Anti-electromagnetic interference dynamic cable for intelligent robot with body and preparation method

Abstract

The invention discloses an anti-electromagnetic interference dynamic cable for an intelligent robot with a body and a preparation method, the cable comprises an outer sheath, a wrapping layer and a cable core which are sequentially arranged from outside to inside, the cable core comprises a plurality of wire pairs, a skeleton is arranged in the cable core, the skeleton divides the cable core into a plurality of independent cavities, and at least one wire pair is accommodated in each cavity. The graphene modified polyester belt wrapping layer and the graphene modified framework are adopted to replace traditional metal aluminum foil and a woven mesh, the fatigue resistance is improved, wire pairs are separated in different cavities, near-end crosstalk and electromagnetic interference between the wire pairs are thoroughly eliminated from the physical structure, the overall structure is stable, interference resistance is achieved, and the service life of the cable is prolonged. Mutual extrusion, displacement or generation of internal force interference in the dynamic bending process of the wire pairs is prevented, internal stress is reduced, and synchronous long-acting of shielding, protection and mechanical life is realized; the three contradictions of shielding durability, signal integrity and production economy of the cable of the intelligent robot under dynamic application are solved.

Description

Technical Field

[0001] This invention belongs to the field of cable technology, specifically relating to an anti-electromagnetic interference dynamic cable for embodied intelligent robots and its preparation method. Background Technology

[0002] In the movement of embodied intelligent robots (such as humanoid robots), cables need to bend repeatedly with the joints, requiring excellent resistance to bending fatigue. Simultaneously, the high degree of integration of robot components and the limited internal wiring space necessitate small cable diameters. However, in practical applications, power lines and signal lines are often mixed or integrated into a single cable, easily generating electromagnetic interference. Robots need to use sensors and cameras to continuously feed back information about the surrounding environment to the processor, which then instantly transmits instructions to moving parts such as motors. This requires high shielding to ensure undistorted signals and low latency. Any signal interference, such as missing or delayed instructions, can immediately cause the robot to lose balance or control, affecting the real-time performance and stability of robot control.

[0003] Existing shielded cables often use aluminum-plastic composite tape wrapping or tinned copper wire braiding for shielding. If shielding between wire pairs is required, aluminum-plastic composite tape is first wrapped around the twisted pairs, and then tinned copper wire braiding is done after cabling. The drawback of this approach is that the aluminum-plastic composite tape and tinned copper wire have poor bending fatigue resistance. In dynamic applications of the cable, the aluminum-plastic composite tape is prone to warping or breakage, the tinned copper wire may break, and the braid may develop holes, leading to a gradual increase in electromagnetic interference.

[0004] Furthermore, existing shielding production efficiency is low. The shielding layer for twisted-pair wires requires wrapping with aluminum-plastic composite tape, adding a wrapping device during the twisting process of the insulated wires. This reduces production efficiency by more than 50% compared to unwrapped twisted-pair wires. Braided shielding, on the other hand, involves an additional braiding process compared to wrapped shielding, resulting in higher costs. Summary of the Invention

[0005] To address the problems in the prior art, the present invention aims to provide an anti-electromagnetic interference dynamic cable for embodied intelligent robots and a method for its preparation.

[0006] To achieve the above objectives and technical effects, the technical solution adopted by this invention is as follows: An electromagnetic interference resistant dynamic cable for an embodied intelligent robot includes an outer sheath, a wrapping layer, and a cable core arranged sequentially from the outside to the inside. The cable core includes several wire pairs, and a skeleton is provided inside the cable core. The skeleton divides the cable core into multiple independent chambers, and each chamber accommodates at least one wire pair.

[0007] Furthermore, the raw materials for preparing the outer sheath include the following components in parts by weight: 100 parts of polyether-type TPU 3-10 parts of surface-modified nano-silica 5-15 parts of chopped fiber 5-10 parts of hydrogenated styrene-butadiene block copolymer Anti-hydrolysis agent 0.5-2 parts Antioxidant 0.3-1 part 0.2-1 part lubricant.

[0008] Furthermore, the outer sheath is manufactured using the following steps: 1) Treat nano-silica with silane coupling agent to obtain surface-modified nano-silica, and vacuum dry at 70-90℃ for 3-5 hours; The chopped fibers were soaked in a coupling agent ethanol solution and then dried. 2) By weight, add 100 parts of polyether-type TPU, 3-10 parts of surface-modified nano-silica, 5-15 parts of chopped fibers, 5-10 parts of hydrogenated styrene-butadiene block copolymer, 0.5-2 parts of anti-hydrolysis agent, 0.3-1 parts of antioxidant and 0.2-1 parts of lubricant to a high-speed mixer and mix at 1300-2000 rpm for 5-20 minutes. 3) The material obtained in step 2) is fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing.

[0009] Furthermore, in step 3), segmented heating is adopted: zone 1 160-165℃, zone 2 170-175℃, zone 3 180-185℃, zone 4 180-185℃, and the head section 185-190℃, with the screw speed at 250-350 rpm.

[0010] Furthermore, the wrapping layer is made of graphene-modified polyester tape with a thickness of 25-60μm, a surface resistance of ≤5Ω / □, and an electromagnetic shielding effectiveness of ≥30dB.

[0011] Furthermore, the cable core includes several power wire pairs and several signal wire pairs. Each power wire pair is formed by twisting two power insulated core wires together, and each signal wire pair is formed by twisting two signal insulated core wires together. The twist pitch of the power insulated core wires is greater than the twist pitch of the signal insulated core wires.

[0012] Furthermore, the skeleton is cross-shaped, triangular, or star-shaped, with a volume resistivity ≤1Ω•cm, a flexural modulus ≥15GPa, and an electromagnetic shielding effectiveness ≥40dB.

[0013] Furthermore, the raw materials for preparing the skeleton include the following components in parts by weight: 100 parts of liquid crystal polymer (LCP) 5-15 parts of graphene nanosheets 2-6 parts of carbon nanotubes 3-8 parts compatibilizer Antioxidant 0.1-0.6 parts.

[0014] Furthermore, the skeleton is manufactured using the following steps: (1) Graphene nanosheets and carbon nanotubes were dispersed in N-methylpyrrolidone (NMP) solvent and ultrasonically treated with an ultrasonic power of 600-900W for 1-2 hours to form a stable mixed conductive slurry. (2) The liquid crystal polymer (LCP), the mixed conductive slurry, the compatibilizer and the antioxidant are fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing to obtain the skeleton masterbatch; (3) The skeleton masterbatch obtained in step (2) is melt-extruded at 300-340℃, directly formed by cross-shaped, triangular or star-shaped molds, and immediately twisted together with the wire pair to achieve continuous production.

[0015] This invention also discloses a method for preparing an electromagnetic interference-resistant dynamic cable for an embodied intelligent robot, comprising the following steps: Step 1: Prepare power insulated core wires and signal insulated core wires. Twist two power insulated core wires together to form a power wire pair, and twist two signal insulated core wires together to form a signal wire pair. Step 2: Simultaneously twist the power wire pairs and signal wire pairs with the skeleton, and at the same time, wrap the wrapping layer around the outside of the cable core. Step 3: Extrude an outer sheath onto the outside of the wrapping layer.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) This invention uses graphene-modified polyester tape wrapping and graphene-modified skeleton, made of flexible non-metallic conductive composite material, to replace traditional metal aluminum foil and woven mesh. The fatigue resistance is improved, and the skeleton plays a structural support role. It can separate wire pairs into different chambers, completely eliminating near-end crosstalk and electromagnetic interference between wire pairs from a physical structure perspective. It directly avoids instruction delay or loss caused by signal interference, prevents robot movement imbalance or loss of control, and ensures the reliability and stability of the entire motion control system. Moreover, the overall structure is stable and anti-interference, preventing wire pairs from squeezing, shifting or generating internal force interference during dynamic bending, reducing internal stress, and achieving simultaneous long-term shielding, protection and mechanical life. 2) This invention simplifies the shielding process, eliminating the need for separate wrapping and shielding of each layer online. The skeleton insertion and wrapping are completed simultaneously in a single cabling process, increasing production efficiency by more than 50% compared to traditional layered shielded cables, and almost equivalent to the efficiency of producing unshielded cables, while reducing costs. 3) This invention solves the three core contradictions of shielding durability, signal integrity and production economy of the cable for embodied intelligent robots under dynamic applications through optimized design of materials such as skeleton and outer sheath. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the skeleton structure of Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the skeleton structure of Embodiment 3 of the present invention. Detailed Implementation

[0018] The present invention will now be described in detail so that its advantages and features can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0019] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0020] like Figure 1-3 As shown, the present invention discloses an electromagnetic interference resistant dynamic cable for embodied intelligent robots, comprising an outer sheath 1, a wrapping layer 2 and a cable core arranged sequentially from the outside to the inside. The cable core includes several wire pairs, and a skeleton 3 is provided inside the cable core. The skeleton 3 divides the cable core into multiple independent chambers, and each chamber contains at least one wire pair.

[0021] In some embodiments, the raw materials for preparing the outer sheath 1 include the following components in parts by weight: 100 parts of polyether-type TPU 3-10 parts of surface-modified nano-silica 5-15 parts of chopped fiber 5-10 parts of hydrogenated styrene-butadiene block copolymer Anti-hydrolysis agent 0.5-2 parts Antioxidant 0.3-1 part 0.2-1 part lubricant.

[0022] The outer sheath 1 is manufactured using the following steps: 1) Surface-modified nano-silica is obtained by treating nano-silica with silane coupling agent and vacuum drying at 70-90℃ for 3-5 hours. The modification can improve the compatibility with polyether-type TPU and enhance the surface hardness, wear resistance and tear resistance. Short fibers are soaked in a coupling agent ethanol solution and then dried. The fibers are 0.2-0.5 mm in length and 10-20 μm in diameter. They serve as a flexible reinforcing phase and work synergistically with surface-modified nano-silica to effectively disperse stress, suppress the generation and propagation of microcracks during bending fatigue, and improve resilience. 2) By weight, add 100 parts of polyether-type TPU, 3-10 parts of surface-modified nano-silica, 5-15 parts of chopped fibers, 5-10 parts of hydrogenated styrene-butadiene block copolymer, 0.5-2 parts of anti-hydrolysis agent, 0.3-1 parts of antioxidant and 0.2-1 parts of lubricant to a high-speed mixer and mix at 1300-2000 rpm for 5-20 minutes. 3) The material obtained in step 2) is fed into a twin-screw extruder for melt blending, extrusion, cooling, and pelletizing. This step uses segmented heating: Zone 1 160-165℃, Zone 2 170-175℃, Zone 3 180-185℃, Zone 4 180-185℃, and die head 185-190℃, with a screw speed of 250-350 rpm. The outer sheath itself, in an environment of -40℃ to 105℃, has undergone more than 300,000 bending tests with the cable core without any visible cracks.

[0023] Polyether-type TPU serves as the matrix, providing flexibility, hydrolysis resistance, and low-temperature resistance. Hydrogenated styrene-butadiene block copolymer acts as a compatibilizer, promoting the dispersion of surface-modified nano-silica and UHMWPE chopped fibers in the polyether-type TPU matrix and improving interfacial bonding.

[0024] In some embodiments, the wrapping layer 2 is made of graphene-modified polyester tape with a thickness of 25-60 μm, a surface resistance of ≤5Ω / □, and an electromagnetic shielding effectiveness of ≥30dB.

[0025] In some embodiments, the cable core includes several power pairs and several signal pairs. Each power pair consists of two power insulated core wires 4 twisted together, and each signal pair consists of two signal insulated core wires 5 twisted together. The twist pitch of the power insulated core wires 4 is greater than the twist pitch of the signal insulated core wires 5. The total number of power pairs and signal pairs is the same as the number of chambers.

[0026] In some more specific embodiments, the power insulated core wire 4 includes a power conductor 41 and power insulation 42 extruded onto its exterior.

[0027] In some more specific embodiments, the signal insulated core wire 5 includes a signal conductor 51 and signal insulation 52 extruded onto its exterior.

[0028] In some embodiments, the skeleton 3 is cross-shaped, triangular or star-shaped, with a volume resistivity ≤1Ω•cm, a flexural modulus ≥15GPa, and an electromagnetic shielding effectiveness ≥40dB.

[0029] The raw materials for preparing skeleton 3 include the following components in parts by weight: 100 parts of liquid crystal polymer (LCP) 5-15 parts of graphene nanosheets (number of layers <10, specific surface area >500m² / g) 2-6 parts of carbon nanotubes (10-20 μm in length) 3-8 parts compatibilizer Antioxidant 0.1-0.6 parts.

[0030] Skeleton 3 is made using the following steps: (1) Graphene nanosheets and carbon nanotubes were dispersed in N-methylpyrrolidone (NMP) solvent and ultrasonically treated with an ultrasonic power of 600-900W for 1-2 hours to form a stable mixed conductive slurry. (2) The liquid crystal polymer (LCP), the mixed conductive slurry, the compatibilizer and the antioxidant are fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing to obtain the skeleton masterbatch; (3) The skeleton masterbatch obtained in step (2) is melt-extruded at 300-340℃, directly formed by cross-shaped, triangular or star-shaped molds, and immediately twisted together with the wire pair to achieve continuous production.

[0031] Using liquid crystal polymer (LCP) as the matrix, it provides extremely high rigidity, dimensional stability and heat resistance, ensuring that the framework does not deform during bending. Graphene nanosheets form a conductive substrate, which works in conjunction with carbon nanotubes to form a conductive network.

[0032] This invention also discloses a method for preparing an electromagnetic interference-resistant dynamic cable for an embodied intelligent robot, comprising the following steps: Step 1: Prepare power insulated core wire 4 and signal insulated core wire 5. Twist every two power insulated core wires 4 to form a power wire pair, and twist every two signal insulated core wires 5 to form a signal wire pair. Step 2: Simultaneously twist the power line pairs and signal line pairs with the frame 3, and at the same time, simultaneously wrap the wrapping layer 2 around the outside of the cable core. Step 3: Extrude the outer sheath 1 onto the outside of the wrapping layer 2.

[0033] Example 1 like Figure 1As shown, an electromagnetic interference resistant dynamic cable for an embodied intelligent robot includes an outer sheath 1, a wrapping layer 2, and a cable core arranged sequentially from the outside to the inside. The cable core includes four wire pairs, and a skeleton 3 is provided inside the cable core. The skeleton 3 divides the cable core into four independent chambers, and each chamber accommodates one wire pair.

[0034] In this embodiment, the raw materials for preparing the outer sheath 1 include the following components in parts by weight: 100 parts of polyether-type TPU 10 parts of surface-modified nano-silica 5 parts of chopped fiber 5 parts of hydrogenated styrene-butadiene block copolymer Anti-hydrolysis agent (polycarbodiimide) 0.5 parts Antioxidant (1010) 0.3 parts 0.2 parts of lubricant (silicone masterbatch).

[0035] The outer sheath 1 is manufactured using the following steps: 1) Surface-modified nano-silica was obtained by treating nano-silica with a silane coupling agent and then vacuum-dried at 80°C for 4 hours. Short fibers were soaked in a coupling agent ethanol solution and then dried, with a length of 0.3 mm and a diameter of 10 μm. 2) By weight, add 100 parts of polyether-type TPU, 10 parts of surface-modified nano silica, 5 parts of chopped fiber, 5 parts of hydrogenated styrene-butadiene block copolymer, 0.5 parts of anti-hydrolysis agent, 0.3 parts of antioxidant and 0.2 parts of lubricant to a high-speed mixer and mix at 2000 rpm for 5 min. 3) The material obtained in step 2) is fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing; this step uses segmented heating: zone 1 165℃, zone 2 175℃, zone 3 185℃, zone 4 180℃, die head 185℃, and screw speed is 350 rpm.

[0036] The wrapping layer 2 is made of graphene-modified polyester tape with a thickness of 30μm, a surface resistance of 5Ω / □, and an electromagnetic shielding effectiveness of 30dB.

[0037] The cable core includes two power wire pairs and two signal wire pairs. Each power wire pair is made up of two power insulated core wires 4 twisted together, and each signal wire pair is made up of two signal insulated core wires 5 twisted together. The twist pitch of the power insulated core wires 4 is greater than that of the signal insulated core wires 5.

[0038] The power insulated core wire 4 includes a power conductor 41 (tinned copper wire) and power insulation 42 (irradiated cross-linked polyolefin) extruded on its outside.

[0039] The signal insulated core wire 5 includes a signal conductor 51 (silver-plated copper wire) and signal insulation 52 (high-density polyethylene) extruded on its outside.

[0040] The frame 3 is cross-shaped, with a volume resistivity of 1 Ω•cm, a flexural modulus of 15 GPa, and an electromagnetic shielding effectiveness of 40 dB.

[0041] The raw materials for preparing skeleton 3 include the following components in parts by weight: 100 parts of liquid crystal polymer (LCP) 5 parts of graphene nanosheets (8 layers, specific surface area 700 m² / g) 6 portions of carbon nanotubes (10 μm in length) 8 parts compatibilizer (maleic anhydride-grafted LCP) Antioxidant (1010) 0.6 parts.

[0042] Skeleton 3 is made using the following steps: (1) Graphene nanosheets and carbon nanotubes were dispersed in N-methylpyrrolidone (NMP) solvent and ultrasonically treated with an ultrasonic power of 600W for 2 hours to form a stable mixed conductive slurry. (2) The liquid crystal polymer (LCP), the mixed conductive slurry, the compatibilizer and the antioxidant are fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing to obtain the skeleton masterbatch; (3) The skeleton masterbatch obtained in step (2) is melted and extruded at 300°C, directly formed through a cross-shaped mold, and immediately twisted together with the wire pair to achieve continuous production.

[0043] Maleic anhydride-grafted LCP involves attaching small, polar maleic anhydride molecules to the molecular chain of LCP via chemical bonds. Since LCP is the same substance as liquid crystal polymer (LCP), molecular-level fusion can be achieved.

[0044] Maleic anhydride-grafted LCP is prepared using the following steps: The LCP resin was dried in a forced-air oven at about 140℃ for 5 hours to ensure that the moisture content was below 0.02%. Maleic anhydride and peroxide initiator were dissolved in a small amount of acetone. This solution was then mixed with the dried LCP resin in a high-speed mixer at low speed for 12 minutes to ensure that the solution was evenly sprayed and impregnated on the LCP surface. The mixture was then placed in a ventilated area to allow the acetone to evaporate completely. Finally, the mixture was fed into a twin-screw extruder for melt extrusion and granulation.

[0045] This embodiment also discloses a method for preparing an electromagnetic interference-resistant dynamic cable for an embodied intelligent robot, including the following steps: Step 1: Prepare power insulated core wire 4 and signal insulated core wire 5. Twist every two power insulated core wires 4 to form a power wire pair, and twist every two signal insulated core wires 5 to form a signal wire pair. Step 2: Simultaneously twist the power line pairs and signal line pairs with the frame 3, and at the same time, simultaneously wrap the wrapping layer 2 around the outside of the cable core. Step 3: Extrude the outer sheath 1 onto the outside of the wrapping layer 2.

[0046] Example 2 like Figure 2 As shown, an electromagnetic interference resistant dynamic cable for an embodied intelligent robot includes an outer sheath 1, a wrapping layer 2, and a cable core arranged sequentially from the outside to the inside. The cable core includes three wire pairs, and a skeleton 3 is provided inside the cable core. The skeleton 3 divides the cable core into three independent chambers, and each chamber accommodates one wire pair.

[0047] In this embodiment, the raw materials for preparing the outer sheath 1 include the following components in parts by weight: 100 parts of polyether-type TPU 3 parts of surface-modified nano-silica 15 parts of chopped fiber 10 parts of hydrogenated styrene-butadiene block copolymer 2 parts of anti-hydrolysis agent 1 part antioxidant 1 part lubricant.

[0048] The outer sheath 1 is manufactured using the following steps: 1) Surface-modified nano-silica was obtained by treating nano-silica with a silane coupling agent and then vacuum-dried at 70°C for 5 hours. The chopped fibers were soaked in a coupling agent ethanol solution and then dried. 2) By weight, add 100 parts of polyether-type TPU, 3 parts of surface-modified nano silica, 15 parts of chopped fiber, 10 parts of hydrogenated styrene-butadiene block copolymer, 2 parts of anti-hydrolysis agent, 1 part of antioxidant and 1 part of lubricant to a high-speed mixer and mix at 1300 rpm for 20 min. 3) The material obtained in step 2) is fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing; this step uses segmented heating: zone 1 160℃, zone 2 170℃, zone 3 180℃, zone 4 180℃, die head 190℃, and screw speed is 250 rpm.

[0049] The wrapping layer 2 is made of graphene-modified polyester tape with a thickness of 25μm, a surface resistance of 3Ω / □, and an electromagnetic shielding effectiveness of 40dB.

[0050] The cable core includes one power wire pair and two signal wire pairs. Each power wire pair is made up of two power insulated core wires 4 twisted together, and each signal wire pair is made up of two signal insulated core wires 5 twisted together. The twist pitch of the power insulated core wires 4 is greater than that of the signal insulated core wires 5.

[0051] The power insulated core wire 4 includes a power conductor 41 and power insulation 42 extruded on its outside.

[0052] The signal insulated core wire 5 includes a signal conductor 51 and signal insulation 52 extruded on its outside.

[0053] The skeleton 3 is triangular, with a volume resistivity of 1 Ω•cm, a flexural modulus of 18 GPa, and an electromagnetic shielding effectiveness of 50 dB.

[0054] The raw materials for preparing skeleton 3 include the following components in parts by weight: 100 parts of liquid crystal polymer (LCP) 15 parts of graphene nanosheets 2 carbon nanotubes 3 parts compatibilizer 0.1 parts antioxidant.

[0055] Skeleton 3 is made using the following steps: (1) Graphene nanosheets and carbon nanotubes were dispersed in N-methylpyrrolidone (NMP) solvent and ultrasonically treated with an ultrasonic power of 900W for 1h to form a stable mixed conductive slurry. (2) The liquid crystal polymer (LCP), the mixed conductive slurry, the compatibilizer and the antioxidant are fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing to obtain the skeleton masterbatch; (3) The skeleton masterbatch obtained in step (2) is melted and extruded at 340°C, directly formed through a cross-shaped, triangular or star-shaped mold, and immediately twisted together with the wire pair to achieve continuous production.

[0056] This embodiment also discloses a method for preparing an electromagnetic interference-resistant dynamic cable for an embodied intelligent robot, including the following steps: Step 1: Prepare power insulated core wire 4 and signal insulated core wire 5. Twist every two power insulated core wires 4 to form a power wire pair, and twist every two signal insulated core wires 5 to form a signal wire pair. Step 2: Simultaneously twist the power line pairs and signal line pairs with the frame 3, and at the same time, simultaneously wrap the wrapping layer 2 around the outside of the cable core. Step 3: Extrude the outer sheath 1 onto the outside of the wrapping layer 2.

[0057] The remainder is the same as in Example 1.

[0058] Example 3 like Figure 3 As shown, an electromagnetic interference resistant dynamic cable for an embodied intelligent robot includes an outer sheath 1, a wrapping layer 2, and a cable core arranged sequentially from the outside to the inside. The cable core includes five wire pairs, and a skeleton 3 is provided inside the cable core. The skeleton 3 divides the cable core into five independent chambers, and each chamber accommodates one wire pair.

[0059] In some embodiments, the raw materials for preparing the outer sheath 1 include the following components in parts by weight: 100 parts of polyether-type TPU 6 parts of surface-modified nano-silica 8 parts of chopped fiber 7 parts of hydrogenated styrene-butadiene block copolymer 1 part of anti-hydrolysis agent 0.5 parts antioxidant 0.5 parts lubricant.

[0060] The outer sheath 1 is manufactured using the following steps: 1) Surface-modified nano-silica was obtained by treating nano-silica with a silane coupling agent and then vacuum-dried at 90°C for 3 hours. The chopped fibers were soaked in a coupling agent ethanol solution and then dried. 2) By weight, add 100 parts of polyether-type TPU, 6 parts of surface-modified nano silica, 8 parts of chopped fiber, 7 parts of hydrogenated styrene-butadiene block copolymer, 1 part of anti-hydrolysis agent, 0.5 parts of antioxidant and 0.5 parts of lubricant to a high-speed mixer and mix at 1600 rpm for 10 min. 3) The material obtained in step 2) is fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing; this step uses segmented heating: zone 1 165℃, zone 2 170℃, zone 3 185℃, zone 4 185℃, die head 190℃, and screw speed is 300 rpm.

[0061] The wrapping layer 2 is made of graphene-modified polyester tape with a thickness of 50μm, a surface resistance of 4Ω / □, and an electromagnetic shielding effectiveness of 40dB.

[0062] The cable core includes three power wire pairs and two signal wire pairs. Each power wire pair is made up of two power insulated core wires 4 twisted together, and each signal wire pair is made up of two signal insulated core wires 5 twisted together. The twist pitch of the power insulated core wires 4 is greater than that of the signal insulated core wires 5.

[0063] The power insulated core wire 4 includes a power conductor 41 and power insulation 42 extruded on its outside.

[0064] The signal insulated core wire 5 includes a signal conductor 51 and signal insulation 52 extruded on its outside.

[0065] The frame 3 is star-shaped, with a volume resistivity of 0.5 Ω•cm, a flexural modulus of 20 GPa, and an electromagnetic shielding effectiveness of 50 dB.

[0066] The raw materials for preparing skeleton 3 include the following components in parts by weight: 100 parts of liquid crystal polymer (LCP) 9 portions of graphene nanosheets 4 parts of carbon nanotubes 6 parts compatibilizer Antioxidant 0.3 parts.

[0067] Skeleton 3 is made using the following steps: (1) Graphene nanosheets and carbon nanotubes were dispersed in N-methylpyrrolidone (NMP) solvent and ultrasonically treated with an ultrasonic power of 800W for 2 hours to form a stable mixed conductive slurry. (2) The liquid crystal polymer (LCP), the mixed conductive slurry, the compatibilizer and the antioxidant are fed into a twin-screw extruder for melt blending, extrusion, cooling and pelletizing to obtain the skeleton masterbatch; (3) The skeleton masterbatch obtained in step (2) is melted and extruded at 320°C, directly formed through a star-shaped mold, and immediately twisted together with the wire pair to achieve continuous production.

[0068] This embodiment also discloses a method for preparing an electromagnetic interference-resistant dynamic cable for an embodied intelligent robot, including the following steps: Step 1: Prepare power insulated core wire 4 and signal insulated core wire 5. Twist every two power insulated core wires 4 to form a power wire pair, and twist every two signal insulated core wires 5 to form a signal wire pair. Step 2: Simultaneously twist the power line pairs and signal line pairs with the frame 3, and at the same time, simultaneously wrap the wrapping layer 2 around the outside of the cable core. Step 3: Extrude the outer sheath 1 onto the outside of the wrapping layer 2.

[0069] The remainder is the same as in Example 1.

[0070] Any parts or structures not specifically described in this invention can be made using existing technologies or products, and will not be elaborated upon here.

[0071] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An anti-electromagnetic interference dynamic cable for a body-embodied intelligent robot, characterized by, The cable comprises, from outside to inside, an outer sheath, a wrapping layer and a cable core, the cable core comprises a plurality of wire pairs, and a framework is arranged in the cable core, the framework separates the cable core into a plurality of independent cavities, and each cavity contains at least one wire pair.

2. The anti-electromagnetic interference dynamic cable for embodied intelligent robot according to claim 1, characterized in that, The outer sheath is prepared from the following components by weight: Polyether TPU 100 parts Surface-modified nano-silica 3-10 parts Chopped fiber 5-15 parts Hydrogenated styrene-butadiene block copolymer 5-10 parts Anti-hydrolysis agent 0.5-2 parts Antioxidant 0.3-1 part Lubricant 0.2-1 part.

3. The anti-EMI dynamic cable for body-aware robots according to claim 2, wherein, The outer sheath is prepared by the following steps: 1) The nano-silica is treated with a silane coupling agent to obtain surface-modified nano-silica, which is dried in vacuum at 70-90°C for 3-5h; The chopped fiber is soaked in a coupling agent ethanol solution and then dried; 2) 100 parts of polyether TPU, 3-10 parts of surface-modified nano-silica, 5-15 parts of chopped fiber, 5-10 parts of hydrogenated styrene-butadiene block copolymer, 0.5-2 parts of anti-hydrolysis agent, 0.3-1 part of antioxidant and 0.2-1 part of lubricant are added into a high-speed mixer and mixed at 1300-2000 rpm for 5-20 min; 3) The material obtained in step 2) is sent into a twin-screw extruder for melt blending, extrusion, cooling and granulation.

4. The anti-EMI dynamic cable for embodied intelligent robot according to claim 3, wherein, In step 3), the heating is performed in sections: zone 1, 160-165°C; zone 2, 170-175°C; zone 3, 180-185°C; zone 4, 180-185°C; and die head, 185-190°C, with a screw rotation speed of 250-350 rpm.

5. The EMI resistant dynamic cable for body-aware robots of claim 1, wherein, The wrapping layer is a graphene-modified polyester tape with a thickness of 25-60μm, a surface resistance of ≤5Ω / □ and an electromagnetic shielding effectiveness of ≥30dB.

6. The EMI resistant dynamic cable for body-aware robots of claim 1, wherein, The cable core comprises a plurality of power wire pairs and a plurality of signal wire pairs, each power wire pair is formed by twisting two power insulated core wires, and each signal wire pair is formed by twisting two signal insulated core wires, and the twisting pitch of the power insulated core wires is greater than that of the signal insulated core wires.

7. The EMI resistant dynamic cable for body-aware robots of claim 1, wherein, The framework is in the shape of a cross, a triangle or a star, has a volume resistivity of ≤1Ω·cm, a bending modulus of ≥15GPa and an electromagnetic shielding effectiveness of ≥40dB.

8. The EMI resistant dynamic cable for body-aware robots of claim 1, wherein, The framework is prepared from the following components by weight: Liquid crystal polymer LCP 100 parts Graphene nanosheet 5-15 parts Carbon nanotube 2-6 parts Compatibilizer 3-8 parts Antioxidant 0.1-0.6 part.

9. The EMI resistant dynamic cable for a body-aware robot of claim 8, wherein, The framework is prepared by the following steps: (1) The graphene nanosheet and the carbon nanotube are dispersed in N-methyl pyrrolidone (NMP) solvent, and ultrasonic treatment is performed at an ultrasonic power of 600-900W for 1-2h to form a stable mixed conductive slurry; (2) The liquid crystal polymer LCP, the mixed conductive slurry, the compatibilizer and the antioxidant are sent into a twin-screw extruder for melt blending, extrusion, cooling and granulation to obtain a framework master batch; (3) The framework master batch obtained in step (2) is melt-extruded at 300-340°C, directly formed through a cross-shaped, triangular or star-shaped die, and immediately twisted with the wire pairs to realize continuous production.

10. A method of manufacturing an anti-electromagnetic interference dynamic cable for a body-aware robot according to any one of claims 1-9, characterized in that, The following steps are included: Step one, preparing power insulated core wires and signal insulated core wires, each two power insulated core wires are twisted to form a power wire pair, and each two signal insulated core wires are twisted to form a signal wire pair; Step two, synchronously twisting the power wire pair and the signal wire pair with the skeleton, and synchronously wrapping the wrapping layer outside the cable core while twisting; Step three, extruding the outer sheath outside the wrapping layer.

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