Power cord for body-aware robot

Abstract

The application discloses a power line for a body intelligent robot, wherein the conductors of the first and second insulated core wires are each formed by twisting and tightly pressing a plurality of conductor strands, each of the conductor strands is formed by twisting and tightly pressing a plurality of single-wire conductors, the insulating layer of the first insulated core wire and the insulating layer of the second insulated core wire are connected by a rib extending along the length direction of the first and second insulated core wires, the twisting direction of the conductor strands twisted into the conductor of the first insulated core wire is opposite to the twisting direction of the conductor strands twisted into the conductor of the second insulated core wire, and the reinforcing part of the rib is filled with a reinforcing core. The application can improve the uniformity and stability of signal transmission, avoid the adverse interference caused by the mutual friction and bit shifting between the core wires in a complex dynamic use scene, and avoid the cable twisting in the use process.

Description

Technical Field

[0001] This invention relates to a power cord for a body-worn intelligent robot, belonging to the field of intelligent robot technology. Background Technology

[0002] Humanoid robots, also known as embodied intelligent robots, have wide applications in industry, military, medical, and service sectors. Precise control between the robot's joints is a key indicator of intelligent control. The motor power cables used in the rotating modules require low loss, interference resistance, torsion resistance, mechanical shock resistance, compression resistance, and wear resistance. Currently, most motor power cables on the market use two single-core insulated wires for power connection. This presents problems such as the insulation wires easily becoming tangled during installation, voltage interference between them, and mutual interference, friction, or misalignment during the rotation or torsion of the robotic arm. This can lead to wire breakage and loss of conductivity in complex scenarios or at high speeds. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a power cord for an embodied intelligent robot. This power cord can improve the uniformity and stability of signal transmission, avoid adverse interference caused by mutual friction and misalignment between core wires in complex dynamic usage scenarios, and also prevent cable twisting during use.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a power cord for an embodied intelligent robot, comprising: a first insulated core wire and a second insulated core wire, each of the first insulated core wire and the second insulated core wire comprising a conductor and an insulating layer covering the outside of the conductor, the conductor of each of the first insulated core wire and the second insulated core wire is formed by twisting and pressing together several conductor strands, each conductor strand being formed by twisting and pressing together several single wires, and when processing the same conductor, the twisting direction of twisting the single wires into conductor strands and twisting the conductor strands into conductors are opposite; The first and second insulated core wires, each extending along their length, are parallel and spaced apart. The insulation layers of the first and second insulated core wires are connected by a rib extending along the length of the first and second insulated core wires. The stranding direction of the conductor strands twisted into the first insulated core wire is opposite to the stranding direction of the conductor strands twisted into the second insulated core wire. The rib further includes: a reinforcing portion and a first connecting portion and a second connecting portion respectively connected to both sides of the reinforcing portion. The first connecting portion and the second connecting portion are respectively connected to the insulation layer of the first insulated core wire and the insulation layer of the second insulated core wire. A reinforcing core is filled in the reinforcing portion of the rib.

[0005] The following are further improvements to the above technical solution: 1. In the above scheme, the twisted diameter ratio of several conductor strands is 25 to 30 times and the compression ratio is 3% to 6%, while the twisted diameter ratio of several single wires is 10 to 15 times and the compression ratio is 5% to 10%.

[0006] 2. In the above scheme, a protective layer is provided on the outside of the first insulated core wire and the second insulated core wire, or a protective layer is provided on the outside of each of the first insulated core wire and the second insulated core wire.

[0007] 3. In the above scheme, the protective layer is a PA66 protective layer, a PA12 protective layer, or a TPU protective layer.

[0008] 4. In the above scheme, the protective layer is a transparent protective layer.

[0009] 5. In the above scheme, the reinforcing core is made of aramid yarn, polyaramid fiber yarn or low carbon steel wire twisted together.

[0010] 6. In the above scheme, the width of the first connecting part and the second connecting part of the rib is 0.05mm~0.3mm and the thickness is 0.2mm~0.5mm.

[0011] 7. In the above scheme, the outer diameter of the reinforcing rib is greater than the thickness of its first connecting part and the second connecting part.

[0012] 8. In the above scheme, the reinforcing bar, the insulation layer of the first insulated core wire, and the insulation layer of the second insulated core wire are integrally formed.

[0013] 9. In the above scheme, the insulating layer tightly covering the outside of the conductor is a low dielectric constant elastic insulating layer.

[0014] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: This invention relates to a power cord for intelligent robots. The conductors of the first and second insulated core wires are each formed by twisting and pressing several conductor strands together. Each conductor strand is formed by twisting and pressing several single-wire conductors together. When processing the same conductor, the twisting directions of the single-wire conductors into conductor strands and the twisting directions of the conductor strands into conductors are opposite. The first and second insulated core wires, extending along their respective lengths, are parallel and spaced apart. The insulation layers of the first and second insulated core wires are connected by a rib extending along their lengths. The twisting direction of the conductor strands into the first insulated core wire is opposite to the twisting direction of the conductor strands into the second insulated core wire. By repeatedly twisting and pressing to form the conductor and adjusting the twisting direction, the roundness of the core wire can be improved, and the single-wire conductors can be guaranteed to remain intact. The consistency along the length direction improves the uniformity and stability of signal transmission. Furthermore, by connecting two insulated core wires with opposite strands using a reinforcing rib, a flat wire with a fixed relative position between the core wires is formed. This reduces the laying space required during use and avoids adverse interference caused by friction and misalignment between the core wires in complex dynamic usage scenarios. It also facilitates connection operations between both ends of the wire and external components, and can achieve mutual cancellation of torsional stress, preventing cable twisting during use. Furthermore, the reinforcing rib includes a reinforcing section and a first connecting section and a second connecting section respectively connected to both sides of the reinforcing section. The first connecting section and the second connecting section are respectively connected to the insulation layer of the first insulated core wire and the insulation layer of the second insulated core wire. The reinforcing section of the rib is filled with a reinforcing core, which can improve the overall tensile strength along the length direction and enhance the reliability of use in complex scenarios. Attached Figure Description

[0015] Appendix Figure 1 This is a schematic diagram of the power cord for the embodied intelligent robot of the present invention; Appendix Figure 2 for Figure 1 Enlarged view of point A in the middle; Appendix Figure 3 This is a schematic diagram of the conductor structure in the power cord of the embodied intelligent robot of the present invention; Appendix Figure 4 This is a schematic diagram showing the conductor twisting direction in the power cord of the embodied intelligent robot of the present invention; Appendix Figure 5 This is a schematic diagram of another embodiment of the power cord for the embodied intelligent robot of the present invention.

[0016] In the above figures: 11, first insulated core wire; 12, second insulated core wire; 2, conductor; 21, conductor strand; 211, monofilament conductor; 3, insulation layer; 4, reinforcing bar; 41, first connecting part; 42, second connecting part; 43, reinforcing part; 5, reinforcing core; 6, protective layer. Detailed Implementation

[0017] The present patent can be further understood through the specific embodiments given below, but they are not intended to limit the present patent.

[0018] Example 1: A power cord for an embodied intelligent robot includes: a first insulated core wire 11 and a second insulated core wire 12. Each of the first insulated core wire 11 and the second insulated core wire 12 includes a conductor 2 and an insulating layer 3 covering the outside of the conductor 2. The insulated core wires 11 and 12 can be distinguished by different colors to differentiate the polarity of the power cord. Alternatively, the polarity of the power cord can be differentiated by printing on the surface of the insulation 11 or 12. The conductor 2 of each of the first insulated core wire 11 and the second insulated core wire 12 is formed by twisting and pressing several conductor strands 21 together. Each conductor strand 21 is formed by twisting and pressing several single wires 211 together. When processing the same conductor 2, the twisting direction of twisting the single wires 211 into conductor strands 21 and twisting the conductor strands 21 into conductor 2 are opposite. The first insulated core wire 11 and the second insulated core wire 12, each extending along their respective length directions, are parallel and spaced apart. The insulation layer 3 of the first insulated core wire 11 and the insulation layer 3 of the second insulated core wire 12 are connected by a rib 4 extending along the length directions of the first insulated core wire 11 and the second insulated core wire 12 to ensure tearability, so that the two ends can be torn apart and connected to the outside when in use. The twisting direction of the conductor strands 21 to form the conductor 2 of the first insulated core wire 11 is opposite to the twisting direction of the conductor strands 21 to form the conductor 2 of the second insulated core wire 12. For example, the twisting direction of the conductor of the first insulated core wire is S-direction and the twisting direction of the conductor of the second insulated core wire is Z-direction, which can prevent stress torsion when the cable is bent and twisted. The rib 4 further includes: a reinforcing part 43 and a first connecting part 41 and a second connecting part 42 respectively connected to both sides of the reinforcing part 43. The first connecting part 41 and the second connecting part 42 are respectively connected to the insulation layer 3 of the first insulated core wire 11 and the insulation layer 3 of the second insulated core wire 12. A reinforcing core 5 is filled in the reinforcing part 43 of the rib 4.

[0019] Several conductor strands 21 are twisted together with a pitch ratio of 27 and a compression ratio of 4%, while several single wire conductors 211 are twisted together with a pitch ratio of 12 and a compression ratio of 7%.

[0020] like Figure 1 As shown, a protective layer 6 is provided on the outer side of the first insulated core wire 11 and the second insulated core wire 12; the protective layer 6 is a PA66 protective layer; the protective layer 6 is a transparent protective layer; the rib 4 and the insulation layer 3 of the first insulated core wire 11 and the insulation layer 3 of the second insulated core wire 12 are integrally formed.

[0021] The reinforcing core 5 is made of twisted aramid fibers; the width of the first connecting part 41 and the second connecting part 42 of the rib 4 is 0.1 mm and the thickness is 0.2 mm; the outer diameter of the reinforcing part 43 of the rib 4 is greater than the thickness of its first connecting part 41 and the second connecting part 42.

[0022] Example 2: A power cord for an embodied intelligent robot, comprising: a first insulated core wire 11 and a second insulated core wire 12. Each of the first insulated core wire 11 and the second insulated core wire 12 includes a conductor 2 and an insulating layer 3 covering the outside of the conductor 2. The conductor 2 of each of the first insulated core wire 11 and the second insulated core wire 12 is formed by twisting and pressing several conductor strands 21 with a certain twist pitch and twist direction. Each conductor strand 21 is formed by twisting and pressing several single wires 211 with a certain twist pitch and twist direction. When processing the same conductor 2, the twisting direction of twisting the single wires 211 into conductor strands 21 and the twisting direction of twisting the conductor strands 21 into conductor 2 are opposite. For example, if the twisting direction of twisting the single wires into conductor strands is S-direction, then the direction of the conductor strands being twisted together into conductors is Z-direction, and vice versa. A certain amount of compression is performed when twisting the single wires into conductor strands and when twisting the conductor strands together into conductors. The first insulated core wire 11 and the second insulated core wire 12, which extend along their respective length directions, are parallel and spaced apart. The insulation layer 3 of the first insulated core wire 11 and the insulation layer 3 of the second insulated core wire 12 are connected by a rib 4 extending along the length direction of the first insulated core wire 11 and the second insulated core wire 12. The twisting direction of the conductor strands 21 into the conductor 2 of the first insulated core wire 11 is opposite to the twisting direction of the conductor strands 21 into the conductor 2 of the second insulated core wire 12. The rib 4 further includes: a reinforcing part 43 and a first connecting part 41 and a second connecting part 42 respectively connected to both sides of the reinforcing part 43. The first connecting part 41 and the second connecting part 42 are respectively connected to the insulation layer 3 of the first insulated core wire 11 and the insulation layer 3 of the second insulated core wire 12. A reinforcing core 5 is filled in the reinforcing part 43 of the rib 4.

[0023] Several conductor strands 21 are twisted together with a pitch ratio of 28 and a compression ratio of 4%, while several single wire conductors 211 are twisted together with a pitch ratio of 14 and a compression ratio of 6%.

[0024] like Figure 4 As shown, a protective layer 6 is provided on the outer side of each of the first insulated core wire 11 and the second insulated core wire 12. Correspondingly, the reinforcing strip 4 and the protective layer 6 on the outer side of the first insulated core wire 11 and the protective layer 6 on the outer side of the second insulated core wire 12 are integrally formed, which further improves the scratch resistance and extrusion resistance, and makes it easier to tear and reduces the number of steps when processing the wire harness. The protective layer 6 is a transparent TPU protective layer. The reinforcing core 5 is made of low carbon steel wire twisted together. The width of the first connecting part 41 and the second connecting part 42 of the aforementioned rib 4 is 0.2 mm and the thickness is 0.4 mm.

[0025] The insulating layer 3, which tightly covers the outside of the conductor 2, is a low dielectric constant elastic insulating layer. The insulating elastomer material is tightly extruded onto the outer surface of the conductor. The insulating layer can be made of PVC, TPE, or TPV to meet the flexibility requirements. To meet the needs of different application scenarios, the conductor can be made of oxygen-free copper with high conductivity, copper-clad steel with high strength, or copper alloy with high strength. When using copper-clad steel conductor, a soft copper-clad steel conductor is used, with a tensile strength ≥400MPa, elongation ≥20%, and conductivity ≥45%.

[0026] The aforementioned power cord for embodied intelligent robots uses a conductor formed by repeated twisting and compression, and the twisting direction is adjusted. This improves the roundness of the core wire and ensures the consistency of the single wire along its length, thereby enhancing the uniformity and stability of signal transmission. It avoids data fluctuations under dynamic conditions and data attenuation over long-term use. Furthermore, by connecting two insulated core wires with opposite twisting directions with reinforcing bars, a flat wire with a fixed relative position between the core wires is formed. This reduces the laying space required during use and avoids adverse interference caused by mutual friction and misalignment between the core wires in complex dynamic usage scenarios. It also facilitates connection operations between the two ends of the wire and the outside, and can also achieve mutual cancellation of torsional stress, preventing cable twisting during use. Furthermore, the rib includes a reinforcing portion and a first connecting portion and a second connecting portion respectively connected to both sides of the reinforcing portion. The first connecting portion and the second connecting portion are respectively connected to the insulation layer of the first insulated core wire and the insulation layer of the second insulated core wire. The reinforcing portion of the rib is filled with a reinforcing core, which can improve the overall tensile strength in the length direction and improve the reliability of use in complex scenarios.

[0027] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A power cord for an embodied intelligent robot, comprising: The first insulated core wire (11) and the second insulated core wire (12) are characterized in that: each of the first insulated core wire (11) and the second insulated core wire (12) includes a conductor (2) and an insulating layer (3) covering the outside of the conductor (2). The conductor (2) of each of the first insulated core wire (11) and the second insulated core wire (12) is formed by twisting and pressing several conductor strands (21). Each conductor strand (21) is formed by twisting and pressing several single wires (211). When processing the same conductor (2), the twisting direction of twisting the single wires (211) into conductor strands (21) and twisting the conductor strands (21) into conductor (2) is opposite. The first insulating core wire (11) and the second insulating core wire (12) extending along their respective length directions are parallel and spaced apart. The insulation layer (3) of the first insulating core wire (11) and the insulation layer (3) of the second insulating core wire (12) are connected by a rib (4) extending along the length directions of the first insulating core wire (11) and the second insulating core wire (12). The twisting direction of the conductor strands (21) twisted into the conductor (2) of the first insulating core wire (11) is opposite to the twisting direction of the conductor strands (21) twisted into the conductor (2) of the second insulating core wire (12). The rib (4) further includes: a reinforcing part (43) and a first connecting part (41) and a second connecting part (42) respectively connected to both sides of the reinforcing part (43). The first connecting part (41) and the second connecting part (42) are respectively connected to the insulation layer (3) of the first insulated core wire (11) and the insulation layer (3) of the second insulated core wire (12). The reinforcing part (43) of the rib (4) is filled with a reinforcing core (5).

2. The power cord for an embodied intelligent robot according to claim 1, characterized in that: Several conductor strands (21) are twisted with a pitch ratio of 25 to 30 times and a compression ratio of 3% to 6%, and several single wire conductors (211) are twisted with a pitch ratio of 10 to 15 times and a compression ratio of 5% to 10%.

3. The power cord for an embodied intelligent robot according to claim 1, characterized in that: A protective layer (6) is provided on the outer side of the first insulated core wire (11) and the second insulated core wire (12), or a protective layer (6) is provided on the outer side of each of the first insulated core wire (11) and the second insulated core wire (12).

4. The power cord for an embodied intelligent robot according to claim 3, characterized in that: The protective layer (6) is a PA66 protective layer, a PA12 protective layer, or a TPU protective layer.

5. The power cord for an embodied intelligent robot according to claim 3 or 4, characterized in that: The protective layer (6) is a transparent protective layer.

6. The power cord for an embodied intelligent robot according to claim 1, characterized in that: The reinforcing core (5) is made of aramid filament, polyaramid fiber filament or low carbon steel wire twisted together.

7. The power cord for an embodied intelligent robot according to claim 1, characterized in that: The width of the first connecting part (41) and the second connecting part (42) of the rib (4) is 0.05mm~0.3mm and the thickness is 0.2mm~0.5mm.

8. The power cord for an embodied intelligent robot according to claim 7, characterized in that: The outer diameter of the reinforcing part (43) of the rib (4) is greater than the thickness of its first connecting part (41) and second connecting part (42).

9. The power cord for an embodied intelligent robot according to claim 1, characterized in that: The reinforcing bar (4) is integrally formed with the insulation layer (3) of the first insulated core wire (11) and the insulation layer (3) of the second insulated core wire (12).

10. The power cord for an embodied intelligent robot according to claim 1 or 9, characterized in that: The insulating layer (3) tightly covering the outside of the conductor (2) is a low dielectric constant elastic insulating layer.

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