylene provides excellent and durable elastic buffering, which can effectively absorb and disperse the concentrated compressive stress of the armor layer on the sheath layer, preventing the sheath layer from creeping and breaking due to long-term mechanical pressure. At the same time, the uniformly dispersed carbon microspheres, as an efficient nano water reservoir, work synergistically with the hydrophilic flow-conducting network constructed by carbon nanofibers to give the material an active intelligent water-blocking function. Once the armor layer is damaged and water enters, it can rapidly absorb water and expand to generate huge radial sealing pressure, accurately blocking the leakage path and completely preventing the longitudinal spread of water to form a water tree. This greatly improves the long-term reliability and lifespan of the cable system, forming a high-performance intelligent isolation layer between the armor layer and the sheath layer that integrates mechanical buffering, active water blocking, and stress dissipation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the robot cable of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this invention.

[0028] Example 1:

[0029] A schematic diagram of the robot cable structure of the present invention is shown below. Figure 1 As shown.

[0030] A manufacturing process for a robot cable includes the following steps:

[0031] S1: Conductor stranding, which involves stranding 24 high-purity aluminum monofilaments with a diameter of 3±0.03mm together in a clockwise direction and with the correct pitch using a stranding machine to form a conductive core.

[0032] S2: Wrap a shielding layer and a sheathing layer around the conductive core. Weave a layer of tin-plated copper as a shielding layer on the outer layer of the conductive core. Then, use a twin-screw extruder to extrude cross-linked polyethylene and wrap it around the outside of the shielding layer of the conductive core to obtain the sheathing layer.

[0033] S3: Wrap a padding layer, an armor layer, and an outer sheath around the outer sheath layer:

[0034] S3.1: For the wrapping layer, 70 parts by weight of low-density polyethylene, 5 parts by weight of carbon nanofibers, 10 parts by weight of carbon microspheres, 1.5 parts by weight of zinc oxide, 5 parts by weight of AC foaming agent, and 0.5 parts by weight of vinyltrimethoxysilane are added to a high-speed mixer and mixed evenly to obtain a mixture. The mixture is then melt-blended and granulated using a twin-screw extruder to obtain a composite masterbatch. The composite masterbatch is then combined with 20 parts by weight of low-density polyethylene, 0.8 parts by weight of dicumyl peroxide, 10 parts by weight of AC foaming agent, and 2... A mixture of citric acid and sodium bicarbonate was blended to obtain a mixture. The mixture was filled into a mold and placed in a hot press. Under a pressure of 15 MPa, the temperature was first raised to 170°C and held for 10 minutes. Then, the temperature was raised to 200°C, the pressure was released, and the mold was opened. Finally, the foamed board was cured in a drying oven at 60°C for 24 hours to allow the residual gas to escape completely, resulting in a superabsorbent polyethylene biomimetic foam. The volume ratio of citric acid solution to sodium bicarbonate solution in the citric acid-sodium bicarbonate mixture was 1:1.

[0035] Superabsorbent polyethylene biomimetic foam is cut into foam strips, wound into discs, and then wrapped around the outer layer of the sheath layer as a padding layer using a longitudinal wrapping device.

[0036] S3.2: For the coating layer and outer sheath, bisphenol F epoxy resin and ricinoleic acid are mixed and then 3% of the total mass of the two catalysts, triphenylphosphine, is added. The mass ratio of bisphenol F epoxy resin to ricinoleic acid is 1:1. Stirring is started and nitrogen gas is introduced for protection. Then the temperature is raised to 80°C and stirred at this temperature for 20 minutes. The temperature is then raised to 110°C within 10 minutes and the reaction is continued at this temperature for 2 hours. After reaching the reaction endpoint, heating is stopped and the reaction mixture is cooled to 60°C to obtain ricinoleic acid modified resin.

[0037] Castor oil modified resin and reactive diluent were mixed at a volume ratio of 10:1. The mixture was heated in a water bath at 60°C and mechanically stirred until homogeneous. After cooling to room temperature of 22°C, 1% by weight of silane coupling agent of castor oil modified resin was added and stirred continuously for 30 minutes. Then, 2% by weight of curing agent of castor oil modified resin was added and stirred at 50 r / min for 5 minutes. The mixture was then placed in a vacuum degassing chamber and degassed at -0.1 MPa until the adhesive was clear and free of bubbles, thus obtaining an epoxy resin adhesive coating liquid.

[0038] The metal wire was immersed in an epoxy resin adhesive coating liquid with a material-to-liquid ratio of 1:8 g / mL. After immersion for 3 minutes, the metal wire was removed, heated at 60°C for 10 minutes, and then transferred to a forced-air drying oven and dried at 80°C for 2 hours to obtain the coated metal wire.

[0039] Specifically, the metal wire is steel wire.

[0040] A high-speed vertical braiding machine with 36 spindles was selected. Coated metal wires and aramid fibers were installed on the spindles of the braiding machine in a 1:1 ratio. The braiding machine was started, and the coated metal wires and aramid fibers were woven into a tight mesh sleeve through the spindles. The sleeve was wrapped around the outside of the sheath layer. After the weaving was completed, it was heat-cured at 120°C for 1 minute to obtain the armor layer.

[0041] Finally, a layer of high-density polyethylene is extruded over the armor layer as an outer sheath, completing the entire cable manufacturing process.

[0042] Example 2:

[0043] A schematic diagram of the robot cable structure of the present invention is shown below. Figure 1 As shown.

[0044] A manufacturing process for a robot cable includes the following steps:

[0045] S1: Conductor stranding, 36 high-purity aluminum monofilaments with a diameter of 3±0.03mm are stranded together in a clockwise direction and with the correct pitch using a stranding machine to form a conductive core that meets the standard cross-sectional area.

[0046] S2: Wrap a shielding layer and a sheathing layer around the conductive core. Weave a layer of tin-plated copper as a shielding layer on the outer layer of the conductive core. Then, use a twin-screw extruder to extrude cross-linked polyethylene and wrap it around the outside of the shielding layer of the conductive core to obtain the sheathing layer.

[0047] S3: Wrap a pad, armor layer and outer sheath around the outer sheath layer. Cut the superabsorbent polyethylene biomimetic foam into foam strips, wind them into discs to obtain foam discs. Wrap the foam discs around the outer layer of the sheath layer as a pad layer through a longitudinal wrapping device. Then wrap the armor layer through a braiding machine. Finally, extrude a layer of high-density polyethylene as an outer sheath outside the armor layer through an extruder to complete the preparation of the entire cable.

[0048] S3.1: For the wrapping layer, 75 parts by weight of low-density polyethylene, 8 parts by weight of carbon nanofibers, 15 parts by weight of carbon microspheres, 2 parts by weight of zinc oxide, 6 parts by weight of AC foaming agent, and 0.8 parts by weight of vinyltrimethoxysilane are added to a high-speed mixer and mixed evenly to obtain a mixture. The mixture is then melt-blended and granulated using a twin-screw extruder to obtain a composite masterbatch. The composite masterbatch is then combined with 25 parts by weight of low-density polyethylene, 0.9 parts by weight of dicumyl peroxide, 12 parts by weight of AC foaming agent, and 2.5 parts by weight of... A mixture of citric acid and sodium bicarbonate was blended to obtain a mixture. The mixture was filled into a mold and placed in a hot press. Under a pressure of 15 MPa, the temperature was first raised to 175°C and held for 15 minutes. Then, the temperature was raised to 205°C, the pressure was released, and the mold was opened. Finally, the foamed board was cured in a drying oven at 65°C for 25 hours to allow the residual gas to escape completely, resulting in a superabsorbent polyethylene biomimetic foam. The volume ratio of citric acid solution to sodium bicarbonate solution in the citric acid-sodium bicarbonate mixture was 1:1.

[0049] Superabsorbent polyethylene biomimetic foam is cut into foam strips, wound into discs, and then wrapped around the outer layer of the sheath layer as a padding layer using a longitudinal wrapping device.

[0050] S3.2: The armor layer and outer sheath are wrapped together. The method for preparing the armor layer is as follows:

[0051] Bisphenol F epoxy resin and ricinoleic acid were mixed and then 4% (by mass) of triphenylphosphine catalyst was added. The mass ratio of bisphenol F epoxy resin to ricinoleic acid was 1.2:1. Stirring was started and nitrogen gas was introduced for protection. The temperature was then raised to 85°C and stirred for 25 minutes. The temperature was then raised to 115°C within 10 minutes and the reaction was continued at this temperature for 2.5 hours. After reaching the reaction endpoint, heating was stopped and the reaction mixture was cooled to 65°C to obtain ricinoleic acid modified resin.

[0052] Castor oil modified resin and reactive diluent were mixed at a volume ratio of 10.5:1. The mixture was heated in a water bath at 60°C and mechanically stirred until homogeneous. After cooling to room temperature (23°C), 2% by weight of silane coupling agent of castor oil modified resin was added and stirred continuously for 35 minutes. Then, 3% by weight of curing agent of castor oil modified resin was added and stirred at 55 r / min for 8 minutes. The mixture was then placed in a vacuum degassing chamber and degassed at -0.1 MPa until the adhesive was clear and free of bubbles, thus obtaining an epoxy resin adhesive coating liquid.

[0053] The metal wire was immersed in an epoxy resin adhesive coating solution with a material-to-liquid ratio of 1:9 g / mL. After immersion for 4 minutes, the metal wire was removed, heated at 70°C for 15 minutes, and then transferred to a forced-air drying oven to dry at 90°C for 2.5 hours to obtain the coated metal wire.

[0054] Specifically, the metal wire is steel wire.

[0055] A high-speed vertical braiding machine with 36 spindles was selected. Coated metal wires and aramid fibers were installed on the spindles of the braiding machine at a ratio of 1:1.5. The braiding machine was started, and the coated metal wires and aramid fibers were woven into a tight mesh sleeve through the spindles. The sleeve was wrapped around the outside of the sheath layer. After the weaving was completed, it was heat-cured at 140℃ for 1.5 minutes to obtain the armor layer.

[0056] Finally, a layer of high-density polyethylene is extruded over the armor layer as an outer sheath, completing the entire cable manufacturing process.

[0057] Example 3:

[0058] A schematic diagram of the robot cable structure of the present invention is shown below. Figure 1 As shown.

[0059] A manufacturing process for a robot cable includes the following steps:

[0060] S1: Conductor stranding, 72 high-purity aluminum monofilaments with a diameter of 3±0.03mm are stranded together in a clockwise direction and with the same pitch using a stranding machine to form a conductive core that meets the standard cross-sectional area;

[0061] S2: Wrap a shielding layer and a sheathing layer around the conductive core. Weave a layer of tin-plated copper as a shielding layer on the outer layer of the conductive core. Then, use a twin-screw extruder to extrude cross-linked polyethylene and wrap it around the outside of the shielding layer of the conductive core to obtain the sheathing layer.

[0062] S3: Wrap a padding layer, an armor layer, and an outer sheath around the outer sheath layer:

[0063] S3.1: For the wrapping layer, 80 parts by weight of low-density polyethylene, 10 parts by weight of carbon nanofibers, 20 parts by weight of carbon microspheres, 3 parts by weight of zinc oxide, 7 parts by weight of AC foaming agent, and 1 part by weight of vinyltrimethoxysilane are added to a high-speed mixer and mixed evenly to obtain a mixture. The mixture is then melt-blended and granulated through a twin-screw extruder to obtain a composite masterbatch. The composite masterbatch is then combined with 30 parts by weight of low-density polyethylene, 1 part by weight of dicumyl peroxide, 15 parts by weight of AC foaming agent, and 3 parts by weight of... A mixture of citric acid and sodium bicarbonate was blended to obtain a mixture. The mixture was filled into a mold and placed in a hot press. Under a pressure of 15 MPa, the temperature was first raised to 180°C and held for 20 minutes. Then, the temperature was raised to 210°C, the pressure was released, and the mold was opened. Finally, the foamed board was cured in a drying oven at 70°C for 26 hours to allow the residual gas to escape completely, resulting in a superabsorbent polyethylene biomimetic foam. The volume ratio of citric acid solution to sodium bicarbonate solution in the citric acid-sodium bicarbonate mixture was 1:1.

[0064] Superabsorbent polyethylene biomimetic foam is cut into foam strips, wound into discs, and then wrapped around the outer layer of the sheath layer as a padding layer using a longitudinal wrapping device.

[0065] S3.2: For the coating and outer sheath, bisphenol F epoxy resin and ricinoleic acid are mixed and 5% of the total mass of the two are added as a catalyst, triphenylphosphine. The mass ratio of bisphenol F epoxy resin to ricinoleic acid is 1.5:1. Stirring is started and nitrogen gas is introduced for protection. Then the temperature is raised to 90°C and stirred at this temperature for 30 min. The temperature is raised to 120°C within 10 min and the reaction is continued at this temperature for 3 h. After reaching the reaction endpoint, heating is stopped and the reaction mixture is cooled to 70°C to obtain ricinoleic acid modified resin.

[0066] Castor oil modified resin and reactive diluent were mixed at a volume ratio of 11:1. The mixture was heated in a water bath at 60°C and mechanically stirred until homogeneous. After cooling to room temperature (24°C), 3% (by weight) of silane coupling agent of castor oil modified resin was added and stirred continuously for 40 minutes. Then, 4% (by weight) of curing agent of castor oil modified resin was added and stirred at 60 r / min for 10 minutes. The mixture was then placed in a vacuum degassing chamber and degassed at -0.1 MPa until the adhesive was clear and free of bubbles, thus obtaining an epoxy resin adhesive coating liquid.

[0067] The metal wire was immersed in an epoxy resin adhesive coating liquid with a material-to-liquid ratio of 1:10 g / mL. After immersion for 5 minutes, the metal wire was removed, heated at 80°C for 20 minutes, and then transferred to a forced-air drying oven and dried at 100°C for 3 hours to obtain the coated metal wire.

[0068] Specifically, the metal wire is steel wire.

[0069] A high-speed vertical braiding machine with 36 spindles was selected. Coated metal wires and aramid fibers were installed on the spindles of the braiding machine at a ratio of 1:2. The braiding machine was started, and the coated metal wires and aramid fibers were woven into a tight mesh sleeve through the spindles. The sleeve was wrapped around the outside of the sheath layer. After the weaving was completed, it was heat-cured at 150°C for 2 minutes to obtain the armor layer.

[0070] Finally, a layer of high-density polyethylene is extruded over the armor layer as an outer sheath, completing the entire cable manufacturing process.

[0071] Comparative Example 1:

[0072] Compared with Example 1, the difference of Comparative Example 1 is that, when preparing the armor layer, it is not mixed with the coated metal wire, but the armor layer is directly woven with aramid fiber. The other steps remain unchanged, and it is referred to as Comparative Example 1.

[0073] Comparative Example 2:

[0074] Compared with Example 1, Comparative Example 2 differs in that the metal wires are not immersed in the epoxy resin adhesive coating liquid when preparing the armor layer. Instead, the metal wires and aramid fibers are directly woven into the armor layer. The remaining steps remain unchanged. This is referred to as Comparative Example 2.

[0075] Comparative Example 3:

[0076] Compared with Example 1, the difference of Comparative Example 3 is that bisphenol F epoxy resin is not added when preparing the epoxy resin adhesive coating liquid, but bisphenol A epoxy resin is used instead. The other steps remain the same, and it is referred to as Comparative Example 3.

[0077] Comparative Example 4:

[0078] Compared with Example 1, the difference of Comparative Example 4 is that carbon microspheres are not added when preparing the padding layer. Instead, the carbon microspheres are replaced with an equal mass of low-density polyethylene. The other steps remain the same. This is referred to as Comparative Example 4.

[0079] Comparative Example 5:

[0080] Compared with Example 1, the difference of Comparative Example 5 is that carbon nanofibers are not added when preparing the padding layer. Instead, carbon nanofibers are replaced with carbon microspheres of equal mass. The other steps remain the same. This is referred to as Comparative Example 5.

[0081] Comparative Example 6:

[0082] Comparative Example 6 is a commercially available cross-linked polyethylene power cable.

[0083] The elongation at break of Examples 1-3, Comparative Examples 1-3, and Comparative Example 6 were tested, as shown in Table 1.

[0084] After removing the armor layer of Examples 1-3 and Comparative Example 3, the tensile strength of the samples were tested with that of Comparative Example 6, as shown in Table 2.

[0085] All test methods are those described in GB / T2951.11-2008 "General Test Methods for Insulation and Sheath Materials of Cables and Optical Fibers - Part 11: General Test Methods for Thickness and Dimensional Measurement and Mechanical Properties".

[0086] Examples 1-3 and Comparative Examples 5-6 were evaluated for their waterproof ratings using the test methods and standards in GB / T4208-2017 "Degrees of Protection Provided by Enclosures (IP Code)". The results are shown in Table 3.

[0087] Table 1

[0088]

[0089] Table 2

[0090]

[0091] Table 3

[0092]

[0093] As shown in Table 1, the elongation at break of Examples 1-3 was 545-553%, compared to 492% for Comparative Example 1 and 494% for Comparative Example 2. This indicates that the armor layer of the ricinoleic acid modified epoxy coating, by bonding the metal wire and aramid fiber together, improves the elongation at break of the cable due to its unique structure. In contrast, the elongation at break of Comparative Example 3 was 498%. This shows that without the use of bisphenol F epoxy resin, the bonding effect between bisphenol A epoxy resin and ricinoleic acid is not as good as that of bisphenol F. This is because bisphenol F epoxy resin does not contain the methyl group in the isopropyl bridging structure, thus having lower viscosity and less molecular steric hindrance than bisphenol A epoxy resin. By modifying bisphenol F epoxy resin with ricinoleic acid, the interfacial bonding force with metal and fiber can be better improved, thereby increasing the overall elongation at break of the armor layer.

[0094] The breaking elongation of Comparative Example 6 was 217%. Commercially available cross-linked polyethylene cables do not have an armor layer, so their breaking elongation is only 217% in comparison. It can be seen that the armor layer of the present invention can make the overall structure of the cable slip-spring instead of breaking instantly, thereby greatly improving the breaking elongation of the cable.

[0095] As can be seen from Table 2, the tensile strength of Examples 1-3 is 30-33 MPa, that of Comparative Example 2 is 25 MPa, and that of commercially available products is 26 MPa. It is evident that the tensile strength of commercially available products is not as good as that of the present invention, while the combination of padding material materials with carbon microspheres in the present invention has a better improvement in tensile strength.

[0096] As can be seen from Table 3, the IPX waterproof rating of Examples 1-3 is 7, while the IPX waterproof rating of Comparative Examples 4 and 5 is 5, and the IPX waterproof rating of Comparative Example 6 is 6. This is because carbon microspheres and carbon nanofibers have a synergistic effect in adsorbing and guiding water flow, thereby improving the water-blocking performance of the cable protective layer. Comparative Example 6 is a commercially available product, and its waterproof performance is not as good as the waterproof performance of the present invention, which is enhanced by special raw materials.

[0097] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims. Parts not described in detail in this specification are prior art known to those skilled in the art.

Claims

1. A process for the preparation of a robotic cable, characterized in that, It comprises the following steps: S1: conductor stranding, a plurality of aluminum monofilaments are stranded together in a clockwise direction by a beam stranding machine to form a conductive core; S2: wrapping a shielding layer and a sheath layer outside the conductive core, braiding a layer of tin-plated copper as a shielding layer outside the conductive core, and then extruding cross-linked polyethylene outside the shielding layer of the conductive core by a double screw extruder to obtain a sheath layer; S3: wrapping a cushion layer, an armor layer and an outer sheath outside the sheath layer, cutting high water absorption polyethylene biomimetic foam into foam strips, winding into a disc to obtain a foam disc, wrapping the foam disc outside the outer layer of the sheath layer as a cushion layer through a longitudinal wrapping device, then wrapping the armor layer through a braiding machine, and finally extruding a layer of high-density polyethylene as an outer sheath outside the armor layer by an extruder to complete the preparation of the entire cable; The cushion layer is high water absorption polyethylene biomimetic foam, and the preparation method of the high water absorption polyethylene biomimetic foam is as follows: 70-80 parts by mass of low-density polyethylene, 5-10 parts by mass of carbon nanofiber, 10-20 parts by mass of carbon microsphere, 1.5-3 parts by mass of zinc oxide, 5-7 parts by mass of AC foaming agent and 0.5-1 part by mass of vinyl trimethoxysilane are added into a high-speed mixer and uniformly mixed to obtain a mixture, the mixture is melt blended and granulated by a double screw extruder to obtain a composite master batch, the composite master batch is blended with 20-30 parts by mass of low-density polyethylene, 0.8-1 part by mass of dicumyl peroxide, 10-15 parts by mass of AC foaming agent and 2-3 parts by mass of a mixture of citric acid and sodium bicarbonate to obtain a mixture, the mixture is filled into a mold and placed in a hot press, under a pressure of 15 MPa, the temperature is first raised to 170-180 DEG C, and then the temperature is raised to 200-210 DEG C, the pressure is released, and finally the foamed plate is cured in an oven at 60-70 DEG C for 24-26 h to completely escape the residual gas, thereby obtaining the high water absorption polyethylene biomimetic foam; The preparation method of the armor layer is as follows: the metal wire is immersed in an epoxy resin adhesive coating liquid, the liquid ratio of the metal wire and the epoxy resin adhesive coating liquid is 1: (8-10) g / mL, the metal wire is taken out after soaking for 3-5 min, heated at 60-80 DEG C for 10-20 min, and then transferred into a forced air drying oven for drying at a temperature of 80-100 DEG C for 2-3 h to obtain a coated metal wire; A high-speed vertical braiding machine or a high-speed horizontal braiding machine is selected, the number of spindles of the braiding machine is 36 spindles, the coated metal wire and aramid fiber are installed on the spindles of the braiding machine at a ratio of 1: (1-2), the braiding machine is started, and the coated metal wire and aramid fiber are braided into a tight mesh sleeve by the spindles, which is wrapped outside the sheath layer, and after braiding is completed, heat curing is performed at a temperature of 120-150 DEG C for 1-2 min to obtain the armor layer.

2. A process for preparing a robotic cable according to claim 1, characterized in that, The diameter of the aluminum monofilament is 3±0.03 mm, and the number of aluminum monofilaments is 24-72.

3. The process for preparing a robotic cable according to claim 1, wherein, The preparation method of the epoxy resin adhesive coating solution is as follows: the bisphenol F epoxy resin and castor oil acid are mixed, 3-5% of the total mass of the two of a catalyst triphenylphosphine is added, stirring is started, and nitrogen protection is performed, then the temperature is raised to 80-90 DEG C, the temperature is kept at this temperature for 20-30 min, the temperature is raised to 110-120 DEG C within 10 min, the reaction is continued at this temperature for 2-3 h, after the reaction endpoint is reached, heating is stopped, the reaction mixture is cooled to 60-70 DEG C, and the castor oil acid modified resin is obtained; the castor oil acid modified resin and the active diluent are mixed, heated in a water bath at 60 DEG C, and mechanically stirred until mixed uniformly, then cooled to room temperature 22-24 DEG C, 1-3% of the mass of the castor oil acid modified resin of a silane coupling agent is added, stirring is continued for 30-40 min, 2-4% of the mass of the castor oil acid modified resin of a curing agent is added, stirring is performed at a stirring speed of 50-60 r / min for 5-10 min, then the solution is placed in a vacuum defoaming tank, and gas bubbles are removed at -0.1 MPa until the glue solution is clear and free of bubbles, and the epoxy resin adhesive coating solution is obtained.

4. The process for preparing a robotic cable according to claim 1, wherein, The volume ratio of the citric acid solution to the sodium bicarbonate solution in the citric acid-sodium bicarbonate mixed solution is 1:

1.

5. The process of claim 3, wherein, The mass ratio of the bisphenol F epoxy resin to the castor oil acid is (1-1.5):

1.

6. The process of claim 3, wherein, The volume ratio of the castor oil acid modified resin to the active diluent is (10-11):1.

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