High-flexibility anti-twisting cable for robot
By employing tangentially arranged power line groups, control line groups, and signal line groups in robot cables, and using anti-torsion elements and specific material structures, the problem of easy wear and tear on robot cables during frequent bending and twisting is solved, achieving improved high flexibility and anti-torsion performance, and ensuring the stable operation of the robot system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- QC SOLAR (SUZHOU) CORPORATION
- Filing Date
- 2025-06-12
- Publication Date
- 2026-05-26
AI Technical Summary
Existing robot cables are prone to wear and breakage during frequent bending and twisting movements, failing to meet the requirements of high flexibility, multi-degree-of-freedom adaptation, and compact lightweight design. In particular, their torsional resistance to withstand millions of bends is insufficient in 6-axis collaborative robots.
The power line group, control line group and signal line group are arranged tangentially, and the gaps are filled by anti-torsion elements. An outer wrapping layer and protective sleeve are added. The anti-torsion elements are made of hollow aramid material, and the internal wire core adopts a multi-layer structure and specific insulation materials to enhance the anti-torsion performance.
It improves the cable's resistance to torsion, prevents the cable from becoming loose, tangled, and worn, ensures the cable's structural stability and functional integrity during frequent robot movements, and extends its service life.
Smart Images
Figure CN224287827U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cables for robots, and in particular to a highly flexible, anti-torsion 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 cracking and conductor 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. Robot joint movements, such as those of 6-axis collaborative robots, require cables to withstand millions of bends. This poses a severe test to the cable's torsional resistance. Under continuous torsional forces, the conductors composed of the internal cores of the robot cable are prone to deformation, leading to changes in the cable's resistance, affecting conductivity, and even causing internal conductors to break. Utility Model Content
[0004] The technical problem solved by this utility model is to provide a highly flexible anti-torsion cable for robots with strong anti-torsion ability.
[0005] The technical solution adopted by this utility model to solve its technical problem is: a high-flexibility anti-torsion cable for robots, including an outer sheath, wherein a power line group, a control line group, a signal line group and several anti-torsion elements are arranged inside the outer sheath;
[0006] The power line group includes a control line group and a signal line group located in the middle, which are arranged in a cyclical manner around the outer periphery of the power line group, and the power line group, control line group and signal line group are tangent to each other in pairs;
[0007] The anti-torsion element is provided at the gap between the power line group, the control line group, and the signal line group, and the anti-torsion element is tangent to the power line group, the control line group, and the signal line group.
[0008] Furthermore, the anti-torsion element is a hollow anti-torsion strip.
[0009] 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;
[0010] The power core is made of several stranded metal wires, and the insulation layer of the power core is made of PUR material.
[0011] 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;
[0012] The inner insulation layer of the control wire core is wrapped around the outer side of the control wire core.
[0013] 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.
[0014] 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.
[0015] The outer insulation layer of the control core is wrapped around the outer shielding layer of the control core.
[0016] Furthermore, the inner core of the control wire group, which is composed of the control wire core layer and the inner insulation layer of the control wire core, is provided with M cores, where M ≥ 1, and the M inner cores of the control wire group are located inside the inner shielding layer of the control wire core.
[0017] 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.
[0018] 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.
[0019] The inner insulation layer of the signal wire core is wrapped around the outer side of the signal wire core.
[0020] The inner shielding layer of the signal wire core is wrapped around the outer side of the inner insulation layer of the signal wire core.
[0021] The outer shielding layer of the signal core is wrapped around the outer side of the inner shielding layer of the signal core.
[0022] The outer insulation layer of the signal core is wrapped around the outer shielding layer of the signal core.
[0023] Furthermore, the signal wire core and the inner insulation layer of the signal wire core together form N signal wire group inner cores, where N≥1, and the N signal wire group inner cores are located inside the shielding layer of the signal wire core.
[0024] Furthermore, the inner insulation layer of the signal core is a foamed insulation structure, the inner shielding layer of the signal core is a tinned copper wire structure spirally wound on the outside of the signal core, the outer shielding layer of the signal core is a tinned copper wire braided structure, and the outer insulation layer of the signal core is made of PUR material.
[0025] Furthermore, the outer sheath includes a wrapping layer and a protective sleeve. The wrapping layer wraps around the power line group, control line group, signal line group and several anti-torsion components, and the protective sleeve wraps around the outside of the wrapping layer.
[0026] The wrapping layer is made of aramid aluminum foil, and the protective layer is made of PUR material.
[0027] The beneficial effects of this utility model are:
[0028] 1. The cable structure of this type of cable is designed by tangentially arranging the power line group, control line group, and signal line group, and then fixing them with a wrapping layer, which can prevent the power line group, control line group, and signal line group from becoming loose, tangled, and abrading each other.
[0029] 2. In this structure, several anti-torsion elements are used to fill the gaps between the cables. At the same time, the anti-torsion elements are tangent to the power line group, control line group, and signal line group, thereby preventing mutual wear between the power line group, control line group, and signal line group.
[0030] 3. By hollowing out the anti-torsion element in this structure, the pressure that the cable will bear during use can be relieved, while ensuring that the cable body has a rounded structure. Attached Figure Description
[0031] Figure 1 This is a schematic diagram of the structure of a highly flexible, anti-torsion cable for robots according to one embodiment of this application.
[0032] Figure 2 This is a schematic diagram of the structure of a second type of highly flexible, anti-torsion cable for robots according to an embodiment of this application.
[0033] Figure 3 This is a schematic diagram of the structure of a third type of highly flexible, anti-torsion cable for robots according to an embodiment of this application.
[0034] Figure 4 This is a schematic diagram of the power line assembly of a highly flexible, anti-twist cable for robots according to an embodiment of this application.
[0035] Figure 5 This is a schematic diagram of the signal line assembly of a highly flexible, anti-twist cable for robots according to an embodiment of this application.
[0036] Figure 6 This is a schematic diagram of the control wire assembly of a highly flexible, anti-twist cable for a robot, according to an embodiment of this application.
[0037] 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, Anti-torsion element 4, Outer sheath 5, Wrapping layer 51, Protective sleeve 52. Detailed Implementation
[0038] 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.
[0039] like Figure 1 As shown, an embodiment of this application discloses a highly flexible anti-torsion cable for robots, including an outer sheath 5, wherein a power line group 1, a control line group 2, a signal line group 3 and several anti-torsion elements 4 are disposed within the outer sheath 5.
[0040] The power line group 1 includes a control line group 2 and a signal line group 3 arranged in a circular pattern around the outer periphery of the power line group 1, located in the middle position, with each power line group 1, control line group 2 and signal line group 3 being tangent to the others.
[0041] The anti-torsion element 4 is provided at the gap between the power line group 1, the control line group 2 and the signal line group 3, and the anti-torsion element 4 is tangent to the power line group 1, the control line group 2 and the signal line group 3.
[0042] Specifically, in the above structure, power cable group 1 is used to transmit electricity, providing a stable power source for the robot; control cable group 2 is used to transmit control signals, enabling precise control of the robot; and signal cable group 3 is used to transmit data signals, ensuring smooth information flow within the robot system. The inclusion of anti-torsion element 4 significantly enhances the cable's anti-torsion performance, allowing the cable to maintain structural stability and functional integrity even during frequent twisting movements of the robot.
[0043] In addition, the anti-torsion element 4 fills the gaps between the internal cables to prevent them from wearing each other. At the same time, in this structure, the power cable group 1, control cable group 2 and signal cable group 3 are tangent to each other, which can prevent the internal cables of the outer sheath 5 from becoming loosely entangled and wearing each other.
[0044] In this embodiment, the anti-torsion element 4 is a hollow anti-torsion strip. The material is aramid fiber, which has excellent properties such as ultra-high strength, high modulus, fatigue resistance, and high temperature resistance, and can effectively resist torsional stress, thereby improving the durability and reliability of the cable.
[0045] Specifically, the anti-torsion element 4 in this structure is hollow, which can alleviate the pressure that the cable will bear during use, and also ensure that the cable body has a rounded structure.
[0046] In this embodiment, as Figure 4 As shown, the power line assembly 1 includes a power core 11 and a power core insulation layer 12, the power core insulation layer 12 being wrapped around the outside of the power core 11; the power core 11 is made of several stranded metal wires, and the power core insulation layer 12 is made of PUR material.
[0047] Specifically, PUR, or reinforced polyurethane material, has excellent wear resistance and flexibility, effectively protecting the power core 11 and preventing it from being worn or broken during robot movement. Meanwhile, the power core 11 is composed of several stranded metal wires, a structure that gives it greater tensile strength and conductivity, ensuring the stability and reliability of power transmission.
[0048] In this embodiment, as Figure 6 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.
[0049] The inner insulation layer 22 of the control wire core is wrapped around the outside of the control wire core 21.
[0050] 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.
[0051] 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.
[0052] The outer insulation layer 25 of the control core is wrapped around the outer shielding layer 24 of the control core.
[0053] 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.
[0054] In this embodiment, the control wire core 21 and the inner insulation layer 22 of the control wire core are configured with M inner cores, M≥1, and the M inner cores of the control wire core are located inside the inner shielding layer 23 of the control wire core.
[0055] Specifically, M can be 1, 2, 3, 4, etc., for example... Figure 1 and Figure 3 As shown, the number M of the control wire group can be flexibly adjusted according to actual needs. When M is 1, the control wire group has a single core, which can meet the basic control signal transmission requirements. When M increases, such as to 2, 3, or 4, the number of cores in the control wire group increases accordingly. This not only improves the transmission efficiency and stability of the control signal but also enhances the overall anti-interference capability and mechanical strength of the cable. In specific applications, the number M of the control wire group cores can be reasonably selected based on 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.
[0056] In this embodiment, as Figure 6 As shown, 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 on the outside of the inner insulation layer 22 of the control core, the outer shielding layer 24 of the control core is a braided structure of tinned copper wire, the braided structure of tinned copper wire is wound on 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.
[0057] Specifically, the aforementioned foamed insulation material can be foamed PE, which is lightweight and high-strength. It has a low density and light weight, yet possesses excellent impact and compressive strength, effectively protecting the control wire core 21 from external impacts and compression. The tinned copper wire braided structure serves as a shielding layer, providing good conductivity and shielding effect, effectively preventing external electromagnetic interference from affecting the control signal. The PUR material outer insulation layer 25 further enhances the wear resistance and flexibility of the control wire assembly 2, ensuring the stability and reliability of the cable in complex working environments.
[0058] In this embodiment, as Figure 5 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.
[0059] The inner insulation layer 32 of the signal wire core is wrapped around the outside of the signal wire core 31.
[0060] The inner shielding layer 33 of the signal wire core is wrapped around the outer side of the inner insulation layer 32 of the signal wire core.
[0061] 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.
[0062] The outer insulation layer 35 of the signal core is wrapped around the outer shielding layer 34 of the signal core.
[0063] 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.
[0064] 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.
[0065] Specifically, N can be 1, 2, 3, 4, etc., such as Figure 1 and Figure 2 As shown, the number N of the inner cores in signal wire group 3 can also be flexibly adjusted according to actual needs. Increasing the number of inner 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 N of inner cores 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.
[0066] In this embodiment, the inner insulation layer 32 of the signal core is a foamed insulation structure, the inner shielding layer 33 of the signal core is a tinned copper wire structure spirally wound on the outside of the signal core 31, the outer shielding layer 34 of the signal core is a tinned copper wire braided structure, and the outer insulation layer 35 of the signal core is made of PUR material.
[0067] Specifically, the inner insulation layer 32 of the signal core in this structure also uses foamed insulation material, such as foamed PE. This material has the characteristics of being lightweight and high-strength, which can effectively protect the signal core 31 from damage by the external environment, while maintaining the clarity and integrity of the signal. The tinned copper braided structure serves as the shielding layer of the signal core 31, providing good conductivity and shielding effect, effectively resisting external electromagnetic interference, and ensuring stable transmission of data signals. The outer insulation layer 35 of the signal core made of PUR material further enhances the wear resistance and flexibility of the signal cable assembly 3, enabling the cable to maintain excellent performance and stability in complex and changing working environments.
[0068] In this embodiment, the outer protective layer 5 includes a wrapping layer 51 and a protective sleeve 52. The wrapping layer 51 wraps around the power line group 1, the control line group 2, the signal line group 3 and several anti-torsion elements 4. The protective sleeve 52 wraps around the outside of the wrapping layer 51. The wrapping layer 51 is made of aramid aluminum foil material, and the protective layer is made of PUR material.
[0069] Specifically, the wrapping layer 51 uses aramid-coated aluminum foil, a material that not only possesses high strength and abrasion resistance but also excellent electromagnetic shielding properties, effectively preventing external electromagnetic fields from interfering with the internal signals of the cable. Simultaneously, the aramid material also exhibits good flexibility, ensuring the structural stability of the cable during frequent robot movements. The PUR protective sleeve 52 further enhances the cable's weather resistance and corrosion resistance, enabling it to maintain long-term performance in various harsh working environments.
[0070] 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, kink-resistant cable for use with a robot, characterized by: It includes an outer sheath (5), and the outer sheath (5) is provided with a power line group (1), a control line group (2), a signal line group (3) and several anti-torsion elements (4); The power line group (1) includes a control line group (2) and a signal line group (3) located in the middle, which are arranged in a cyclic manner around the outer periphery of the power line group (1). The power line group (1), the control line group (2) and the signal line group (3) are tangent to each other. The anti-torsion element (4) is provided at the gap between the power line group (1), the control line group (2) and the signal line group (3), and the anti-torsion element (4) is tangent to the power line group (1), the control line group (2) and the signal line group (3).
2. The highly flexible kink resistant cable for robotics of claim 1, wherein: The anti-torsion element (4) is a hollow anti-torsion strip.
3. The highly flexible kink resistant cable for robotics of claim 1, wherein: 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); 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.
4. The highly flexible, torsion-resistant 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.
5. The highly flexible, torsion-resistant cable for robots as described in claim 4, characterized in that: The inner core of the control wire group (2), which is composed of the control wire core (21) layer and the inner insulation layer (22) of the control wire core, is provided with M cores, M≥1, and the M inner cores of the control wire group (2) are located inside the inner shielding layer (23) of the control wire core.
6. The highly flexible, torsion-resistant cable for robots as described in claim 4, 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.
7. The highly flexible, torsion-resistant 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.
8. The highly flexible, torsion-resistant cable for robots as described in claim 7, characterized in that: The signal wire group (3) formed by the signal wire core (31) and the inner insulation layer (32) of the signal wire core is provided with N cores, N≥1, and the N cores of the signal wire group (3) are located inside the inner shielding layer (33) of the signal wire core.
9. The highly flexible, torsion-resistant cable for robots as described in claim 7, characterized in that: The inner insulation layer (32) of the signal core is a foamed insulation structure, the inner shielding layer (33) of the signal core is a tinned copper wire structure spirally wound on the outside of the signal core (31), the outer shielding layer (34) of the signal core is a tinned copper wire braided structure, and the outer insulation layer (35) of the signal core is made of PUR material.
10. The highly flexible, torsion-resistant 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) wraps around the power line group (1), control line group (2), signal line group (3) and several anti-torsion elements (4). The protective sleeve (52) wraps around the outside of the wrapping layer (51). The wrapping layer (51) is made of aramid aluminum foil, and the protective sleeve is made of PUR material.