A production method and forming device of a high-flexibility anti-twist composite cable for an industrial robot joint

Abstract

The application discloses a kind of high flexibility anti-torsion composite cable production method and forming device for industrial robot joint, specifically relates to cable production field, including cable body, the conveying path of the cable body is sequentially provided with guiding device, bidirectional wrapping mechanism, pressing device, winding device from left to right;Servo motor output end drives front connecting rod rotation, and is driven by the transmission of two mutually meshing reverse gears, so that two connecting rods rotate reversely, and then is meshed and driven by two umbrella-shaped gears with opposite rotation and corresponding bevel gear, drive two rotating rings reverse rotation along annular guide rail, rotating ring drives corresponding reel to do revolution, reel is synchronously realized rotation under the pulling action of fiber line, and fiber line on it is released at a constant speed in the process of rotation, and is wound on the surface of cable body moving at a constant speed, to realize the effect that fiber line is bidirectionally spirally wound on the surface of cable body.

Description

Technical Field

[0001] This invention relates to the field of cable manufacturing technology, specifically a method and forming apparatus for producing highly flexible, torsion-resistant composite cables for industrial robot joints. Background Technology

[0002] Industrial robot joints undergo frequent, high-frequency, and large-angle torsional and bending movements during operation, placing stringent requirements on the flexibility, torsional resistance, and structural stability of the supporting cables. To meet these demands, a torsional reinforcement layer is added to the cable body during manufacturing. This layer, made of high-strength materials such as aramid fibers, disperses torsional stress and prevents conductor breakage and insulation cracking under dynamic operating conditions. Currently, the wrapping process of the torsional reinforcement layer is a core factor affecting the cable's torsional performance, and related wrapping devices and methods have become a key focus of industry research.

[0003] Chinese patent publication CN117352236A discloses a cable core coating and forming device for cable processing, filed on December 5, 2023. This patented technology, through the extrusion of an outer cylinder and its internal structure, creates an anti-slip structure on the inner side of the extruded outer insulation layer, strengthening the fixation between the cable core and the insulation layer, preventing the cable core from twisting on its own, and also preventing internal core deviation. However, this device can only perform wrapping operations in one direction, resulting in a unidirectional spiral structure for the reinforcing layer. When the cable is subjected to forward and reverse torsion, the spiral structure is prone to stress concentration, leading to relative slippage between the reinforcing layer and the cable body, thus affecting the cable's torsional life and making it difficult to meet the requirement of over 5 million torsional cycles for industrial robot joints. Therefore, this invention provides a method and forming device for producing highly flexible anti-torsion composite cables for industrial robot joints to solve the problems mentioned in the background. Summary of the Invention

[0004] The purpose of this invention is to provide a method and forming device for producing highly flexible anti-torsion composite cables for industrial robot joints, thereby achieving the effect of wrapping the cable in two rotational directions simultaneously.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A high-flexibility anti-torsion composite cable forming device for industrial robot joints includes a cable body. A guide device, a bidirectional wrapping mechanism, a pressing device, and a winding device are sequentially arranged from left to right along the cable body's conveying path. The bidirectional wrapping mechanism includes a support base. A fixed ring is fixedly connected to the top of the support base. Rotating rings with opposite rotation directions are respectively arranged on the front and rear sides of the fixed ring. A set of rotating rods is rotatably connected to the outer side of each rotating ring, and a winding reel is fixedly installed on the outer side of each rotating rod.

[0007] As a further embodiment of the present invention: A ring-shaped guide rail is fixedly connected to the front and rear sides of the fixed ring, and the ring-shaped guide rail is rotatably connected to the corresponding rotating ring; a connecting frame is fixedly connected to the right side of the support base via a mounting bracket, and a pair of connecting rods arranged in a front-to-back configuration are rotatably connected to the inner right side wall of the connecting frame; meshing reverse gears are fixedly connected to the outer sides of the two connecting rods, and bevel gears are fixedly connected to the left ends of the two connecting rods; a bevel gear ring is fixedly connected to the outer side of the rotating ring, and the bevel gear ring meshes with the corresponding bevel gear; a servo motor is fixedly installed on the right side of the connecting frame, and the output end of the servo motor is fixedly connected to the end of the front connecting rod; a tensioning device is provided in the clockwise direction of the winding reel.

[0008] As a further embodiment of the present invention: a guiding mechanism is provided on the inner side of the winding reel. The guiding mechanism includes a fixed frame, an L-shaped mounting plate is fixedly connected to the inner side of the fixed frame, the mounting plate is fixedly connected to the surface of the rotating ring, and a yarn guide nozzle is fixedly connected to the top of the fixed frame. The yarn guide nozzle is tapered with a gradually narrowing end facing the cable body. The inside of the yarn guide nozzle is hollow, and mirror-symmetrical yarn guide rollers are fixedly installed on the front and rear sides of the inside.

[0009] As a further embodiment of the present invention: a collection mechanism is provided on the outside of the fixed frame. The collection mechanism includes a collection box fixedly connected to the fixed frame. The inside of the collection box is under negative pressure and is hollow with a filter plate fixedly installed. An openable sealing plate is provided at the bottom of the collection box. The sealing plate is fixed to the bottom of the collection box by a buckle. A lower hose and an upper hose are sealed and inserted into the top of the collection box through a connector. A one-way valve is installed on the outside of the lower hose and the upper hose respectively. The one-way valve allows the airflow to flow only in one direction to the collection box. The other side of the lower hose and the upper hose penetrates the corresponding side of the yarn guide nozzle surface and is fixedly connected to an air suction box. The two air suction boxes are symmetrically distributed vertically and are directly opposite the inner friction area of ​​the two yarn guide rollers.

[0010] As a further embodiment of the present invention: a pair of air inlets are fixedly connected to the outside of the collection box, and pistons are slidably connected inside the two air inlets. An air inlet push rod is fixedly connected to the outside of the pistons. A one-way valve is installed on the air inlet, which only allows the air inlet to draw air from the collection box. An exhaust pipe is fixedly connected to the side of the air inlet, and a one-way valve is installed on the outside of the exhaust pipe. An L-shaped rod is fixedly connected to the outside of the outer air inlet push rod. The L-shaped rod consists of a horizontal bar and a vertical bar. A straight contact rod is fixedly connected to the inside of the horizontal bar, and a rolling rod is rotatably connected to the outside of the straight contact rod. A guide block is fixedly connected to the top of the mounting plate. The guide block is slidably connected to the straight contact rod to ensure smooth movement of the straight contact rod. A support ring is fixedly connected to the inner side of the fixed ring. A continuous "S"-shaped path groove is opened on the inner side of the support ring. The straight contact rod is rotatably connected to the path groove. A support plate is fixedly connected to the outer side of the collection box. A flipping rod is rotatably connected to the top of the support plate through a rotating rod. Through waist holes are opened on the top of the left and right sides of the flipping rod. A driving rod is slidably connected in the two waist holes. The bottom of the driving rod is fixedly connected to the corresponding air intake push rod.

[0011] As a further aspect of the present invention: the collection box is internally provided with an air regulating mechanism, which includes a pair of communicating grooves formed on the top inner side of the collection box. The pair of communicating grooves are arranged front to back, corresponding to the connection points of the upper and lower hoses, and have a rectangular cross-section. A bonding plate is slidably connected to the bottom inner side of the collection box, adhering to its surface. A connecting rod is fixedly connected to the left side of the bonding plate, and a vertical sealing push rod is fixedly connected to the left side of the connecting rod. One side of the sealing push rod penetrates the collection box, and a sliding sealing sleeve is provided at the connection point. The outer side of the sealing push rod is fixed... A retaining ring is connected, and a connecting spring is fixedly connected to one side of the retaining ring corresponding to the collection box. The other side of the connecting spring is fixedly connected to the collection box. A rotating roller is fixedly installed at the other end of the sealing push rod. A guide block two is fixedly connected to the top of the mounting plate. The guide block two is slidably connected to the sealing push rod. An adjusting ring is fixedly connected to the inner side of the support ring. An adjusting groove is opened on one side of the adjusting ring corresponding to the sealing push rod. The rotating roller is tumblingly connected to the adjusting groove. The adjusting groove is divided into four areas: a, b, c, and d, which correspond to the left, front, right, and rear areas of the rotating ring, respectively.

[0012] This invention also provides a method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints, comprising the following steps:

[0013] Step 1: The cable body is laid out and conveyed. The cable body is guided by the guiding device so that it passes through the bidirectional wrapping mechanism and the clamping device in sequence, and then the end is fixed to the surface of the winding roller of the winding device.

[0014] Step 2: Arrange the guiding device, bidirectional wrapping mechanism, clamping device, and winding device from left to right according to the process flow to ensure that the central axis of each device is collinear and to avoid deviation and jamming during cable transportation;

[0015] Step 3: Pass the cable body end on the pay-off frame through the guide hole of the guide device, the center through hole of the fixed ring of the bidirectional wrapping mechanism, the gap between the two rotating rings, and between the two pressing wheels of the pressing device in sequence. Finally, fix the cable body end on the surface of the winding roller of the winding device. Pull the cable body to ensure that the cable is in a straight and taut state in each device, without slack or bending. Adjust the position of the guide wheel of the guide device to limit the cable body.

[0016] Step 4: Draw the end of the aramid fiber from the winding reel, pass the fiber thread around the outside of the roller of the tensioning device, and then through the center through hole of the guide nozzle of the guiding mechanism. Then tighten the end of the fiber thread that has passed through the guide nozzle and fix it at the designated wrapping start position of the cable body. Use high temperature tape to temporarily fix it. Repeat the above operation to complete the fiber thread threading and pre-fixing of all winding reels on the bidirectional wrapping mechanism to ensure that the tension of each fiber thread is consistent.

[0017] Step 5: Synchronous wrapping of bidirectional spiral anti-torsion fiber layer. Start the winding device and bidirectional wrapping mechanism to make the aramid fiber synchronously wrap around the outer surface of the cable body conveyed at a uniform speed in a left and right spiral cross manner, forming a double anti-torsion reinforcement layer. During the wrapping process, the guiding mechanism adapts to the fiber exit angle, and the collecting mechanism collects the fiber powder generated by friction.

[0018] Step 6: The cable body with the fiber layer wrapped is pulled into the clamping device by the winding device; the clamping roller of the clamping device gently clamps the cable under the preset pressure, so that the aramid fiber reinforcement layer and the insulation layer of the cable body are tightly attached, eliminating the gap between the fiber layer and the cable body, and realizing the initial shaping of the wrapping layer.

[0019] Step 7: After being pressed and shaped, the cable body enters the winding device, where it is wound at a constant speed and neatly on the winding roller. During the winding process, the cable laying mechanism of the winding roller is adjusted. When the cable body is wound to the preset length, the servo motor of the bidirectional winding mechanism is turned off to stop the fiber layer winding. The winding continues until the cable end reaches the designated position on the winding roller. The winding device is then turned off to complete the winding of a single roll of cable. Finally, the cable body is cut off, and the wound cable is removed from the winding roller. The cable end is sealed to prevent moisture and dust from entering.

[0020] Step 8: Place the cable with the fiber-reinforced layer wrapped on the cable feeder and apply the outer sheath through an extruder. Select a weather-resistant, wear-resistant, and highly flexible polyurethane sheath material, add it to the extruder hopper, heat it to 190-210℃ in the extruder to melt and plasticize it, and then extrude it onto the outer surface of the fiber-reinforced layer of the cable through the coating die to form the outer sheath layer. During the extrusion process, ensure that the extrusion speed, cable traction speed and sheath layer wall thickness are matched, control the sheath layer wall thickness deviation within ±0.1mm, and avoid defects such as eccentricity, air bubbles, material shortage, and diameter reduction.

[0021] Step 9: The cable covered with the outer sheath is first sent into the air-cooling channel for pre-cooling. The air-cooling temperature is 25-30℃ and the cooling time is 5-10 seconds, which allows the surface of the sheath to form quickly and avoids deformation and adhesion of the sheath during the subsequent water cooling process. After air-cooling pre-cooling, the cable is sent into the water-cooling box for gradient cooling. The temperature of the cooling water in the water-cooling box is 40-30-20℃ from the inlet to the outlet. The cooling time of the cable in the water-cooling box is 20-30 seconds, which allows the sheath to be cooled gradually from the outside to the inside. This avoids cracking of the sheath and internal stress caused by excessive temperature difference and ensures the tightness of the adhesion between the sheath and the fiber reinforcement layer. After cooling, the cable is passed through the air-drying wheel group, and the residual moisture on the surface of the cable is removed by high-pressure cold air to ensure that the surface of the cable is clean, dry and free of water droplets.

[0022] Step 10: Inspect the cable surface using visual inspection equipment to confirm that the sheath layer is smooth, without scratches, dents, or bulges, the fiber reinforcement layer is not exposed, and the cable outer diameter meets the specifications. Samples are taken from each batch of finished cables for multiple performance tests, including: flexibility test, torsion test, insulation performance test, and tensile performance test.

[0023] In the above method, step 1 includes the following steps:

[0024] Step 1.1: Place the prepared cable body on the cable laying frame. After checking that the surface of the cable body is undamaged and the insulation layer is uncracked, pass its end through the guide hole of the guide device to complete the cable body laying and positioning.

[0025] Step 1.2: Pass the end of the cable body through the guide device through the central through hole of the fixed ring of the bidirectional wrapping mechanism, the gap between the two rotating rings, and then through the gap between the two clamping wheels of the clamping device.

[0026] Step 1.3: Tighten and fix the end of the cable body to the surface of the winding roller of the winding device, and adjust the position of the guide wheel of the guide device so that the cable body is in a straight and taut state without slack, bending or deviation.

[0027] In the above method, step 2 includes the following steps:

[0028] Step 2.1, Debug the bidirectional wrapping mechanism: Check the rotational fit between the annular guide rails on both sides of the fixed ring and the rotating ring to ensure that the rotating ring rotates smoothly without jamming; start the servo motor, test the meshing transmission effect of the two reverse gears, bevel gears and bevel gear rings, adjust the servo motor speed according to the wrapping process requirements, set the revolution speed of the rotating ring, and control the fiber layer wrapping pitch to 5-10mm.

[0029] Step 2.2, Adjusting the tensioning device: Wind the aramid fiber onto the winding reel, and use the spring to elastically press the roller assembly of the tensioning device against the outer surface of the winding reel. Check the contact fit between the roller and the winding reel.

[0030] Step 2.3, Debug the guiding mechanism and collecting mechanism: Check the rolling fit between the rolling rod and the path groove, manually rotate the rotating ring to confirm that the yarn guide nozzle can achieve small reciprocating rotation and that the rotation angle is compatible with the yarn exit position of the winding disc; check the sealing performance of the piston, one-way valve one, and one-way valve two of the collecting mechanism to confirm that the air suction box can generate a stable negative pressure.

[0031] Step 2.4, Adjust the clamping device and winding device: Adjust the pressure of the clamping roller of the clamping device; adjust the speed of the winding roller of the winding device, and set a constant winding speed so that the winding speed matches the cable conveying speed and the wrapping speed.

[0032] In the above method, step 5 includes the following steps:

[0033] Step 5.1: Start the winding device. The winding roller rotates at a constant speed, driving the cable body to be conveyed to the right at a uniform speed in the horizontal direction. The conveying speed is controlled at 3-8m / min. At the same time, start the servo motor of the bidirectional wrapping mechanism. The servo motor drives the front connecting rod to rotate. Through two meshing reverse gears, the front and rear connecting rods rotate in opposite directions. Then, through the meshing of the bevel gear and the bevel gear ring, the two rotating rings are driven to revolve in opposite directions along the annular guide rail.

[0034] Step 5.2: During the revolution of the rotating ring, the winding reel revolves with the rotating ring. At the same time, under the tension of the fiber line pulled by the cable body, the winding reel rotates around its own rotating rod and releases the aramid fiber line at a uniform speed. The two rotating rings rotating in opposite directions drive the fiber line to be wound synchronously on the outer surface of the cable body that is being conveyed at a uniform speed in a left and right spiral cross manner.

[0035] Step 5.3: During the wrapping process, the tensioning device always provides constant damping tension for the fiber thread exit;

[0036] Step 5.4: During the fiber wrapping process, the collecting mechanism and the guiding mechanism work together. The reciprocating sliding of the piston creates a negative pressure in the collecting box, which accurately picks up the powder generated at the friction point between the yarn guide and the fiber.

[0037] Step 5.5: Conduct real-time inspections during the wrapping process to check the uniformity of the fiber layer wrapping, check the operating status of each mechanism, and promptly clean the fiber powder in the collection box to ensure stable equipment operation.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This invention relates to a method and forming device for producing highly flexible, anti-torsion composite cables for industrial robot joints. A servo motor output drives the front connecting rod to rotate, and through the transmission of two meshing reverse gears, the two connecting rods rotate in opposite directions. Furthermore, through the meshing transmission of two oppositely rotating bevel gears and corresponding bevel gear rings, two rotating rings rotate in opposite directions along an annular guide rail. The rotating rings drive the corresponding winding discs to revolve. The winding discs, under the pull of the fiber threads, synchronously rotate, releasing the fiber threads at a uniform speed during rotation and winding them onto the uniformly moving surface of the cable body. This achieves the effect of bidirectional helical winding of fiber threads on the outer surface of the cable body. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of a production method and forming device for a high-flexibility anti-torsion composite cable for industrial robot joints.

[0041] Figure 2 A schematic diagram of a bidirectional wrapping mechanism in a production method and forming device for a high-flexibility, torsion-resistant composite cable for industrial robot joints.

[0042] Figure 3 This is a schematic diagram of the splitting structure of the bidirectional wrapping mechanism in a production method and forming device for a high-flexibility anti-torsion composite cable for industrial robot joints.

[0043] Figure 4 This is a schematic diagram of the bidirectional wrapping mechanism in a production method and forming device for a high-flexibility anti-torsion composite cable for industrial robot joints, taken from another perspective.

[0044] Figure 5 This is a schematic diagram of a partial structure of a rotating ring in a method and molding device for producing a highly flexible, torsion-resistant composite cable for industrial robot joints.

[0045] Figure 6 This is a schematic diagram of the collection mechanism in a production method and forming device for a highly flexible, torsion-resistant composite cable for industrial robot joints.

[0046] Figure 7 This is a schematic cross-sectional view of the collecting mechanism in a production method and forming device for a highly flexible, torsion-resistant composite cable for industrial robot joints.

[0047] Figure 8This is a cross-sectional schematic diagram of the air regulating mechanism in a production method and forming device for a high-flexibility anti-torsion composite cable for industrial robot joints.

[0048] Figure 9 A method and forming apparatus for producing highly flexible, torsion-resistant composite cables for industrial robot joints. Figure 6 Enlarged schematic diagram of the structure at point A in the middle.

[0049] Figure 10 This is a schematic diagram showing the positional changes of the adjusting groove and the yarn guide nozzle in a production method and forming device for a high-flexibility anti-torsion composite cable for industrial robot joints.

[0050] In the diagram: 10. Cable body; 11. Guiding device; 12. Pressing device; 13. Winding device; 20. Bidirectional wrapping mechanism; 201. Support base; 202. Fixing ring; 203. Annular guide rail; 204. Rotating ring; 205. Rotating rod; 206. Winding reel; 207. Connecting frame; 208. Connecting rod; 209. Reverse gear; 210. Bevel gear; 211. Bevel gear ring; 212. Servo motor; 30. Tensioning device; 40. Guiding mechanism; 401. Fixing frame; 402. Mounting plate; 403. Yarn guide nozzle; 404. Yarn guide roller; 50. Collection mechanism; 501. Collection box; 502. Filter plate; 503. Lower hose; 5 04. Upper hose; 505. Intake box; 506. Intake cylinder; 507. One-way valve II; 508. Piston; 509. Intake push rod; 510. Exhaust pipe; 511. Support plate; 512. Flipping rod; 513. Waist hole; 514. Drive rod; 515. L-shaped rod; 516. Straight contact rod; 517. Guide block I; 518. Rolling rod; 519. Support ring; 520. Path groove; 60. Air regulating mechanism; 601. Connecting groove; 602. Adhesive plate; 603. Sealing push rod; 604. Connecting rod; 605. Barrier ring; 606. Connecting spring; 607. Guide block II; 608. Rotating roller; 609. Adjusting ring; 610. Adjusting groove. Detailed Implementation

[0051] like Figure 1 As shown, it is a schematic diagram of the overall structure of the forming device. The device includes a cable body 10. From left to right, a guide device 11, a bidirectional wrapping mechanism 20, a pressing device 12, and a winding device 13 are arranged on the conveying path of the cable body 10.

[0052] like Figure 2As shown, the bidirectional winding mechanism 20 includes a support base 201, and a fixing ring 202 is fixedly connected to the top of the support base 201. Rotating rings 204 with opposite rotation directions are respectively provided on the front and rear sides of the fixing ring 202. A set of rotating rods 205 are rotatably connected to the outer side of each rotating ring 204, and a winding reel 206 is fixedly installed on the outer side of each rotating rod 205 for winding anti-torsion fiber yarns such as aramid.

[0053] Specifically, annular guide rails 203 are fixedly connected to the front and rear sides of the fixed ring 202, respectively. The annular guide rails 203 are rotatably connected to the corresponding rotating ring 204, providing stable support for the rotating ring 204. A connecting frame 207 is fixedly connected to the right side of the support base 201 via a mounting bracket. A pair of connecting rods 208 arranged in a front-to-back configuration are rotatably connected to the inner right side wall of the connecting frame 207. Reverse gears 209 that mesh with each other are fixedly connected to the outer sides of the two connecting rods 208. A bevel gear 210 is fixedly connected to the left end of the two connecting rods 208, and a bevel gear ring 211 is fixedly connected to the outer side of the rotating ring 204. The bevel gear ring 211 meshes with the corresponding bevel gear 210. A servo motor 212 is fixedly installed on the right side of the connecting frame 207. The output end of the servo motor 212 is fixedly connected to the end of the front connecting rod 208, and is used to drive the double rotating rings 204 to rotate in opposite directions.

[0054] like Figure 3 and Figure 4 As shown, preferably, a tensioning device 30 is provided in the clockwise direction of the winding reel 206, and the tensioning device 30 is fixedly installed on the surface of the rotating ring 204. The tensioning device 30 mainly consists of a spring and a roller assembly. In use, the elastic force of the spring pushes the roller assembly against the outer peripheral surface of the winding reel 206. This design prevents the winding reel 206 from rotating too quickly due to inertia, which could cause the fiber thread to loosen or become tangled. On the other hand, it provides a constant damping tension for the fiber thread output, ensuring that the output tension is stable throughout the entire process.

[0055] Initially, the cable body 10 passes sequentially through the guide device 11, the center of the bidirectional wrapping mechanism 20, and the clamping device 12, and is finally fixed on the surface of the winding roller of the winding device 13.

[0056] During use, the take-up roller in the take-up device 13 rotates at a constant speed and uniformly winds the cable body 10 onto the surface. During this process, the guide device 11 guides and limits the movement of the cable body 10 to prevent it from deviating. The bidirectional wrapping mechanism 20 winds and fixes the reinforcing fiber layer onto the surface of the cable body 10 in a bidirectional spiral manner. Then, the pressing device 12 presses the wrapped cable body 10 tightly to ensure that the fiber layer adheres tightly to the cable body 10, preventing the wrapping layer from loosening. Finally, the wrapped cable body 10 is neatly wound onto the take-up roller.

[0057] During the startup of the bidirectional winding mechanism 20, the servo motor 212 is first started by an external power supply. The output of the servo motor 212 drives the front connecting rod 208 to rotate, and through the transmission of two meshing reverse gears 209, the two connecting rods 208 rotate in opposite directions. Then, through the meshing transmission of two bevel gears 210 with corresponding bevel gear rings 211, the two rotating rings 204 are driven to rotate in opposite directions along the annular guide rail 203. The rotating rings 204 drive the corresponding winding discs 206 to revolve. Under the pull of the fiber thread, the winding discs 206 synchronously rotate, and during the rotation, the fiber thread on them is released at a uniform speed and wound around the surface of the uniformly moving cable body 10, thereby achieving the effect of bidirectional spiral winding of fiber thread on the outer surface of the cable body 10.

[0058] like Figure 8 As shown, a guiding mechanism 40 is provided on the inner side of the winding reel 206. The guiding mechanism 40 includes a fixing frame 401, and an L-shaped mounting plate 402 is fixedly connected to the inner side of the fixing frame 401. The mounting plate 402 is fixedly connected to the surface of the rotating ring 204. A yarn guide nozzle 403 is fixedly connected to the top of the fixing frame 401. The end of the yarn guide nozzle 403 facing the cable body 10 is tapered and gradually narrows to reduce wind resistance and cable routing resistance. The interior of the yarn guide nozzle 403 is hollow, and mirror-symmetrical yarn guide rollers 404 are fixedly installed on its front and rear sides respectively.

[0059] In use, the fiber thread exiting the winding reel 206 is led out and inserted between the two guide rollers 404, and then the end is fixed to the surface of the cable body 10. During the winding process, the two guide rollers 404 guide the fiber thread by rolling. Key effect supplement: When the fiber thread has a slight tilt due to the revolution of the winding reel 206 or its own infeed, the two parallel guide rollers 404 can adaptively conform to the surface of the fiber thread through their own rotation, preventing the fiber thread from directly contacting the inner wall of the hard guide nozzle 403, thus converting traditional sliding friction into rolling friction. At the same time, the double roller structure forms a stable "clamping guide," effectively preventing the fiber thread from shifting laterally or deviating during high-speed winding, ensuring that the exit angle of the fiber thread and the surface of the cable body 10 remains consistent, and significantly reducing the probability of fiber fuzzing, breakage, and powder generation.

[0060] refer to Figure 5 , Figure 6 and Figure 7As shown, a collection mechanism 50 is provided on the outer side of the fixed frame 401. The collection mechanism 50 includes a collection box 501 fixedly connected to the fixed frame 401. The inside of the collection box 501 is under negative pressure and is hollow with a filter plate 502 fixedly installed to block the inhaled powder. The bottom of the collection box 501 is provided with an openable sealing plate, which is fixed to the bottom of the collection box 501 by a snap fastener, facilitating subsequent cleaning of the collected powder inside. The top of the collection box 501 is sealed with a lower hose 503 and an upper hose 504 via a connector. A one-way valve is installed on the outer side of the lower hose 503 and the upper hose 504 respectively, which allows airflow to flow only in one direction to the collection box 501. The other side of the lower hose 503 and the upper hose 504 penetrates the corresponding side of the surface of the yarn guide nozzle 403 and is fixedly connected to the suction box 505. The two suction boxes 505 are symmetrically distributed vertically and are directly opposite the inner friction area of ​​the two yarn guide rollers 404, precisely aligning with the source of powder production.

[0061] Specifically, such as Figure 9 As shown, a pair of air inlets 506 are fixedly connected to the outer side of the collection box 501. A piston 508 is slidably connected inside the two air inlets 506, and an air inlet push rod 509 is fixedly connected to the outer side of the piston 508. A second one-way valve 507 is installed on the air inlet 506, which only allows the air inlet 506 to draw air from the collection box 501. An exhaust pipe 510 is fixedly connected to the side of the air inlet 506, and a third one-way valve is installed on the outer side of the exhaust pipe 510. The third one-way valve is used to discharge the gas inside the air inlet 506 when the piston 508 pushes inward. Through the design of the two one-way valves, the intake and exhaust paths of the air inlet 506 are separated. An L-shaped rod 515 is fixedly connected to the outer side of the outer air inlet push rod 509. The L-shaped rod 515 consists of a horizontal bar and a vertical bar, with a straight contact rod 516 fixedly connected to the inner side of the horizontal bar. A rolling rod 518 is rotatably connected to the outer side of the straight contact rod 516. A guide block 517 is fixedly connected to the top of the mounting plate 402, and the guide block 517 is slidably connected to the straight contact rod 516 to ensure smooth movement of the straight contact rod 516. A support ring 519 is fixedly connected to the inner side of the fixing ring 202, and a continuous "S"-shaped path groove 520 is opened on the inner side of the support ring 519. The straight contact rod 516 is slidably connected to the path groove 520. A support plate 511 is fixedly connected to the outer side of the collection box 501. A flipping rod 512 is rotatably connected to the top of the support plate 511 through a rotating rod. Through waist holes 513 are opened on the top of the left and right sides of the flipping rod 512. A driving rod 514 is slidably connected in the two waist holes 513, and the bottom of the driving rod 514 is fixedly connected to the corresponding air intake push rod 509.

[0062] The yarn guide nozzle 403 inevitably comes into contact with the fiber thread during use. Although the two yarn guide rollers 404 significantly reduce friction, a small amount of fiber dust will still be generated at the moment of slight inclination of the fiber entry angle or friction between single filaments. If this dust is not collected, it will drift into the production environment, causing dust pollution and harming human health; at the same time, the dust easily adheres to the surface of the cable body 10, affecting the bonding effect of subsequent sheathing, and may also enter the equipment gaps, causing component wear. Therefore, this device proposes a collection mechanism 50.

[0063] The collection mechanism 50 is linked to the bidirectional wrapping mechanism 20. When the rotating ring 204 rotates, it drives the rolling rod 518 to roll along the path groove 520, thereby driving the straight contact rod 516 and the L-shaped rod 515 to move. This, in turn, drives the straight contact rod 516 and the L-shaped rod 515 to move the outer air intake push rod 509 and the piston 508 outward along the air intake cylinder 506, creating a negative pressure inside the air intake cylinder 506. This causes the flipping rod 512 to flip counterclockwise. Through the cooperation of the waist hole 513 and the driving rod 514, the inner air intake push rod 509 and the piston 508 move inward, and the gas is discharged through the exhaust pipe 510. Due to the asynchronous movement of the two air intake push rods 509, the collection box 501 is kept under a stable negative pressure. The negative pressure collection box 501, through the upper hose 504, lower hose 503, and a pair of suction boxes 505, precisely extracts the powder generated at the friction point between the yarn guide roller 404 and the fiber thread. The powder enters the collection box 501 through the pipes and is blocked and collected by the filter plate 502, thereby achieving efficient powder collection.

[0064] like Figure 10As shown, the collection box 501 is internally equipped with an air regulating mechanism 60. The air regulating mechanism 60 includes a pair of communicating grooves 601 formed on the top inner side of the collection box 501. These grooves are arranged front-to-back, corresponding to the connection points of the upper hose 504 and the lower hose 503, and have a rectangular cross-section. An adhesive plate 602 is slidably connected to the bottom inner side of the collection box 501, conforming to its surface. A connecting rod 604 is fixedly connected to the left side of the adhesive plate 602. A vertical sealing push rod 603 is fixedly connected to the left side of the connecting rod 604. One side of the sealing push rod 603 penetrates the collection box 501, and a sliding sealing sleeve is provided at the connection point, thereby achieving a sealing sliding effect for the sealing push rod 603 within the collection box 501. A retaining ring 605 is fixedly connected to the outer side of the sealing push rod 603. A connecting spring 606 is fixedly connected to one side of the retaining ring 605 corresponding to the collection box 501. The other side of the connecting spring 606 is fixedly connected to the collection box 501, providing a reset elastic force. A rotating roller 608 is fixedly installed at the other end of the sealing push rod 603. A guide block 607 is fixedly connected to the top of the mounting plate 402, and the guide block 607 is slidably connected to the sealing push rod 603. An adjusting ring 609 is fixedly connected to the inner side of the support ring 519. An adjusting groove 610 is opened on one side of the adjusting ring 609 corresponding to the sealing push rod 603. The rotating roller 608 is tumblingly connected to the adjusting groove 610. The adjusting groove 610 is divided into four regions: a, b, c, and d, which correspond to the left, front, right, and rear regions of the rotating ring 204's revolution, respectively.

[0065] Regions b and d are flat areas. When the rotating roller 608 rolls along regions b and d, the sealing push rod 603 will not move back and forth because the grooves in these areas are flat. In this state, the covering area of ​​the bonding plate 602 on the two connecting grooves 601 is consistent, so the air intake of the upper hose 504 and the lower hose 503 remains balanced, which is suitable for horizontal working conditions where the yarn guide nozzle 403 is directly above or below, and powder is evenly absorbed on both sides. Region a is a convex arc-shaped area. When the rotating roller 608 rolls along region a, because this area is a centrally symmetrical arc protruding outward, its highest point is on its left side. As the rotating roller 608 revolves, it gradually moves backward and passes the center point before gradually moving forward, thereby driving the sealing push rod 603 to move backward as a whole. The bonding plate 602 slides backward via the docking rod 604, increasing the area covered by the bonding plate 602 on the rear connecting groove 601 while increasing the exposed area on the front connecting groove 601. At this time, the air intake of the lower hose 503 (corresponding to the front / lower position) gradually increases, while the air intake of the upper hose 504 (corresponding to the rear / higher position) gradually decreases. This area corresponds to the condition where the yarn guide nozzle 403 is located to the left of the rotating ring 204. Due to gravity and the direction of yarn movement, the powder mainly disperses downwards or accumulates near the lower suction box 505. By increasing the air intake of the lower hose 503 and decreasing the air intake of the upper hose 504, precise powder collection is achieved for the low-position powder production area, avoiding airflow turbulence caused by uniform air intake from top to bottom, and improving powder collection efficiency in the left-side condition. When facing the concave arc-shaped area in region c, since region c has the opposite shape to region a, its right side is the lowest point, and the groove is concave inwards. As the rotating roller 608 rolls, the material is guided to the inside of the groove, causing the sealing push rod 603 to move forward as a whole. The connecting rod 604 drives the bonding plate 602 to slide forward, increasing the area of ​​the bonding plate 602 covering the front connecting groove 601 and increasing the exposed area of ​​the rear connecting groove 601. This area corresponds to the condition where the yarn guide nozzle 403 is located to the right of the rotating ring 204, at which point the powder released from the fiber mainly floats upwards or is at a high position. By reducing the air intake of the lower hose 503 and increasing the air intake of the upper hose 504, precise powder collection is achieved for the high-level powder production area.

[0066] In summary, the air regulating mechanism 60, through the cooperation of the rotating roller 608 and the regulating groove 610, achieves dynamic adaptive adjustment of the air intake. Left side (area a): focuses on enhancing downward suction to remove downward-scattered powder; Right side (area c): focuses on enhancing upward suction to remove upward-scattered powder; Upper and lower (areas b / d): balanced dual suction ensures comprehensive horizontal coverage. This linkage mechanism ensures that regardless of the rotation angle of the yarn guide nozzle 403, powder can be precisely removed using the optimal airflow path, achieving efficient cleaning throughout the entire cycle without dead angles, and completely eliminating the risk of powder accumulation.

[0067] This invention also proposes a method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints, comprising the following steps:

[0068] Step 1: The cable body 10 is unloaded and conveyed. The cable body 10 is guided by the guiding device 11 so that it passes through the bidirectional wrapping mechanism 20 and the pressing device 12 in sequence, and then the end is fixed to the surface of the winding roller of the winding device 13.

[0069] Step 2: Arrange the guiding device 11, bidirectional wrapping mechanism 20, pressing device 12, and winding device 13 from left to right according to the process flow to ensure that the central axis of each device is collinear and to avoid deviation and jamming during cable transportation.

[0070] Step 3: Pass the end of the cable body 10 on the cable feeding frame through the guide hole of the guide device 11, the center through hole of the fixing ring 202 of the bidirectional wrapping mechanism 20, the gap between the two rotating rings 204, and the gap between the two pressing wheels of the pressing device 12 in sequence. Finally, fix the end of the cable body 10 on the surface of the winding roller of the winding device 13, pull the cable body 10 to ensure that the cable is in a straight and taut state in each device, without slack or bending. Adjust the position of the guide wheel of the guide device 11 to limit the cable body and prevent the cable from deviating to the left or right during the cable transportation process.

[0071] Step 4: Draw the end of the aramid fiber from the winding reel 206, and pass the fiber through the outside of the roller of the tensioning device 30 in sequence, and then through the center through hole of the guide nozzle 403 of the guiding mechanism 40, ensuring that the fiber passes straight through the guide nozzle 403 without bending or tangling. Then tighten the end of the fiber that has passed through the guide nozzle 403 and fix it at the designated wrapping start position of the cable body 10. Use high temperature tape to temporarily fix it to prevent the fiber from slipping or shifting in the early stage of wrapping. Repeat the above operation to complete the fiber threading and pre-fixing of all winding reels on the bidirectional wrapping mechanism 20, and ensure that the tension of each fiber is consistent.

[0072] Step 5: Synchronous wrapping of bidirectional spiral anti-torsion fiber layer. Start the winding device and bidirectional wrapping mechanism to make the aramid fiber synchronously wrap around the outer surface of the cable body conveyed at a uniform speed in a left and right spiral cross manner, forming a double anti-torsion reinforcement layer. During the wrapping process, the guiding mechanism adapts to the fiber exit angle, and the collecting mechanism collects the fiber powder generated by friction.

[0073] Step 6: The cable body 10, with the fiber layer wrapped, is pulled into the clamping device 12 by the winding device 13. The clamping roller of the clamping device 12 gently clamps the cable under a preset pressure, so that the aramid fiber reinforcement layer and the insulation layer of the cable body 10 are tightly bonded, eliminating the gap between the fiber layer and the cable body, preventing the fiber layer from loosening or shifting during subsequent conveying and winding, and achieving the initial shaping of the wrapping layer. During the clamping process, the rotation speed of the clamping roller is controlled to be synchronized with the cable conveying speed to ensure that there is rolling friction between the clamping roller and the cable, avoiding scratching the cable insulation layer and fiber layer.

[0074] Step 7: The cable body 10, after being pressed and shaped, enters the winding device 13, where it is wound at a constant speed and neatly on the winding roller. During the winding process, the cable arrangement mechanism of the winding roller is adjusted to ensure that the cable is arranged in a tightly packed layered manner on the winding roller without crossing, overlapping, or twisting. When the cable body 10 is wound to the preset length, the servo motor 212 of the bidirectional winding mechanism 20 is turned off to stop the fiber layer winding. The winding continues until the cable end reaches the designated position on the winding roller. The winding device 13 is then turned off to complete the winding of a single roll of cable. The cable body 10 is cut off, and the wound cable is removed from the winding roller. The cable end is then sealed to prevent moisture and dust from entering the end.

[0075] Step 8: Extrusion Coating of the Sheath Layer: Place the cable with the fiber-reinforced layer wrapped on the cable feeder and extrude it for outer sheath coating. Select weather-resistant, wear-resistant, and highly flexible polyurethane sheath material, add it to the extruder hopper, heat it to 190-210℃ in the extruder to melt and plasticize it, and then extrude it onto the outer surface of the fiber-reinforced layer of the cable through the coating die to form the outer sheath layer. During the extrusion process, ensure that the extrusion speed, cable traction speed and sheath layer wall thickness are matched, control the sheath layer wall thickness deviation within ±0.1mm, and avoid defects such as eccentricity, air bubbles, material shortage, and diameter reduction.

[0076] Step 9: The cable covered with the outer sheath is first sent into the air-cooling channel for pre-cooling. The air-cooling temperature is 25-30℃ and the cooling time is 5-10 seconds, which allows the surface of the sheath to form quickly and avoids deformation and adhesion of the sheath during the subsequent water cooling process. After air-cooling pre-cooling, the cable is sent into the water-cooling box for gradient cooling. The temperature of the cooling water in the water-cooling box is 40-30-20℃ from the inlet to the outlet. The cooling time of the cable in the water-cooling box is 20-30 seconds, which allows the sheath to be cooled gradually from the outside to the inside. This avoids cracking of the sheath and internal stress caused by excessive temperature difference and ensures the tightness of the adhesion between the sheath and the fiber reinforcement layer. After cooling, the cable is passed through the air-drying wheel group, where high-pressure cold air removes the residual moisture on the surface of the cable, ensuring that the cable surface is clean, dry and free of water droplets.

[0077] Step 10: Inspection and winding of finished cables into storage:

[0078] 10.1 Online visual inspection: The cable surface is inspected using visual inspection equipment to confirm that the sheath layer is smooth, without scratches, dents, or bulges, the fiber reinforcement layer is not exposed, and the cable outer diameter meets the specifications.

[0079] 10.2 Performance Sampling and Testing: Samples are taken from each batch of finished cables and subjected to multiple performance tests, including: flexibility test (bending around a core shaft with a diameter 5 times the cable's outer diameter 10,000 times without breakage), torsion test (torsuring 360° in both directions and cycling 5,000 times, after which insulation and conductivity are normal), insulation performance test (insulation resistance ≥1000MΩ・km, power frequency withstand voltage 3kV / 5min without breakdown), and tensile performance test (sheath layer elongation at break ≥300%).

[0080] 10.3 Finished product winding and warehousing: The finished cables that have passed the inspection are neatly wound up, and product labels are attached, indicating the cable specifications, length, production batch, test results and other information. The cables are then stored in a dry and ventilated warehouse to avoid moisture, exposure to the sun and compression.

[0081] In the above method, step 1 specifically includes the following steps:

[0082] Step 1.1: Place the prepared cable body on the cable laying frame. After checking that the surface of the cable body is undamaged and the insulation layer is uncracked, pass its end through the guide hole of the guide device to complete the cable body laying and positioning.

[0083] Step 1.2: Pass the end of the cable body through the guide device through the central through hole of the fixed ring of the bidirectional wrapping mechanism, the gap between the two rotating rings, and then through the gap between the two clamping wheels of the clamping device.

[0084] Step 1.3: Tighten and fix the end of the cable body to the surface of the winding roller of the winding device, and adjust the position of the guide wheel of the guide device so that the cable body is in a straight and taut state without slack, bending or deviation.

[0085] In the above method, step 2 specifically includes the following steps:

[0086] Step 2.1, Debug the bidirectional wrapping mechanism 20: Check the rotational fit between the annular guide rails 203 on both sides of the fixed ring 202 and the rotating ring 204 to ensure that the rotating ring 204 rotates smoothly without jamming; start the servo motor 212, test the meshing transmission effect of the two reverse gears 209, the bevel gear 210 and the bevel gear ring 211 to ensure that the two rotating rings 204 can achieve stable reverse rotation; according to the wrapping process requirements, adjust the speed of the servo motor 212, set the revolution speed of the rotating ring 204, and control the fiber layer wrapping pitch to 5-10mm;

[0087] Step 2.2, Adjusting the tensioning device 30: Wrap the aramid fiber (preferred material for the anti-torsion reinforcement layer) on the winding reel 206. Place the roller assembly of the tensioning device 30 against the outer circumferential surface of the winding reel 206 through the elasticity of the spring. Check the contact fit between the roller and the winding reel to ensure that the roller can rotate flexibly with the rotation of the winding reel, providing constant damping tension for the fiber output and preventing the fiber from loosening or becoming tangled.

[0088] Step 2.3, Adjusting the guiding mechanism 40 and the collecting mechanism 50: Check the rolling fit between the rolling rod 518 and the path groove 520, manually rotate the rotating ring 204 to confirm that the yarn guide nozzle 403 can achieve small reciprocating rotation, and that the rotation angle is compatible with the yarn exit position of the winding disc 206; check the sealing performance of the piston 508, one-way valve one, and one-way valve two of the collecting mechanism 50, and confirm that the suction box 505 can generate a stable negative pressure to ensure the powder collection effect;

[0089] Step 2.4, Adjust the clamping device 12 and the winding device 13: Adjust the pressure of the clamping roller of the clamping device 12 to ensure that the clamping roller can gently press the wrapped cable, so that the fiber layer is tightly attached to the cable body without squeezing and damaging the cable insulation layer; Adjust the speed of the winding roller of the winding device 13 and set a constant winding speed to ensure that the winding speed matches the cable conveying speed and the wrapping speed.

[0090] The specific steps in step 5 of the above method include:

[0091] Step 5.1: Start the winding device 13. The winding roller rotates at a constant speed, driving the cable body 10 to be conveyed to the right at a uniform speed in the horizontal direction. The conveying speed is controlled at 3-8m / min. At the same time, start the servo motor 212 of the bidirectional wrapping mechanism 20. The servo motor 212 drives the front connecting rod 208 to rotate. Through the transmission of two meshing reverse gears 209, the front and rear connecting rods 208 rotate in opposite directions. Then, through the meshing transmission of the bevel gear 210 and the bevel gear ring 211, the two rotating rings 204 are driven to revolve in opposite directions along the annular guide rail 203.

[0092] Step 5.2: During the revolution of the rotating ring 204, the winding reel 206 revolves with the rotating ring. At the same time, under the tension of the fiber thread pulled by the cable body, the winding reel 206 rotates around its own rotating rod 205 and releases the aramid fiber thread at a uniform speed. The two rotating rings 204 rotating in opposite directions drive the fiber thread to be wound synchronously on the outer surface of the cable body 10 being conveyed at a uniform speed in a left and right spiral cross manner.

[0093] Step 5.3: During the wrapping process, the tensioning device 30 always provides constant damping tension to the fiber thread to prevent the fiber thread from loosening or becoming tangled due to inertia, and to ensure the tightness of the fiber layer wrapping.

[0094] Step 5.4: During the fiber wrapping process, the collecting mechanism and the guiding mechanism work together. The reciprocating sliding of the piston creates a negative pressure in the collecting box, which accurately sucks up the powder generated at the friction point between the yarn guide and the fiber, preventing the powder from scattering.

[0095] Step 5.5: During the wrapping process, conduct real-time inspections to check the uniformity of the fiber layer wrapping, confirm that there are no problems such as overlapping threads, skipped threads, or loosening, check the operating status of each mechanism, and clean the fiber powder in the collection box 501 in a timely manner to ensure stable operation of the equipment.

[0096] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A forming device for a highly flexible, torsion-resistant composite cable for industrial robot joints, characterized in that, The cable body (10) includes a guide device (11), a bidirectional wrapping mechanism (20), a pressing device (12), and a winding device (13) arranged sequentially from left to right along the conveying path of the cable body (10). The bidirectional wrapping mechanism (20) includes a support base (201), a fixed ring (202) is fixedly connected to the top of the support base (201), and rotating rings (204) with opposite rotation directions are respectively arranged on the front and rear sides of the fixed ring (202). A set of rotating rods (205) is rotatably connected to the outer side of the rotating rings (204), and a winding disc (206) is fixedly installed on the outer side of the rotating rods (205). Annular guide rails (203) are fixedly connected to the front and rear sides of the fixed rings (202), and the annular guide rails (203) are rotatably connected to the corresponding rotating rings (204). A connecting frame (207) is fixedly connected to the right side of the support base (201) via a mounting bracket. A pair of connecting rods (208) arranged in a front-to-back pattern are rotatably connected to the inner right side wall of the connecting frame (207). Reverse gears (209) that mesh with each other are fixedly connected to the outer sides of the two connecting rods (208). A bevel gear (210) is fixedly connected to the left end of the two connecting rods (208). A bevel gear ring (211) is fixedly connected to the outer side of the rotating ring (204). The bevel gear ring (211) meshes with the corresponding bevel gear (210). A servo motor (212) is fixedly installed on the right side of the connecting frame (207). The output end of the servo motor (212) is fixedly connected to the end of the front connecting rod (208). A tensioning device (30) is provided in the clockwise direction of the winding reel (206). The inner side of the winding reel (206) is provided with a guide mechanism (40), the guide mechanism (40) includes a fixed frame (401), an L-shaped mounting plate (402) is fixedly connected to the inner side of the fixed frame (401), the mounting plate (402) is fixedly connected to the surface of the rotating ring (204), and a yarn guide nozzle (403) is fixedly connected to the top of the fixed frame (401). The yarn guide nozzle (403) is tapered with a gradually narrowing end facing the cable body (10). The inside of the yarn guide nozzle (403) is hollow, and mirror-symmetrical yarn guide rollers (404) are fixedly installed on the front and rear sides of the inside. A collection mechanism (50) is provided on the outside of the fixed frame (401). The collection mechanism (50) includes a collection box (501) fixedly connected to the fixed frame (401). The inside of the collection box (501) is under negative pressure and is hollow with a filter plate (502) fixedly installed inside. An openable sealing plate is provided at the bottom of the collection box (501). The sealing plate is fixed to the bottom of the collection box (501) by a buckle. The top of the collection box (501) is sealed by a connector. A lower hose (503) and an upper hose (504) are connected. A one-way valve is installed on the outside of the lower hose (503) and the upper hose (504). The one-way valve allows the airflow to flow only in one direction to the collection box (501). The other side of the lower hose (503) and the upper hose (504) penetrates the corresponding side of the surface of the yarn guide nozzle (403) and is fixedly connected to the suction box (505). The two suction boxes (505) are symmetrically distributed vertically and are directly opposite the inner friction area of ​​the two yarn guide rollers (404). A pair of air inlets (506) are fixedly connected to the outside of the collection box (501). A piston (508) is slidably connected inside the two air inlets (506). An air inlet push rod (509) is fixedly connected to the outside of the piston (508). A one-way valve (507) is installed on the air inlet (506). The one-way valve (507) only allows the air inlet (506) to draw air from the collection box (501). An exhaust pipe (510) is fixedly connected to the side of the air inlet (506). A one-way valve (3) is installed on the outside of the exhaust pipe (510). An L-shaped rod (515) is fixedly connected to the outside of the outer air inlet push rod (509). The L-shaped rod (515) is composed of a horizontal bar and a vertical bar. A straight contact rod (516) is fixedly connected to the inside of the horizontal bar. A rolling rod (518) is rotatably connected to the outside of the straight contact rod (516). The mounting plate (402) The top of the collection box (501) is fixedly connected to a guide block (517), which is slidably connected to the straight contact rod (516) to ensure that the straight contact rod (516) moves smoothly. The inner side of the fixed ring (202) is fixedly connected to a support ring (519), and the inner side of the support ring (519) is provided with a continuous "S"-shaped path groove (520). The straight contact rod (516) is slidably connected to the path groove (520). The outer side of the collection box (501) is fixedly connected to a support plate (511), and the top of the support plate (511) is rotatably connected to a flipping rod (512) through a rotating rod. The top of the left and right sides of the flipping rod (512) is provided with through waist holes (513), and the two waist holes (513) are slidably connected to a driving rod (514). The bottom of the driving rod (514) is fixedly connected to the corresponding air intake push rod (509).

2. The high-flexibility anti-torsion composite cable forming device for industrial robot joints according to claim 1, characterized in that, The collection box (501) is equipped with an air regulating mechanism (60). The air regulating mechanism (60) includes a pair of connecting grooves (601) on the top inner side of the collection box (501). The pair of connecting grooves (601) are arranged front to back and correspond to the connection points of the upper hose (504) and the lower hose (503), and the cross-section is rectangular. The bottom inner side of the collection box (501) is slidably connected to a bonding plate (602) that fits its surface. A connecting rod (604) is fixedly connected to the left side of the bonding plate (602). A vertical sealing push rod (603) is fixedly connected to the left side of the connecting rod (604). One side of the sealing push rod (603) penetrates the collection box (501), and a sliding sealing sleeve is provided at the connection point. A retaining ring (605) is fixedly connected to the outer side of the sealing push rod (603). 05) A connecting spring (606) is fixedly connected to one side of the collection box (501), and the other side of the connecting spring (606) is fixedly connected to the collection box (501). A rotating roller (608) is fixedly installed at the other end of the sealing push rod (603). A guide block two (607) is fixedly connected to the top of the mounting plate (402). The guide block two (607) is slidably connected to the sealing push rod (603). An adjusting ring (609) is fixedly connected to the inner side of the support ring (519). An adjusting groove (610) is opened on the side of the adjusting ring (609) corresponding to the sealing push rod (603). The rotating roller (608) is tumblingly connected to the adjusting groove (610). The adjusting groove (610) is divided into four areas: a, b, c, and d, which correspond to the left, front, right, and rear areas of the rotating ring (204), respectively.

3. A method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints, wherein the production process uses the cable forming apparatus as described in any one of claims 1-2, characterized in that, The steps include the following: Step 1: The cable body (10) is laid out and transported. The cable body (10) is guided by the guide device (11) so that the cable body (10) passes through the bidirectional wrapping mechanism (20) and the pressing device (12) in sequence, and the end is fixed to the surface of the winding roller of the winding device (13); Step 2: The guide device (11), bidirectional wrapping mechanism (20), pressing device (12) and winding device (13) are arranged from left to right according to the process flow so that the central axis of each device is collinear; Step 3: Pass the end of the cable body (10) on the pay-off frame through the guide hole of the guide device (11), the center through hole of the fixing ring (202) of the bidirectional wrapping mechanism (20), the gap between the two rotating rings (204), and the two pressing wheels of the pressing device (12) in sequence. Finally, fix the end of the cable body (10) on the surface of the winding roller of the winding device (13); pull the cable body (10) to make the cable straight and taut, and then adjust the position of the guide wheel of the guide device (11) to limit the cable body. Step 4: Draw out the end of the aramid fiber from the winding reel (206), pass the fiber through the outside of the roller of the tensioning device (30) in sequence, and then pass it through the central through hole of the guide nozzle (403) of the guide mechanism (40). Then tighten the end of the fiber that has passed through the guide nozzle (403) and fix it at the designated wrapping start position of the cable body (10). Use high temperature tape to temporarily fix it. Repeat the above operation to complete the fiber threading and pre-fixing of all winding reels on the bidirectional wrapping mechanism (20). Step 5: Synchronous wrapping of bidirectional spiral anti-torsion fiber layer. Start the winding device and bidirectional wrapping mechanism to make the aramid fiber synchronously wrap around the outer surface of the cable body conveyed at a uniform speed in a left and right spiral cross manner, forming a double anti-torsion reinforcement layer. During the wrapping process, the guiding mechanism adapts to the fiber exit angle, and the collecting mechanism collects the fiber powder generated by friction. Step 6: The cable body (10) with the fiber layer wrapped is pulled into the clamping device (12) by the winding device (13); the clamping roller of the clamping device (12) gently clamps the cable under the preset pressure, so that the aramid fiber reinforcement layer and the insulation layer of the cable body (10) are tightly attached, eliminating the gap between the fiber layer and the cable body. Step 7: The cable body (10) after being pressed and shaped enters the winding device (13) and is wound at a constant speed and neatly on the winding roller. During the winding process, the cable laying mechanism of the winding roller is adjusted. When the cable body (10) is wound to the preset length, the servo motor (212) of the bidirectional winding mechanism (20) is turned off first to stop the fiber layer winding. Then the winding continues until the cable end reaches the designated position of the winding roller. The winding device (13) is turned off to complete the winding of a single roll of cable. Then the cable body (10) is cut off, the wound cable is removed from the winding roller, and the cable end is sealed. Step 8: Place the cable with the fiber-reinforced layer wrapped on the cable feeder and apply the outer sheath through an extruder; select polyurethane sheath material, add it to the extruder hopper, heat it to 190-210℃ in the extruder to melt and plasticize it, and then extrude it onto the outer surface of the fiber-reinforced layer of the cable through the coating die to form the outer sheath layer. During the extrusion process, ensure that the extrusion speed, cable traction speed and sheath layer wall thickness are matched, and control the sheath layer wall thickness deviation within ±0.1mm; Step 9: The cable covered with the outer sheath is first sent into the air-cooling channel for pre-cooling. The air-cooling temperature is 25-30℃ and the cooling time is 5-10 seconds, so that the surface of the sheath layer can be quickly formed, avoiding deformation and adhesion of the sheath layer during the subsequent water cooling process. After air-cooling pre-cooling, the cable is sent into the water-cooling box for gradient cooling. The temperature of the cooling water in the water-cooling box is 40℃-30℃-20℃ from the inlet to the outlet. The cooling time of the cable in the water-cooling box is 20-30 seconds, so that the sheath layer is gradually cooled from the outside to the inside. After cooling, the cable is passed through the air-drying wheel group, and the residual moisture on the surface of the cable is removed by high-pressure cold air.

4. A method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints according to claim 3, characterized in that, Step 1 includes the following steps: Step 1.1: Place the prepared cable body on the cable laying frame. After checking that the surface of the cable body is undamaged and the insulation layer is uncracked, pass its end through the guide hole of the guide device to complete the cable body laying and positioning. Step 1.2: Pass the end of the cable body through the guide device through the central through hole of the fixed ring of the bidirectional wrapping mechanism, the gap between the two rotating rings, and then through the gap between the two clamping wheels of the clamping device. Step 1.3: Tighten and fix the end of the cable body to the surface of the winding roller of the winding device, and adjust the position of the guide wheel of the guide device so that the cable body is in a straight and taut state without slack, bending or deviation.

5. A method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints according to claim 3, characterized in that, Step 2 includes the following steps: Step 2.1, Debug the bidirectional wrapping mechanism (20); Step 2.2, Adjust the tensioning device (30); Step 2.3: Debug the guiding mechanism (40) and the collecting mechanism (50); Step 2.4: Adjust the pressing device (12) and the winding device (13).

6. A method for producing a highly flexible, torsion-resistant composite cable for industrial robot joints according to claim 3, characterized in that, Step 5 includes the following steps: Step 5.1: Start the winding device (13), the winding roller rotates at a constant speed, driving the cable body (10) to be conveyed to the right at a uniform speed in the horizontal direction, the conveying speed is controlled at 3-8m / min; at the same time, start the servo motor (212) of the bidirectional wrapping mechanism (20), the servo motor (212) drives the front connecting rod (208) to rotate, and through the transmission of two meshing reverse gears (209), the front and rear connecting rods (208) rotate in opposite directions, and then through the meshing transmission of the bevel gear (210) and the bevel gear ring (211), drive the two rotating rings (204) to revolve in opposite directions along the annular guide rail (203); Step 5.2: During the revolution of the rotating ring (204), the winding disc (206) revolves with the rotating ring. At the same time, under the tension of the fiber line pulled by the cable body, the winding disc (206) rotates around its own rotating rod (205) and releases the aramid fiber line at a uniform speed. The two rotating rings (204) rotating in opposite directions drive the fiber line to be wound synchronously on the outer surface of the cable body (10) being conveyed at a uniform speed in a left and right spiral cross manner.

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