A high-flexibility tensile cable for robots

Abstract

This utility model discloses a highly flexible tensile-resistant cable for robots, including an outer sheath and power wire groups, control wire groups, and signal wire groups disposed within the outer sheath. The power wire groups, control wire groups, and signal wire groups are arranged in a cyclical pattern and are tangent to each other in pairs. Filler ropes are disposed within the outer tangent intervals of the power wire groups, control wire groups, and signal wire groups. The filler ropes include a first filler rope and a second filler rope. The first filler rope is located at the center of the power wire groups, control wire groups, and signal wire groups. The second filler rope fills the gaps between the power wire groups, control wire groups, signal wire groups, and the outer sheath. The second filler rope is tangent to the outer sheath and simultaneously tangent to two of the power wire groups, control wire groups, and signal wire groups. The cable core in this structure is composed of power wire groups, control wire groups, signal wire groups, and filler ropes. Filler ropes are disposed between the wires. The cable core is surrounded by a wrapping layer and an outer sheath. The overall structure is simple.

Description

Technical Field

[0001] This utility model relates to the field of cables for robots, and in particular to a highly flexible and tensile-resistant cable for robots. Background Technology

[0002] Robot cables are critical components in robot systems, responsible for transmitting power, signals, and data. Early robot cables often used general-purpose cables such as PVC insulated wires, but the frequent bending and twisting movements of robots caused these cables to wear out and break easily. Ordinary cables, under repeated bending conditions such as in cable chain applications, will experience problems such as insulation layer cracking and wire fatigue, resulting in a lifespan of only a few months.

[0003] With the vigorous development and widespread application of the robotics industry, the requirements for robot cables are becoming increasingly stringent, especially the demands for high flexibility, multi-degree-of-freedom adaptability, compactness, and lightweight design. For example, some robots require a 10% elongation rate during high-speed movement, which poses a severe test to the tensile strength of the cable. Under continuous stretching, robot cables are prone to breakage.

[0004] The tensile strength of robot cables is one of the performance indicators of robot cables, which directly affects their reliability and lifespan in dynamic movements such as cable chains, suspensions, and high-speed movements of robotic arms. Utility Model Content

[0005] The technical problem solved by this utility model is to provide a highly flexible tensile cable for robots with strong tensile strength.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a high-flexibility tensile cable for robots, including an outer sheath and a power line group, a control line group and a signal line group disposed in the outer sheath. The power line group, the control line group and the signal line group are arranged in a cyclic manner and are tangent to each other in pairs. Filler ropes are disposed in the outer tangent intervals of the power line group, the control line group and the signal line group.

[0007] The filling rope includes a first filling rope and a second filling rope;

[0008] The first filler rope is located at the center of the power line group, control line group, and signal line group. The second filler rope fills the gap between the power line group, control line group, signal line group and the outer sheath. The second filler rope is tangent to the outer sheath and also tangent to two of the power line group, control line group, and signal line group.

[0009] Furthermore, the power line group, control line group, and signal line group are respectively tangent to the first filling rope or are spirally wound in the same direction around the outer periphery of the first filling rope.

[0010] Furthermore, the filling rope is cylindrical or hollow tubular;

[0011] The cylindrical filling rope is made of several thin filling ropes twisted together;

[0012] The hollow tubular filling rope contains a heat dissipation medium.

[0013] Furthermore, the power wire assembly includes a power wire core and a power wire core insulation layer, with the power wire core insulation layer wrapping around the outside of the power wire core.

[0014] Furthermore, the power core is composed of several stranded metal wires, and the insulation layer of the power core is made of PUR material.

[0015] Furthermore, the control wire assembly includes a control wire core, an inner insulation layer of the control wire core, an inner shielding layer of the control wire core, an outer shielding layer of the control wire core, and an outer insulation layer of the control wire core;

[0016] The inner insulation layer of the control wire core is wrapped around the outer side of the control wire core;

[0017] The inner shielding layer of the control wire core is wrapped around the outer side of the inner insulation layer of the control wire core.

[0018] The outer shielding layer of the control wire core is wrapped around the outer side of the inner shielding layer of the control wire core.

[0019] The outer insulation layer of the control core is wrapped around the outer shielding layer of the control core.

[0020] Furthermore, the control wire core is composed of several stranded metal wires, the inner insulation layer of the control wire core is a foamed insulation material, the inner shielding layer of the control wire core is a tinned copper wire spirally wound on the outside of the inner insulation layer of the control wire core, the outer shielding layer of the control wire core is a tinned copper wire braided structure, the tinned copper wire braided structure is wound on the outside of the inner insulation layer of the control wire core, and the outer insulation layer of the control wire core is made of PUR material.

[0021] Furthermore, the signal line assembly includes a signal core, an inner insulation layer of the signal core, an inner shielding layer of the signal core, an outer shielding layer of the signal core, and an outer insulation layer of the signal core.

[0022] The inner insulation layer of the signal wire core is wrapped around the outer side of the signal wire core;

[0023] The inner shielding layer of the signal core is wrapped around the outer side of the inner insulation layer of the signal core.

[0024] The outer shielding layer of the signal core is wrapped around the outer side of the inner shielding layer of the signal core.

[0025] The outer insulation layer of the signal core is wrapped around the outer shielding layer of the signal core.

[0026] Furthermore, the inner insulation layer of the signal core is made of foamed insulation material, the inner shielding layer of the signal core is tinned copper wire spirally wound on the outside of the inner insulation layer of the signal core, the outer shielding of the signal core is a braided structure of tinned copper wire, and the outer insulation layer of the signal core is made of PUR material.

[0027] Furthermore, the outer protective layer includes a wrapping layer and a protective sleeve. The wrapping layer is used to wrap the power cable group, control cable group, signal cable group and several filler ropes, and the protective sleeve is wrapped around the outside of the wrapping layer.

[0028] Furthermore, an anti-torsion element is also provided between the wrapping layer and the protective sleeve;

[0029] The anti-torsion element is a hollow anti-torsion strip;

[0030] The wrapping layer is made of aramid aluminum foil, and the protective layer is made of PUR material.

[0031] The beneficial effects of this utility model are:

[0032] 1. The cable core consists of power line group, control line group, signal line group and filler rope. Filler rope is installed between the cables. The cable core is surrounded by wrapping layer and outer sheath. The overall structure is simple.

[0033] 2. The power line group, control line group, signal line group and filler rope inside the cable are arranged tangentially and fixed by the outer sheath to effectively prevent the cable from becoming loose, tangled and abrading each other.

[0034] 3. The filler rope is hollow and filled with a heat dissipation medium, which significantly improves the heat dissipation performance of the cable. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of a highly flexible tensile cable for robots according to an embodiment of this application.

[0036] Figure 2 This is a schematic diagram of the power line assembly of a high-flexibility tensile cable for robots according to an embodiment of this application.

[0037] Figure 3 This is a schematic diagram of the control wire assembly of a high-flexibility tensile cable for a robot according to an embodiment of this application.

[0038] Figure 4 This is a schematic diagram of the signal line assembly of a high-flexibility, tensile-resistant cable for robots according to an embodiment of this application.

[0039] Figure 5 This is a schematic diagram of the filling rope of a high-flexibility tensile cable for robots according to an embodiment of this application.

[0040] Figure 6This is a schematic diagram of the filling rope of a high-flexibility tensile cable for robots according to an embodiment of this application.

[0041] Figure 7 This is a schematic diagram of the outer sheath of a high-flexibility tensile cable for robots according to an embodiment of this application.

[0042] The components in the diagram are labeled as follows: Power line group 1, Power core 11, Power core insulation layer 12, Control line group 2, Control core 21, Inner insulation layer of control core 22, Inner shielding layer of control core 23, Outer shielding layer of control core 24, Outer insulation layer of control core 25, Signal line group 3, Signal core 31, Inner insulation layer of signal core 32, Inner shielding layer of signal core 33, Outer shielding layer of signal core 34, Outer insulation layer of signal core 35, Filler rope 4, First filler rope 41, Second filler rope 42, Heat dissipation medium 43, Outer sheath 5, Wrapping layer 51, Protective sleeve 52, Anti-torsion element 53. Detailed Implementation

[0043] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0044] like Figure 1 As shown, an embodiment of this application discloses a highly flexible tensile cable for robots, including an outer sheath 5 and a power line group 1, a control line group 2, and a signal line group 3 disposed within the outer sheath 5. The power line group 1, the control line group 2, and the signal line group 3 are arranged in a cyclical manner and are tangent to each other in pairs. A filler rope 4 is disposed within the outer tangent interval of the power line group 1, the control line group 2, and the signal line group 3.

[0045] The filling rope 4 includes a first filling rope 41 and a second filling rope 42;

[0046] The first filler rope 41 is located at the center of the power line group 1, the control line group 2 and the signal line group 3. The second filler rope 42 fills the gap between the power line group 1, the control line group 2, the signal line group 3 and the outer sheath 5. The second filler rope 42 is tangent to the outer sheath 5 and also tangent to two of the power line group 1, the control line group 2 and the signal line group 3.

[0047] Specifically, in the above structure, the power cable group 1, control cable group 2, and signal cable group 3 are arranged in a specific way—that is, arranged sequentially and tangentially in pairs—which not only optimizes the internal structure of the cable but also enhances its overall tensile strength. This arrangement allows the cable to distribute the tension evenly among the cable groups when subjected to tensile force, avoiding breakage caused by excessive local stress. The first filler rope 41, located at the center, supports and fixes the other cable groups, while also helping to improve the cable's tensile strength. The second filler rope 42 fills the gap between the cable groups and the outer sheath 5, further enhancing the cable's structural stability and tensile strength.

[0048] In this embodiment, the power line group 1, control line group 2, and signal line group 3 have the following two positional relationships with the first filling rope 41, specifically:

[0049] In the first configuration: the power line group 1, the control line group 2, and the signal line group 3 are respectively tangent to the first filler rope 41;

[0050] The second form: the power line group 1, the control line group 2, and the signal line group 3 are spirally wound in the same direction and distributed around the outer periphery of the first filler rope 41.

[0051] Both of these methods can effectively improve the overall tensile strength of the cable, while preventing the cable from becoming loose, tangled, and abrading each other.

[0052] In the first configuration, the power cable group 1, control cable group 2, and signal cable group 3 are tangent to the first filler rope 41. This arrangement allows the cable groups to distribute the tension more evenly when the cable is under tension, avoiding excessive local stress and thus improving the cable's tensile strength. Furthermore, the tangency of each cable group to the first filler rope 41 increases the friction between the groups, further preventing loosening, tangling, and mutual wear of the cable.

[0053] In the second configuration, the power cable group 1, control cable group 2, and signal cable group 3 are spirally wound in the same direction around the outer periphery of the first filler rope 41. This arrangement not only makes the cable look neater but also enhances its flexibility and tensile strength. Because the cable groups are spirally wound around the outer periphery of the first filler rope 41, when the cable is under tension, the cable groups can distribute the tension along the spiral direction, thus avoiding excessive local stress. At the same time, the spiral winding method also increases the contact area between the cable groups, improving the overall stability of the cable.

[0054] In this embodiment, as Figure 5 and Figure 6 As shown, the filling rope 4 is cylindrical or hollow tubular; the cylindrical filling rope 4 is formed by twisting together several thin filling ropes, and the hollow tubular filling rope 4 is provided with a heat dissipation medium 43.

[0055] Specifically, the filler rope 4 is designed in a cylindrical or hollow tubular shape. This design not only enhances the structural strength of the cable but also takes into account its heat dissipation performance. During high-speed robot movement or prolonged operation, heat may be generated inside the cable. If this heat cannot be dissipated in time, it may lead to a decline in cable performance or even safety hazards. Therefore, designing the filler rope 4 as a hollow tubular shape and filling it with a heat-dissipating medium 43 effectively improves the cable's heat dissipation efficiency, ensuring the cable's stability and reliability during long-term operation.

[0056] In this embodiment, as Figure 2 As shown, the power line assembly 1 includes a power core 11 and a power core insulation layer 12, with the power core insulation layer 12 wrapping around the outside of the power core 11.

[0057] Specifically, the power core 11 is made of several stranded metal wires, and the insulation layer 12 of the power core is made of PUR material.

[0058] It should be explained that the aforementioned metal wire can be copper wire or aluminum wire, etc., and the aforementioned PUR material refers to polyurethane material.

[0059] Specifically, the power conductor assembly 1, as the main transmission component of the cable, has a structural design and material selection that are crucial to the cable's performance. The power conductor 11 is composed of several stranded metal wires. This design not only improves the flexibility and tensile strength of the power conductor 11 but also makes the power conductor assembly 1 more stable and reliable when transmitting power. The power conductor insulation layer 12 is made of PUR material. PUR material has excellent abrasion resistance, oil resistance, and chemical corrosion resistance, effectively protecting the power conductor 11 from damage by the external environment and also contributing to extending the cable's service life.

[0060] In this embodiment, as Figure 3 As shown, the control line group 2 includes a control line core 21, an inner insulation layer 22, an inner shielding layer 23, an outer shielding layer 24, and an outer insulation layer 25.

[0061] The inner insulation layer 22 of the control wire core is wrapped around the outside of the control wire core 21;

[0062] The inner shielding layer 23 of the control wire core is wrapped around the outer side of the inner insulation layer 22 of the control wire core;

[0063] The outer shielding layer 24 of the control wire core is wrapped around the outer side of the inner shielding layer 23 of the control wire core.

[0064] The outer insulation layer 25 of the control core is wrapped around the outer shielding layer 24 of the control core.

[0065] Specifically, the multi-layered structure design of control cable group 2 not only improves the transmission efficiency and anti-interference capability of control signals, but also enhances the overall mechanical strength and wear resistance of the cable. Among them, the control core 21, as the core of signal transmission, ensures accurate signal transmission. The inner insulation layer 22 of the control core effectively isolates the control core 21 from the external environment, preventing signal interference and short circuits. The inner shielding layer 23 and the outer shielding layer 24 of the control core constitute double shielding protection, further improving the anti-interference capability and transmission stability of the signal. The outermost outer insulation layer 25 of the control core provides a reliable protective barrier for control cable group 2.

[0066] Specifically, based on actual needs, the inner core of the control wire group 2, which is composed of the control wire core 21 and the inner insulation layer 22, has M cores, where M ≥ 1. The M inner cores of the control wire group 2 are located within the inner shielding layer 23 of the control wire core.

[0067] Specifically, M can be 1, 2, 3, 4, etc., and the number M of the inner cores of control wire group 2 can be flexibly adjusted according to actual needs. When M is 1, the inner core of control wire group 2 is a single core, which can meet the basic control signal transmission requirements. When M increases, such as to 2, 3, 4, etc., the number of inner cores of control wire group 2 increases accordingly. This not only improves the transmission efficiency and stability of control signals, but also enhances the overall anti-interference capability and mechanical strength of the cable. In practical applications, the number M of inner cores of control wire group 2 can be reasonably selected according to factors such as the robot's control precision, signal transmission distance, and working environment to ensure the normal operation and high efficiency of the robot system.

[0068] In this embodiment, the control core 21 is made of several stranded metal wires, the inner insulation layer 22 of the control core is made of foamed insulation material, the inner shielding layer 23 of the control core is tinned copper wire spirally wound around the outside of the inner insulation layer 22 of the control core, the outer shielding layer 24 of the control core is a tinned copper wire braided structure, the tinned copper wire braided structure is wound around the outside of the inner insulation layer 22 of the control core, and the outer insulation layer 25 of the control core is made of PUR material.

[0069] Specifically, the control wire core 21 is designed with several stranded metal wires. This structure not only improves the flexibility and tensile strength of the control wire core 21, but also makes the control signal more stable and reliable during transmission. The inner insulation layer 22 of the control wire core is made of foamed insulation material, which has good mechanical properties and heat resistance, and can meet the usage requirements of the robot system in various complex environments.

[0070] Meanwhile, the inner shielding layer 23 of the control wire core consists of tin-plated copper wire spirally wound around the outside of the inner insulation layer 22. This design effectively shields against external electromagnetic interference, protecting the control signal from interference during transmission. The outer shielding layer 24 of the control wire core uses a braided structure of tin-plated copper wire. This structure not only has excellent shielding performance but also good flexibility and wear resistance, enabling it to adapt to the movement requirements of the robot system in various complex environments. The outermost outer insulation layer 25 of the control wire core is made of PUR material. This material has excellent wear resistance, oil resistance, and chemical corrosion resistance, effectively protecting the control wire assembly 2 from damage by the external environment and improving the cable's service life.

[0071] In this embodiment, as Figure 4 As shown, the signal line group 3 includes a signal line core 31, an inner insulation layer 32, an inner shielding layer 33, an outer shielding layer 34, and an outer insulation layer 35.

[0072] The inner insulation layer 32 of the signal wire core is wrapped around the outside of the signal wire core 31;

[0073] The inner shielding layer 33 of the signal core is wrapped around the outer side of the inner insulation layer 32 of the signal core;

[0074] The outer shielding layer 34 of the signal core is wrapped around the outer side of the inner shielding layer 33 of the signal core.

[0075] The outer insulation layer 35 of the signal core is wrapped around the outer shielding layer 34 of the signal core.

[0076] Specifically, the multi-layered structure design of signal cable group 3 ensures accurate data signal transmission and anti-interference capabilities. Signal core 31, as the core of data transmission, guarantees signal integrity and clarity. The inner insulation layer 32 effectively isolates signal core 31 from the external environment, preventing signal interference and attenuation. The inner shielding layer 33 and outer shielding layer further enhance the shielding effect and anti-interference capability, ensuring the stability and reliability of data signals during transmission. The outermost signal core insulation layer 35 provides additional protection for signal cable group 3, enhancing the overall mechanical strength and abrasion resistance of the cable.

[0077] In this embodiment, the signal wire core 3, which is composed of the signal wire core 31 and the inner insulation layer 32 of the signal wire core, has N cores, where N ≥ 1, and the N cores of the signal wire core 3 are located inside the inner shielding layer 33 of the signal wire core.

[0078] Specifically, N can be 1, 2, 3, 4, etc., and the number of cores N in signal wire group 3 can also be flexibly adjusted according to actual needs. Increasing the number of cores in signal wire group 3 can improve the transmission speed and capacity of data signals, meeting the ever-increasing information flow needs within the robot system. In specific applications, the number of cores N in signal wire group 3 can be reasonably selected based on factors such as the robot's working scenario, data transmission volume, and system performance requirements to ensure the normal operation and high efficiency of the robot system.

[0079] In this embodiment, the inner insulation layer 32 of the signal core is made of foamed insulation material, the inner shielding layer 33 of the signal core is tinned copper wire spirally wound on the outside of the inner insulation layer 32 of the signal core, the outer shield of the signal core 31 is a braided structure of tinned copper wire, and the outer insulation layer 35 of the signal core is made of PUR material.

[0080] Specifically, the signal core 31 also employs a design composed of several stranded metal wires. This structure makes the signal core 31 more stable and reliable when transmitting data signals. The inner insulation layer 32 of the signal core also uses foamed insulation material, which has good mechanical and heat resistance properties, meeting the usage requirements of the robot system in various complex environments. Meanwhile, the inner shielding layer 33 of the signal core uses tinned copper wire spirally wound around the outside of the inner insulation layer 32. This design effectively shields against external electromagnetic interference, protecting the data signal from interference during transmission. The outer shielding layer 34 of the signal core uses a braided structure of tinned copper wire. This structure not only has excellent shielding performance but also good flexibility and wear resistance, adapting to the movement requirements of the robot system in various complex environments. The outermost outer insulation layer 35 of the signal core is made of PUR material. The wear resistance, oil resistance, and chemical corrosion resistance of PUR material effectively protect the signal cable assembly 3 from damage by the external environment, improving the cable's service life and ensuring the stability and reliability of the data signal during transmission.

[0081] In this embodiment, as Figure 7 As shown, the outer protective layer 5 includes a wrapping layer 51 and a protective sleeve 52. The wrapping layer 51 is used to wrap the power line group 1, the control line group 2, the signal line group 3 and several filler ropes 4. The protective sleeve 52 is wrapped around the outside of the wrapping layer 51.

[0082] Specifically, an anti-torsion element 53 is also provided between the wrapping layer 51 and the protective sleeve 52; the anti-torsion element 53 is a hollow anti-torsion strip;

[0083] The wrapping layer 51 is made of aramid aluminum foil, and the protective layer is made of PUR material.

[0084] The aforementioned structural design not only improves the cable's tensile strength and abrasion resistance but also ensures its stability and reliability in complex environments. The sheath 51 uses aramid-coated aluminum foil, a material with excellent strength and shielding properties, effectively protecting the internal cable windings from external environmental interference and damage. Simultaneously, the aramid-coated aluminum foil also exhibits good anti-aging properties, extending the cable's service life. The protective sheath 52 is made of PUR material; PUR's abrasion resistance, oil resistance, and chemical corrosion resistance provide an additional protective barrier, further enhancing the cable's durability and reliability. The anti-torsion element 53 enhances the cable's anti-torsion performance, enabling the cable to maintain structural stability and signal transmission quality when subjected to torsional forces. This design makes the cable more suitable for use in complex motion environments such as robotics, meeting the demands of robotic systems for high-performance, high-reliability, and long-life cables.

[0085] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A highly flexible tensile cable for robotics, characterized in that, It includes an outer sheath (5) and a power line group (1), a control line group (2) and a signal line group (3) disposed within the outer sheath (5). The power line group (1), the control line group (2) and the signal line group (3) are arranged in a cyclical manner and are tangent to each other in pairs. A filler rope (4) is provided in the outer tangent interval of the power line group (1), the control line group (2) and the signal line group (3). The filling rope (4) includes a first filling rope (41) and a second filling rope (42); The first filler rope (41) is located at the center of the power line group (1), the control line group (2) and the signal line group (3). The second filler rope (42) fills the gap between the power line group (1), the control line group (2), the signal line group (3) and the outer sheath (5). The second filler rope (42) is tangent to the outer sheath (5) and also tangent to two of the power line group (1), the control line group (2) and the signal line group (3).

2. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The power line group (1), control line group (2) and signal line group (3) are tangent to the first filling rope (41) or the power line group (1), control line group (2) and signal line group (3) are spirally wound in the same direction around the outer periphery of the first filling rope (41).

3. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The filling rope (4) is cylindrical or hollow tubular; The cylindrical filling rope (4) is made of several thin filling ropes twisted together; The hollow tubular filling rope (4) contains a heat dissipation medium (43).

4. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The power line assembly (1) includes a power core (11) and a power core insulation layer (12), wherein the power core insulation layer (12) is wrapped around the outside of the power core (11).

5. The high-flexibility tensile cable for robots as described in claim 4, characterized in that, The power core (11) is made of several stranded metal wires, and the insulation layer (12) of the power core is made of PUR material.

6. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The control wire assembly (2) includes a control wire core (21), an inner insulation layer (22) of the control wire core, an inner shielding layer (23) of the control wire core, an outer shielding layer (24) of the control wire core, and an outer insulation layer (25) of the control wire core; The inner insulation layer (22) of the control wire core is wrapped around the outside of the control wire core (21); The inner shielding layer (23) of the control wire core is wrapped around the outer side of the inner insulation layer (22) of the control wire core; The outer shielding layer (24) of the control core is wrapped around the outer side of the inner shielding layer (23) of the control core; The outer insulation layer (25) of the control core is wrapped around the outer shielding layer (24) of the control core.

7. The high-flexibility tensile cable for robots as described in claim 6, characterized in that, The control core (21) is made of several stranded metal wires. The inner insulation layer (22) of the control core is made of foamed insulation material. The inner shielding layer (23) of the control core is a tinned copper wire spirally wound on the outside of the inner insulation layer (22) of the control core. The outer shielding layer (24) of the control core is a tinned copper wire braided structure. The tinned copper wire braided structure is wound on the outside of the inner insulation layer (22) of the control core. The outer insulation layer (25) of the control core is made of PUR material.

8. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The signal line group (3) includes a signal core (31), an inner insulation layer (32) of the signal core, an inner shielding layer (33) of the signal core, an outer shielding layer (34) of the signal core, and an outer insulation layer (35) of the signal core; The inner insulation layer (32) of the signal wire core is wrapped around the outside of the signal wire core (31); The inner shielding layer (33) of the signal core is wrapped around the outer side of the inner insulation layer (32) of the signal core; The outer shielding layer (34) of the signal core is wrapped around the outer side of the inner shielding layer (33) of the signal core; The outer insulation layer (35) of the signal core is wrapped around the outer shielding layer (34) of the signal core.

9. The high-flexibility tensile cable for robots as described in claim 8, characterized in that, The inner insulation layer (32) of the signal core is made of foamed insulation material, the inner shielding layer (33) of the signal core is tinned copper wire spirally wound on the outside of the inner insulation layer (32) of the signal core, the outer shield of the signal core (31) is a braided structure of tinned copper wire, and the outer insulation layer (35) of the signal core is made of PUR material.

10. The high-flexibility tensile cable for robots as described in claim 1, characterized in that, The outer protective layer (5) includes a wrapping layer (51) and a protective sleeve (52). The wrapping layer (51) is used to wrap the power line group (1), the control line group (2), the signal line group (3) and several filler ropes (4). The protective sleeve (52) is wrapped around the outside of the wrapping layer (51).

11. The high-flexibility tensile cable for robots as described in claim 10, characterized in that, An anti-torsion element (53) is also provided between the wrapping layer (51) and the protective sleeve (52); The anti-torsion element (53) is a hollow anti-torsion strip; The wrapping layer (51) is made of aramid aluminum foil, and the protective sleeve is made of PUR material.

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