Super-flexible control cable for manipulator

Abstract

The utility model discloses a super-soft control cable for a manipulator, which is characterized by comprising a filling body, a cable core and an outer sheath which are sequentially arranged from inside to outside, the cable core comprises a plurality of wire pairs, each wire pair is formed by twisting two wire cores, and each wire core sequentially comprises a conductor and an insulating layer from inside to outside; wherein the conductor is formed by twisting a plurality of bare copper wires; the insulating layer is made of a thermoplastic polyester elastomer; and the outer sheath is an outer sheath made of a thermoplastic elastomer. The cable is not only better in flexibility, bending resistance, tensile resistance and the like, but also better in corrosion resistance and the like, can adapt to a working environment with large temperature difference, high humidity or corrosion, and is more stable in signal transmission performance.

Description

Technical Field

[0001] This utility model relates to the field of cable design technology, specifically to an ultra-flexible control cable for robotic arms. Background Technology

[0002] In the wave of modern industrial automation and intelligent manufacturing, robotic arms, as key technical equipment, are increasingly being applied across a wide range of fields, from automobile manufacturing and electronic assembly to medical surgical assistance. Their precision and efficiency have greatly improved production efficiency and operational flexibility. With the advancement of industry, the demands on the flexibility and intelligence of robotic arms are also increasing. They must not only be able to handle hard, regular objects, but also manipulate soft, deformable objects such as cables and wires.

[0003] However, existing robotic arms cables have many limitations in design and performance, and cannot fully meet the needs of modern robotic arms for high flexibility and durability.

[0004] Existing cables for robotic arms often fall short in terms of flexibility, bending resistance, and tensile strength, limiting their application in complex operations and confined spaces. Furthermore, due to the variable operating environment of robotic arms, cables need to maintain stable performance under extreme temperature, humidity, and chemical corrosion conditions, which existing cables often struggle to withstand. Moreover, as the precision of robotic arm operations increases, the requirements for signal transmission quality are also rising, and existing cables for robotic arms do not perform ideally in terms of interference immunity. Utility Model Content

[0005] To overcome the shortcomings of existing robotic arm cables, this invention provides an ultra-flexible control cable for robotic arms, which has better flexibility, bending resistance, tensile strength, and corrosion resistance, and can adapt to working environments with large temperature differences, high humidity, or corrosiveness, and has more stable signal transmission performance.

[0006] To solve the above problems, this utility model is implemented according to the following technical solution:

[0007] The present invention discloses an ultra-flexible control cable for a robotic arm, characterized in that it comprises a filler, a cable core, and an outer sheath arranged sequentially from the inside to the outside;

[0008] The cable core includes multiple sets of wire pairs, each set of wire pairs is formed by twisting two wire cores together, and each wire core includes a conductor and an insulation layer from the inside out;

[0009] The conductor is formed by twisting together several bare copper wires; the insulation layer is made of thermoplastic polyester elastomer; and the outer sheath is made of thermoplastic elastomer.

[0010] In a preferred embodiment, the bare copper wires are stranded together using a 1+6 regular stranding small pitch structure to form the conductor.

[0011] In a preferred embodiment, the elongation of the bare copper wire is 22%.

[0012] In one preferred embodiment, the cable core comprises six pairs of wires.

[0013] In a preferred embodiment, the twist pitch of the wire cores in each pair is no greater than 100mm, and the twist pitch values ​​of the wire cores in each pair are not integer multiples of each other, in order to prevent mutual interference between different pairs.

[0014] As a preferred embodiment, the cores in each pair of wires are twisted using a de-twisting method to ensure stable electrical performance.

[0015] In a preferred embodiment, the filler is aramid fiber.

[0016] In a preferred embodiment, the outer sheath is kept at a uniform thickness to ensure the cable’s resistance to aging, bending and torsion, and corrosion.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This utility model provides an ultra-flexible control cable for robotic arms, using bare copper wire as the conductor, increasing the cable's flexibility and providing stable electrical signal transmission. The bare copper wires in each conductor employ a 1+6 regular twisted small-pitch structure, further enhancing the cable's flexibility and bending resistance. The twisting structure, where the core-to-core pitch in each pair is no greater than 100mm and the pitch values ​​in each pair are not integer multiples, prevents mutual interference between different pairs, improving the cable's anti-interference performance and further ensuring the quality of signal transmission. This application also uses thermoplastic polyester elastomer as the insulation material for the cable core and as the outer sheath, ensuring the cable possesses excellent electrical, mechanical, aging resistance, bending and torsional resistance, and corrosion resistance, while also being more environmentally friendly.

[0019] Therefore, the ultra-flexible control cable for robotic arms described in this utility model not only has better flexibility, bending resistance, and tensile strength, but also better corrosion resistance, making it adaptable to working environments with large temperature differences, high humidity, or corrosive conditions, and providing more stable signal transmission performance. Attached Figure Description

[0020] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0021] Figure 1 This is a schematic diagram of a preferred structure of an ultra-flexible control cable for a robotic arm according to this utility model;

[0022] In the picture:

[0023] 10-Infiller;

[0024] 20 - Wire pair, 21 - Conductor, 22 - Insulation layer;

[0025] 30 - Outer sheath. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0027] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this specification should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of one. "A plurality" or "several" indicates two or more. Unless otherwise stated, terms such as "front," "rear," "lower," and / or "upper" are for ease of description only and are not limited to a location or spatial orientation. Terms such as "comprising" or "including" indicate that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0028] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0029] The embodiments described in this specification will now be described in detail.

[0030] like Figure 1 As shown, the present invention discloses an ultra-flexible control cable for a robotic arm, comprising a filler 10, a cable core, and an outer sheath 30 arranged sequentially from the inside out; the cable core includes multiple sets of wire pairs 20, each set of wire pairs 20 being formed by twisting two wire cores together, and each wire core including a conductor 21 and an insulation layer 22 sequentially from the inside out; wherein, the conductor 21 is formed by twisting together several bare copper wires; the insulation layer 22 is an insulation layer made of thermoplastic polyester elastomer; and the outer sheath 30 is an outer sheath made of thermoplastic elastomer.

[0031] It should be noted that bare copper wire refers to pure copper wire without an insulation layer. Firstly, due to its high purity and excellent conductivity, bare copper wire ensures the efficiency and stability of the cable when transmitting electrical energy or signals. Secondly, bare copper wire possesses good ductility and flexibility, making the cable perform excellently in applications involving frequent bending and twisting, and less prone to breakage, making it suitable for applications requiring highly flexible cables, such as robotic arms. Furthermore, bare copper wire exhibits excellent corrosion resistance, especially in humid environments and acidic / alkaline media, allowing the cable to operate stably for extended periods in harsh environments, without easily aging or breaking. Therefore, this invention uses bare copper wire as the conductor 21, which not only increases the cable's flexibility but also provides stable electrical signal transmission.

[0032] It's important to note that thermoplastic polyester elastomer (TPEE) is a high-performance engineering material that combines the elasticity of rubber with the strength of thermoplastics. Firstly, TPEE exhibits excellent heat resistance, maintaining stable physical properties within a temperature range of -50°C to 180°C. Secondly, TPEE demonstrates excellent resistance to chemical media, resisting the erosion of most polar liquid chemicals, including acids, alkalis, amines, and glycol compounds, ensuring stable cable performance in chemical environments. Furthermore, TPEE exhibits superior aging resistance, demonstrating excellent chemical stability under conditions such as water mist, ozone, and outdoor atmospheric aging, thus guaranteeing the long-term reliability of the cable. TPEE also possesses recyclable and environmentally friendly characteristics, meeting current demands for environmentally friendly materials. In terms of mechanical properties, TPEE possesses high strength, high elasticity, oil resistance, acid and alkali resistance, high temperature resistance, and radiation resistance, with exceptional dynamic mechanical properties. Cables using TPEE as insulation not only provide excellent electrical insulation performance but can also withstand the high-intensity dynamic loads during robotic operation. Therefore, the present invention uses thermoplastic polyester elastomer as the material of the insulation layer 22 of a cable core, which can ensure that the cable has good electrical performance, mechanical performance, aging resistance, bending and torsion resistance and corrosion resistance, and is more environmentally friendly.

[0033] It's important to note that thermoplastic elastomers (TPEs) are polymeric materials that combine the elasticity of rubber with the thermoplastic properties of plastic. They exhibit rubber-like elasticity at room temperature while being able to be processed and shaped like plastics at high temperatures. Firstly, TPEs possess excellent physical properties, including high strength, high elasticity, oil resistance, acid and alkali resistance, high temperature resistance, and radiation resistance. These properties enable cables to maintain stable performance in various harsh environments. Secondly, TPEs exhibit particularly excellent dynamic mechanical properties, meaning they can maintain a long service life in applications involving frequent movement and bending of robotic arms. Furthermore, the resistance of TPEs to chemical and solvent erosion makes them less prone to degradation upon contact with chemicals, enhancing the cable's environmental resistance. TPEs also possess good abrasion resistance and tear strength, which are crucial for protecting cables from mechanical damage. Simultaneously, their aging resistance is also outstanding, exhibiting excellent chemical stability under conditions such as water mist, ozone, and outdoor atmospheric aging. The low-temperature resistance of TPEs is equally noteworthy; they maintain good flexibility even in low-temperature environments, which is particularly important for robotic arms operating in such conditions. Finally, thermoplastic elastomers offer superior processing performance, are easy to mold and process, which not only improves production efficiency but also helps reduce manufacturing costs. Furthermore, the recyclability of thermoplastic elastomers aligns with current environmental protection and sustainable development requirements. Therefore, this invention uses thermoplastic elastomers as the outer sheath 30 of the cable, which not only enables the cable to possess excellent physical and mechanical properties, aging resistance, bending and torsional resistance, and corrosion resistance, but also good flame retardancy and maintains stable performance in various complex environments, while being environmentally friendly.

[0034] In one embodiment, a plurality of bare copper wires are stranded together to form conductor 21 using a 1+6 regular stranding small pitch structure.

[0035] It should be noted that "1+6" refers to the fact that when bare copper wires are stranded, there is one single wire in the center and six single wires on the periphery, stranded according to a regular stranding method. Regular stranding refers to the stranding of single wires or strands in concentric circles, with adjacent layers stranded in opposite directions, and regularly stranded around the axis of the strand. This structure makes the cable conductor 21 more rounded. "Small pitch structure" refers to the shorter distance a single wire travels in one rotation along the strand axis during stranding, i.e., a small stranding pitch. This makes the cable more flexible and bendable, while also reducing gaps between single wires and improving the overall performance of the cable. Therefore, the cable of this utility model, when using bare copper wires to form the conductor 21, adopts a 1+6 regular stranding small pitch structure, which enables the cable to have good flexibility and high reliability.

[0036] In a preferred embodiment, the elongation of the bare copper wire is 22%. This reduces the rate of change of DC resistance of conductor 21 in the cable, ensuring the performance stability of the cable under different environmental and operating conditions.

[0037] Preferably, the cable core comprises six pairs 20.

[0038] In one embodiment, the twist pitch of the wire pairs in each pair 20 is no greater than 100mm, and the twist pitch values ​​of the wire pairs in each pair 20 are not integer multiples of each other, to prevent mutual interference between different pairs 20. This ensures the signal transmission quality of the cable.

[0039] In one embodiment, the wire cores in each pair 20 are twisted using a de-twisting method to ensure stable electrical performance.

[0040] In one embodiment, the filler 10 is aramid fiber to increase the tensile strength of the cable.

[0041] In one embodiment, the outer sheath 30 is kept uniform in thickness to ensure the cable’s resistance to aging, bending and torsion, and corrosion.

[0042] The working principle of the ultra-flexible control cable for robotic arms described in this utility model is as follows:

[0043] This utility model provides an ultra-flexible control cable for robotic arms, using bare copper wire as the conductor 21, increasing the cable's flexibility and providing stable electrical signal transmission. The bare copper wires in each conductor 21 employ a 1+6 regular stranded small-pitch structure, further increasing the cable's flexibility and bending resistance. The stranding structure, where the core-to-core pitch in each pair 20 is no greater than 100mm and the pitch values ​​in each pair 20 are not integer multiples, prevents mutual interference between different pairs 20, improving the cable's anti-interference performance and further ensuring the signal transmission quality. This application also uses thermoplastic polyester elastomer as the insulation layer 22 of the cable core and as the outer sheath 30, ensuring the cable possesses excellent electrical, mechanical, aging resistance, bending and torsional resistance, and corrosion resistance, while also being more environmentally friendly. Therefore, the ultra-flexible control cable for robotic arms described in this utility model not only has better flexibility, bending resistance, and tensile strength, but also better corrosion resistance, making it adaptable to working environments with large temperature differences, high humidity, or corrosive conditions, and providing more stable signal transmission performance.

[0044] Other structures of the ultra-flexible control cable for robotic arms described in this embodiment are available in the prior art.

[0045] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An ultra-flexible control cable for a robotic arm, characterized in that, It includes, from the inside out, the filler, the cable core, and the outer sheath; The cable core includes multiple sets of wire pairs, each set of wire pairs is formed by twisting two wire cores together, and each wire core includes a conductor and an insulation layer from the inside out; The conductor is formed by twisting together several bare copper wires; the insulation layer is made of thermoplastic polyester elastomer; and the outer sheath is made of thermoplastic elastomer.

2. The ultra-flexible control cable for robotic arms according to claim 1, characterized in that: The conductor is formed by stranding several bare copper wires using a 1+6 regular stranding small pitch structure.

3. The ultra-flexible control cable for robotic arms according to claim 2, characterized in that: The elongation of the bare copper wire is 22%.

4. The ultra-flexible control cable for robotic arms according to claim 1, characterized in that: The cable core comprises six pairs of wires.

5. The ultra-flexible control cable for robotic arms according to claim 4, characterized in that: The twist pitch of the wire pairs in each group of wire pairs is no greater than 100mm, and the twist pitch values ​​of the wire pairs in each group of wire pairs are not integer multiples of each other, in order to prevent mutual interference between different wire pairs.

6. The ultra-flexible control cable for robotic arms according to claim 5, characterized in that: The wire cores in each pair are twisted using a de-twisting method to ensure stable electrical performance.

7. The ultra-flexible control cable for robotic arms according to claim 1, characterized in that: The filler is aramid fiber.

8. The ultra-flexible control cable for robotic arms according to claim 1, characterized in that: The outer sheath is kept at a uniform thickness to ensure the cable's resistance to aging, bending and torsion, and corrosion.

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