Drag chain cable for robot

Abstract

The utility model discloses a drag chain cable for a robot. The drag chain cable comprises a female end cable and a male end cable which can be plugged. The female end cable is sequentially provided with three-level cable cores from the outer wall to the center, the first female end cable core is connected with a first circular ring, the second female end cable core is connected with a second circular ring, the third female end cable core is connected with a disc, the three cable cores are located on parallel faces and share the same axis with the female end cable, and the inner diameter and the outer diameter are matched with each other. And the length and the position of the third-stage cable core extending from the center of the male end cable to the outer wall correspond to those of the female end. The female end cable outer sheath is provided with a groove used for placing the movable lantern ring, the movable lantern ring is provided with a fixing groove, the male end cable outer sheath layer is provided with a strip-shaped groove and a movable buckle, and the buckle can be clamped into the fixing groove to enable the cable to be fixedly connected. According to the design, accurate physical alignment and electrical matching during plugging are realized, cable cores are prevented from being broken due to overlarge torsion in complex actions, field maintenance and replacement are facilitated, and the service life of the cable is prolonged by three times by means of double guarantee of layered cable core connection and mechanical interlocking.

Description

Technical Field

[0001] This utility model relates to the field of cable technology, and in particular to a drag chain cable for robots. Background Technology

[0002] With the rapid development of industrial automation, the industrial robot, service robot, and other special-purpose robot industries have emerged strongly, and manufacturing enterprises have an increasingly strong demand for high-end robot applications and technological innovation. As a crucial component of robots, drag chain cables need to possess high flexibility, bending resistance, and torsion resistance to meet the demands of frequent movement and high-precision operation in complex environments. However, current drag chain cables on the market still have some shortcomings in terms of torsion resistance.

[0003] Existing drag chain cables are prone to yield fatigue and torsion-induced fractures during high-frequency, high-speed reciprocating motions, requiring regular maintenance and replacement, which increases labor and material costs. Cables that are not resistant to torsion are also prone to breakage during complex movements, limiting the application of robots in delicate operations and complex environments. Cables are also prone to overheating during three-dimensional movement and twisting, which may lead to malfunctions, affect the normal operation of robots, and even cause safety accidents. Utility Model Content

[0004] In order to overcome the technical defects of the above-mentioned robot drag chain cables, which are prone to breakage due to large torsion angles during complex movements, this utility model provides a drag chain cable for robots.

[0005] To solve the above problems, this utility model is implemented according to the following technical solution:

[0006] This utility model discloses a drag chain cable for robots, comprising a female cable and a male cable plugged together. The female cable has a first female cable core, a second female cable core, and a third female cable core extending progressively from the outer wall of the female cable towards the center. The outer end of the first female cable core is connected to a first ring, the outer end of the second female cable core is connected to a second ring, and the outer end of the third female cable core is connected to a disc. The first ring, the second ring, and the disc are located on three mutually parallel planes, and are coaxial with the female cable. The inner diameter of the first ring is larger than the outer diameter of the second ring, and the inner diameter of the second ring is larger than the outer diameter of the disc. The male cable... The cable has a first male cable core, a second male cable core, and a third male cable core extending progressively from the center of the male cable outwards. The lengths and positions of the first, second, and third male cable cores are respectively adapted to the first, second, and third female cable cores of the female cable. The outer surface of the outer sheath of the female cable has a groove for placing a movable collar, which is adapted to the groove. The movable collar has a fixing groove, and the outer sheath of the male cable has a strip groove with a movable buckle for engaging into the fixing groove of the female cable to achieve a fixed connection between the two cables.

[0007] Preferably, the disc, the first ring, and the second ring are provided with arc-shaped grooves; the output ends of the first male cable core, the second male cable core, and the third male cable core are respectively fitted with a U-shaped copper sleeve; the U-shaped copper sleeve is adapted to the arc-shaped groove.

[0008] Preferably, the diameter of the third male cable core is larger than the diameters of the first male cable core and the second male cable core.

[0009] Preferably, the female cable and the male cable include, from the inside out, a cable core, an insulation layer, a flame-retardant layer, a shielding layer, a water-blocking layer, and an outer sheath; the insulation layer wraps around the cable core, and the insulation layer is made of cross-linked polyethylene.

[0010] Preferably, the flame-retardant layer covers the insulating layer, and the flame-retardant layer is made of melamine cyanurate.

[0011] Preferably, the shielding layer wraps around the flame-retardant layer, and the shielding layer is a tin-plated copper wire braided layer.

[0012] Preferably, the water-blocking layer wraps around the shielding layer, and the water-blocking layer is a waterproof tape.

[0013] Preferably, the outer sheath wraps around the water-blocking layer, and the outer sheath is made of polyvinyl chloride.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] The three-tiered, stepped cable core structure design of the female and male cable terminals achieves precise physical alignment and electrical matching during insertion, effectively avoiding the breakage problem caused by large twisting angles in traditional robot drag chain cables during complex movements. The nested circular plate structure of the first and second female cable cores, combined with the progressively extending cable core layout of the male cable, forms a multi-level electromagnetic shielding layer, significantly improving the stability of high-frequency signal transmission. The circular plate structure of the third female cable core uses a differentiated diameter design, ensuring independent isolation of the final-stage signal channel while also providing physical limiting during insertion. The movable collar and snap-fit ​​fixing mechanism can withstand the dynamic stress generated during the movement of the robot drag chain cable. During twisting, the movable collar and layered cable core design allow for cable torsion. This facilitates on-site maintenance and replacement. The dual protection of layered cable core connections and mechanical interlocking extends the service life of the robot drag chain cable by three times. Attached Figure Description

[0016] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0017] Figure 1 This is a schematic diagram of the core connection structure of the female and male ends of a drag chain cable for robots according to this utility model.

[0018] Figure 2 This is a top view of the female end of a drag chain cable for robots according to this utility model;

[0019] Figure 3 yes Figure 2 AA section view;

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the female end of a drag chain cable for robots according to this utility model;

[0021] Figure 5 This is a top view of the male end of a drag chain cable for robots according to this utility model;

[0022] Figure 6 yes Figure 5 BB section view;

[0023] Figure 7 This is a schematic diagram of the cross-sectional structure of a drag chain cable for robots according to this utility model;

[0024] Figure 8 This is a schematic diagram of the structure of a robot drag chain cable after assembly according to this utility model;

[0025] In the diagram: 1-Main cable, 11-First female cable core, 111-First ring, 1111-First arc-shaped groove, 12-Second female cable core, 121-Second ring, 1211-Second arc-shaped groove, 13-Third female cable core, 131-Disc, 1311-Third arc-shaped groove, 14-Modible collar, 141-Fixing groove, 15-Insulation layer, 16-Flame retardant layer, 17-Shielding layer, 18-Water-blocking layer, 19-Outer sheath, 191-Groove;

[0026] 2-Male cable, 21-First male cable core, 211-First U-shaped copper sleeve, 22-Second male cable core, 221-Second U-shaped copper sleeve, 23-Third male cable core, 231-Third U-shaped copper sleeve, 24-Insulation layer, 25-Flame retardant layer, 26-Shielding layer, 27-Water-blocking layer, 28-Outer sheath, 281-Strip groove, 2811-Snap fastener. Detailed Implementation

[0027] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0028] like Figures 1-8 As shown, the robot drag chain cable of this utility model includes a female cable 1 and a male cable 2 plugged together. The female cable 1 has a first female cable core 11, a second female cable core 12, and a third female cable core 13 extending progressively from the outer wall of the female cable 1 towards the center. The outer end of the first female cable core 11 is connected to a first ring 111, the outer end of the second female cable core 12 is connected to a second ring 121, and the outer end of the third female cable core 13 is connected to a disc 131. The first ring 111, the second ring 121, and the disc 131 are located on three mutually parallel planes. The first ring 111, the second ring 121, and the disc 131 are coaxial with the female cable 1, and the inner diameter of the first ring 111 is larger than the outer diameter of the second ring 121, and the inner diameter of the second ring 121 is larger than the outer diameter of the disc 131. The male cable 2 has a first male cable core 21, a second male cable core 22, and a third male cable core 23 extending from the center of the male cable 2 outwards. The length and position of the first male cable core 21, the second male cable core 22, and the third male cable core 23 are respectively adapted to the first female cable core 11, the second female cable core 12, and the third female cable core 13 of the female cable 1. The outer surface of the outer sheath of the female cable 1 is provided with a groove 19, which is used to place a movable collar 14. The movable collar 14 is adapted to the groove 19. The movable collar 14 is provided with a fixing groove 141. The outer sheath layer of the male cable 2 is provided with a strip groove 281. The strip groove 281 is provided with a movable buckle 2811, which is used to snap into the fixing groove 141 of the female cable 1 to realize the fixed connection of the two cables.

[0029] Understandably, such as Figures 2-4 As shown, the female cable 1 adopts a three-level stepped layered layout, consisting of a first female cable core 11, a second female cable core 12, and a third female cable core 13 extending progressively from the outer wall towards the center. The ends of each cable core are connected to a first ring 111, a second ring 121, and a disc 131, respectively. The first ring 111, the second ring 121, and the disc 131 are coaxial and distributed in mutually parallel planes. The inner diameter of the first ring 111 is larger than the outer diameter of the second ring 121, and the inner diameter of the second ring 121 is larger than the outer diameter of the disc 131, forming a nested spatial structure. The outer sheath surface of the female end has a groove 19 for fitting a movable collar 14. The fixing groove 141 on the movable collar engages with the latch 2811 of the male cable 2 for locking.

[0030] like Figures 5-8 As shown, the first male cable core 21, the second male cable core 22, and the third male cable core 23 extend progressively from the center to the outer wall. The extension length and position of the first male cable core 21, the second male cable core 22, and the third male cable core 23 precisely match the stepped levels of the female cable core 1. A movable latch 2811 is embedded in the strip groove 281 of the outer sheath 28 of the male cable 2. The latch 2811 can slide on the strip groove 281. During insertion, the position of the latch 2811 can be adjusted through the strip groove 281, aligning it with the slot 141 on the movable collar 14 of the female cable 1. Moving the latch 2811 on the strip groove 281 causes it to engage with the fixed slot 141 of the female cable 1, forming a mechanical interlock. In further optimized design, the diameter of the third male cable core 23 is larger than that of the first male cable core 21 and the second male cable core 22, improving the current carrying capacity of the final stage signal channel.

[0031] Furthermore, the disc 131, the first ring 111 and the second ring 121 are provided with arc-shaped grooves; the output ends of the first male cable core 21, the second male cable core 22 and the third male cable core 23 are respectively fitted with a U-shaped copper sleeve; the U-shaped copper sleeve is adapted to the arc-shaped groove.

[0032] like Figures 1-3 As shown, the surfaces of the disc 131, the first ring 111, and the second ring 121 of the female cable 1 are all machined with arc-shaped grooves, namely the first arc-shaped groove 1111 of the first ring 111, the second arc-shaped groove 1211 of the second ring 121, and the third arc-shaped groove 1311 of the disc 131, the curvature of which matches the cable core of the male cable 2. The output ends of the first male cable core 21, the second male cable core 22, and the third male cable core 23 of the male cable 2 are respectively fitted with a first U-shaped copper sleeve 211, a second U-shaped copper sleeve 221, and a third U-shaped copper sleeve 231. The outermost end of the U-shaped copper sleeve is embedded in the corresponding arc-shaped groove of the female cable 1, forming a dynamic connection mechanism.

[0033] During insertion, the outermost ends of the first U-shaped copper sleeve 211, the second U-shaped copper sleeve 221, and the third U-shaped copper sleeve 231 are embedded in the arc-shaped groove of the female cable 1. Through the insertion of the copper sleeves, when the robot drag chain cable twists during robot movement, the U-shaped copper sleeves slide along the arc-shaped path within the arc-shaped groove, thus uniformly distributing stress. For example, when the cable is subjected to ±180° torsion, the U-shaped copper sleeves sliding within the arc-shaped groove can reduce the stress at a single point by one-third compared to traditional structures, effectively preventing fatigue of the cable core metal.

[0034] Furthermore, the diameter of the third male end cable core 23 is larger than the diameter of the first male end cable core 21 and the second male end cable core 22.

[0035] Understandably, such as Figure 5 and Figure 7 As shown, the diameter of the third male cable core 23 is larger than that of the first male cable core 21 and the second male cable core 22. In one embodiment, the diameter of the third male cable core is 5mm, while the diameters of the first and second male cable cores are 3mm each. This design is based on the high power requirements of the robot's end effector, using the third male cable core 23 as the main power channel, increasing its current carrying capacity to 30A, compared to 20A for traditional cables of the same specification. Meanwhile, the first male cable core 21 and the second male cable core 22 are dedicated to control signal transmission, achieving a separation of strong and weak currents and avoiding electromagnetic coupling interference.

[0036] Furthermore, the female cable 1 and the male cable 2, from the inside out, include a cable core, an insulation layer (15, 24), a flame-retardant layer (16, 25), a shielding layer (17, 26), a water-blocking layer (18, 27), and an outer sheath (19, 28); the insulation layer (15, 24) wraps around the cable core and is made of cross-linked polyethylene.

[0037] Cross-linked polyethylene (XLPE) has high insulation resistance, enabling the cable to effectively isolate current and prevent leakage. Under AC voltage, XLPE also has high dielectric strength, allowing it to withstand higher voltages without breakdown. XLPE has a low dielectric constant, typically around 2.5, which helps reduce capacitive current in the cable and improves power transmission efficiency. After cross-linking treatment, the heat distortion temperature of XLPE is significantly increased. While the heat distortion temperature of ordinary polyethylene is generally around 70-80℃, that of XLPE can reach 120-130℃. This means that during the operation of robot drag chain cables, even if the ambient temperature rises or the cable itself generates heat due to the load current, the XLPE insulation layer is less prone to deformation, thus ensuring stable cable operation. XLPE also has high tensile strength and elongation at break. Tensile strength can reach 15-20 MPa, and elongation at break is between 200-400%. This allows the cable to withstand certain tensile, compressive, and bending forces during installation without easily being damaged.

[0038] In this embodiment, cross-linked polyethylene is used as the material for the insulation layer (15, 24). The insulation layer (15, 24) wraps the cable core, with a temperature resistance of up to 125℃ and a breakdown voltage of ≥25kV / mm.

[0039] Furthermore, flame-retardant layers (16, 25) cover the insulating layers (15, 24), and the flame-retardant layers (16, 25) are made of melamine cyanurate.

[0040] Melamine cyanurate flame retardant possesses properties such as halogen-free environmental friendliness, high flame retardant efficiency, good thermal stability, and excellent electrical properties. As halogen-free, it avoids the production of toxic and harmful hydrogen halide gases during combustion, making it safer and more environmentally friendly, complying with increasingly stringent environmental regulations and requirements. Melamine cyanurate sublimates and decomposes, absorbing heat and lowering the material's surface temperature. Simultaneously, it releases inert gases, diluting flammable gases and promoting the formation of a dense char layer on the material surface, isolating oxygen and heat, thus effectively preventing combustion and enabling cables to achieve a UL94 V-0 flame retardant rating. It has minimal impact on the mechanical properties of cable materials, not significantly reducing strength, toughness, or other mechanical properties, and possesses a certain degree of lubricity, helping to improve cable processing performance and material flowability.

[0041] In one embodiment, melamine cyanurate is used as the flame-retardant layer (16, 25) of the robot drag chain cable. At high temperatures, an endothermic decomposition reaction occurs, absorbing a large amount of heat, thereby reducing the surface temperature of the cable, slowing down the thermal degradation rate of the material, and delaying combustion. During the decomposition process, some non-flammable gases, such as nitrogen, are generated. After these gases are released, they form an expanding, foamed carbonized layer on the material surface, covering the cable surface and isolating oxygen from contact with combustibles, thus preventing combustion. The generated inert gases can dilute the concentration of oxygen and combustible gases in the surrounding environment, reducing the probability of combustion and further inhibiting the spread of combustion.

[0042] In this embodiment, melamine cyanurate flame retardant is used as a flame retardant layer (16, 25) to cover the insulation layer (15, 24). The oxygen index of melamine cyanurate flame retardant is ≥32, and it passes the UL94 V-0 vertical burning test.

[0043] Furthermore, the shielding layer is wrapped with a flame-retardant layer, which is a tin-plated copper wire braided layer.

[0044] Shielding layers (17, 26): Tin-plated copper wire braided layer, braiding density ≥85%, forming a 360° full-enclosure shield, shielding effectiveness ≥70dB (1GHz band).

[0045] Furthermore, the water-blocking layers (18, 27) wrap around the shielding layers (17, 26), and the water-blocking layers (18, 27) serve as a waterproof strip. In one embodiment, the water-blocking layers (18, 27) are longitudinally wrapped waterproof strips with a water vapor permeability of <0.1 g / (m³). 2 •day), meeting IP67 protection requirements; breakthrough in environmental adaptability: the composite protection of the waterproof tape and the outer sheath extends the cable's lifespan to 10 years in harsh environments with 95% humidity and 5% salt spray concentration.

[0046] Furthermore, the outer sheath (19, 28) wraps around the water-blocking layer (18, 27), and the outer sheath (19, 28) is made of polyvinyl chloride.

[0047] In one embodiment, polyvinyl chloride enhances the dynamic durability of the outer sheath (19, 28), optimizes the hardness and abrasion resistance of the outer sheath (19, 28), and, in conjunction with the internal anti-torsion structure, enables the cable to achieve a reciprocating life of 20 million cycles in the cable chain (ISO14572 standard). Moreover, the outer sheath (19, 28) has a Shore hardness of 80±5 and an abrasion resistance of >1000 cycles (ASTM D4060 standard test).

[0048] This design solves the conflicting problems of current carrying capacity, signal integrity, and environmental tolerance in high-power robot drag chain cables by using a differentiated cable core and composite protective layer system.

[0049] The principle of this invention is that the first male end core 21, the second male end core 22, and the third male end core 23 of the cable 2 extend outwards from the center in stages, and their geometric dimensions precisely match the nested space formed by the first ring 111, the second ring 121, and the disc 131 of the female end cable 1. During insertion, the first U-shaped copper sleeve 211, the second U-shaped copper sleeve 221, and the third U-shaped copper sleeve 231 of the male end core 2 slide along the first arc-shaped groove 1111, the second arc-shaped groove 1211 of the second ring 121, and the third arc-shaped groove 1311 of the disc 131 of the female end cable 1, achieving zero-error alignment through a three-stage stepped guide. Among them, the third male end core 23, due to its larger diameter, preferentially contacts the disc 131 to form the main power channel, while the first and second male end cores complete the control signal connection through the gap between the rings.

[0050] This design enables dynamic anti-torsion and stress dispersion. During robot movement, the cable withstands multi-dimensional torsional forces, and the U-shaped copper sleeve at the male end slides along a preset trajectory within the arc-shaped groove at the female end. For example, when the cable undergoes ±180° torsion, the U-shaped copper sleeve slides within the arc-shaped groove, transforming the concentrated stress in a traditional rigid connection into three-stage sliding friction energy dissipation. The curvature radius of the arc-shaped groove and the U-shaped copper sleeve work synergistically to reduce the single-point stress to below 35MPa, preventing fatigue fracture of the cable core.

[0051] 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. A drag chain cable for robots, characterized in that: It includes a female cable and a male cable that are plugged together. The female cable is provided with a first female cable core, a second female cable core and a third female cable core that extend from the outer wall of the female cable toward the center in stages. The outer end of the first female end cable core is connected to a first ring, the outer end of the second female end cable core is connected to a second ring, and the outer end of the third female end cable core is connected to a disc. The first ring, the second ring, and the disk are located on three mutually parallel planes. The first ring, the second ring, and the disk are coaxial with the female end cable, and the inner diameter of the first ring is larger than the outer diameter of the second ring, and the inner diameter of the second ring is larger than the outer diameter of the disk. The male cable is provided with a first male cable core, a second male cable core, and a third male cable core that extend from the center of the male cable outwards in stages; The lengths and positions of the first male cable core, the second male cable core, and the third male cable core are respectively adapted to the first female cable core, the second female cable core, and the third female cable core of the female cable. The outer surface of the outer sheath of the female end cable is provided with a groove, the groove is used to place a movable collar, and the movable collar is adapted to the groove; The movable collar is provided with a fixing groove, and the outer sheath of the male cable is provided with a strip groove. The strip groove is provided with a movable buckle, which is used to snap into the fixing groove of the female cable to realize the fixed connection of the two cables.

2. The robot drag chain cable according to claim 1, characterized in that: The disk, the first ring, and the second ring are provided with arc-shaped grooves; A U-shaped copper sleeve is fitted onto the output ends of the first male cable core, the second male cable core, and the third male cable core; The U-shaped copper sleeve is adapted to the arc-shaped sliding groove.

3. A robot drag chain cable according to claim 1 or 2, characterized in that: The diameter of the third male cable core is greater than the diameters of the first male cable core and the second male cable core.

4. A robot drag chain cable according to claim 1, characterized in that: The female cable and the male cable, from the inside out, include a cable core, an insulation layer, a flame-retardant layer, a shielding layer, a water-blocking layer, and an outer sheath; The insulation layer wraps around the cable core, and the insulation layer is made of cross-linked polyethylene.

5. A robot drag chain cable according to claim 4, characterized in that: The flame-retardant layer covers the insulating layer, and the flame-retardant layer is made of melamine cyanurate.

6. A robot drag chain cable according to claim 4, characterized in that: The shielding layer encloses the flame-retardant layer, and the shielding layer is a tin-plated copper wire braided layer.

7. A robot drag chain cable according to claim 4, characterized in that: The water-blocking layer wraps around the shielding layer, and the water-blocking layer is a waterproof tape.

8. A robot drag chain cable according to claim 4, characterized in that: The outer sheath wraps around the water-blocking layer, and the outer sheath is made of polyvinyl chloride.

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