High-flexibility cable for multi-joint robot
By designing a highly flexible cable for multi-joint robots, and employing tangent first and second wire groups and aramid anti-torsion elements, the problem of easy wear and tear on robot cables during frequent bending and twisting was solved, achieving high flexibility and long lifespan cable performance.
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
- 2026-06-16
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 lightweight design. In particular, their torsional resistance to withstand millions of bends is insufficient in 6-axis collaborative robots.
The design employs a highly flexible cable for multi-joint robots, including an outer sheath, a first cable group, and a second cable group. The two are tangentially arranged and fixed by a wrapping layer. The internal filling rope group and anti-torsion element are made of aramid material to enhance anti-torsion and anti-tensile capabilities.
It improves the cable's bending resistance, prevents loosening and wear, maintains conductivity, extends the cable's service life, and ensures stability and reliability in complex motion environments.
Smart Images
Figure CN224366566U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cables, and in particular to a highly flexible cable for multi-joint 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 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 anti-torsion performance. Under continuous torsional forces and constant dragging, the conductors composed of the internal cores of the robot cable are prone to deformation, causing changes in the cable's resistance, affecting conductivity, and even leading to internal conductive breakage. Utility Model Content
[0004] The technical problem solved by this utility model is to provide a highly flexible cable for multi-joint robots with strong resistance to torsion and tension.
[0005] The technical solution adopted by this utility model to solve its technical problem is: a highly flexible cable for multi-joint robots, including an outer sheath and a first wire group and several second wire groups located inside the outer sheath;
[0006] The first line group includes a plurality of first core groups and a plurality of first filler rope groups, wherein the plurality of first filler rope groups are located between the plurality of first core groups;
[0007] The second wire group includes a plurality of second wire core groups and a plurality of second filler cord groups, wherein the plurality of second filler cord groups are located between the plurality of second wire core groups;
[0008] The first line group is located at the center of the outer sheath, and several second line groups surround the outer periphery of the first line group. The several second line groups are arranged tangent to each other in pairs, and the several second line groups are respectively tangent to the first line group.
[0009] Furthermore, an anti-torsion element is provided at the gap between the first and second wire groups, and the anti-torsion element is made of aramid material.
[0010] Furthermore, the first core assembly includes a first conductor core and a first core insulation layer wrapped around the outside of the first conductor core;
[0011] The first filler rope assembly includes a first filler rope and a first filler rope insulation layer wrapped around the outside of the first filler rope.
[0012] Furthermore, it also includes a first wire group shielding layer and a first wire group insulation layer. The first wire group shielding layer is made of tin-plated copper wire and is wrapped around the outside of the first wire core insulation layer and the first filler rope insulation layer.
[0013] Furthermore, the second core assembly includes a second conductor core and a second core insulation layer wrapped around the outside of the second conductor core;
[0014] The second filler rope assembly includes a second filler rope and a second filler rope insulation layer wrapped around the outside of the second filler rope.
[0015] Furthermore, it also includes a second wire group shielding layer and a second wire group insulation layer. The second wire group shielding layer is made of tin-plated copper wire and is wrapped around the outside of the second wire core insulation layer and the second filler rope insulation layer.
[0016] The insulation layer of the second wire group is made of PUR material, and the insulation layer of the second wire group is wrapped around the outside of the shielding layer of the second wire group.
[0017] Furthermore, the first filling rope is made of several thin filling ropes twisted together;
[0018] The first wire group is a power wire group, and the first conductor core is made of several metal wires twisted together.
[0019] Furthermore, the second filling rope is made of several thin filling ropes twisted together;
[0020] The second wire group is a control wire group and / or a signal wire group, and the second conductor core is made of several metal wires twisted together;
[0021] The control line group and / or signal line group are arranged sequentially and cyclically around the outer periphery of the first line group.
[0022] Furthermore, the outer protective layer includes a wrapping layer, an outer shielding layer, and a protective sleeve. The wrapping layer is wrapped around the outside of the first wire group and the second wire group. The outer shielding layer is wrapped around the outer layer of the wrapping layer. The protective sleeve is wrapped around the outside of the outer shielding layer.
[0023] The wrapping layer is made of aramid coated with aluminum foil.
[0024] The protective case is made of PUR material.
[0025] Furthermore, it also includes an anti-torsion layer, which is located between the outer shielding layer and the protective sleeve;
[0026] The anti-torsion layer is composed of several anti-torsion elements, which are made of aramid fiber.
[0027] The beneficial effects of this utility model are:
[0028] 1. The first and second wire groups inside the cable are arranged tangentially and fixed by a wrapping layer, which can effectively prevent the cable from becoming loose, tangled and mutually abrasive;
[0029] 2. The first and second wire groups contain a filler rope structure, which significantly improves the tensile strength of the cable;
[0030] 3. By filling the gaps between the cables with several anti-torsion elements, and by tangenting the anti-torsion elements to the power line group, control line group, and signal line group, mutual wear between the line groups can be effectively prevented. Attached Figure Description
[0031] Figure 1 This is a schematic diagram of the structure of a highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0032] Figure 2 This is a schematic diagram of the structure of the first wire group of the highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0033] Figure 3 This is a schematic diagram of the second wire assembly of a highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0034] Figure 4 This is a schematic diagram of another form of the second wire assembly of a highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0035] Figure 5 This is a schematic diagram of another form of highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0036] Figure 6 This is a schematic diagram of the outer sheath of a highly flexible cable for a multi-joint robot according to an embodiment of this application.
[0037] The components in the diagram are labeled as follows: First wire group 1, First core group 11, First conductor core 111, First core insulation layer 112, First filler rope group 12, First filler rope 121, First filler rope insulation layer 122, First wire group shielding layer 13, First wire group insulation layer 14, Second wire group 2, Second core group 21, Second conductor core 211, Second core insulation layer 212, Second filler rope group 22, Second filler rope 221, Second filler rope insulation layer 222, Second wire group shielding layer 23, Second wire group insulation layer 24, Anti-torsion element 4, Outer sheath 5, Wrapping layer 51, Outer shielding layer 52, Protective sleeve 53, Anti-torsion layer 54. 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 and Figure 5 As shown, an embodiment of this application discloses a highly flexible cable for a multi-joint robot, including an outer sheath 5 and a first wire group 1 and several second wire groups 2 located within the outer sheath 5;
[0040] The first wire group 1 includes a plurality of first wire core groups 11 and a plurality of first filler rope groups 12, wherein the plurality of first filler rope groups 12 are located between the plurality of first wire core groups 11;
[0041] The second wire group 2 includes a plurality of second wire core groups 21 and a plurality of second filler rope groups 22, wherein the plurality of second filler rope groups 22 are located between the plurality of second wire core groups 21;
[0042] The first line group 1 is located at the center of the outer sheath 5, and several second line groups 2 surround the outer periphery of the first line group 1. The several second line groups 2 are arranged tangent to each other in pairs, and the several second line groups 2 are respectively tangent to the first line group 1.
[0043] It should be explained that the number of lines in the second group 2 is greater than or equal to 2.
[0044] Specifically, the arrangement of the first wire group 1 and the second wire group 2 in the above structure allows the wire groups to support each other and distribute bending stress when the cable is bent, thereby improving the cable's bending resistance. Simultaneously, the first wire group 1 and the second wire group 2 inside the cable are arranged tangentially and fixed by the wrapping layer 51, effectively preventing the cable from becoming loose, tangled, or abrading each other. Furthermore, the arrangement of the first filler rope group 12 and the second filler rope group 22 not only enhances the structural strength of the cable but also makes the cable more flexible when bent, reducing the likelihood of breakage or wear.
[0045] In this embodiment, an anti-torsion element 4 is provided at the gap between the first thread group 1 and the second thread group 2. The anti-torsion element 4 is simultaneously connected to the first thread group 1 and the second thread group 2, and the anti-torsion element 4 is made of aramid material.
[0046] Specifically, an anti-torsion element 4 is provided at the gap between the first wire group 1 and the second wire group 2. When the cable is subjected to torsional force, the anti-torsion element 4 can effectively absorb and disperse torsional stress, preventing deformation of the conductor composed of the internal wire cores of the cable, thereby maintaining the stability of the cable's resistance, ensuring good conductivity, and avoiding internal conductive breakage. In addition, aramid material has excellent properties such as high strength, high modulus, wear resistance, and corrosion resistance, enabling the anti-torsion element 4 to maintain stable performance during long-term use, further improving the cable's resistance to torsion and tension.
[0047] In this embodiment, as Figure 2 As shown, the first core group 11 includes a first conductor core 111 and a first core insulation layer 112 wrapped around the outside of the first conductor core 111; the first filler rope group 12 includes a first filler rope 121 and a first filler rope insulation layer 122 wrapped around the outside of the first filler rope 121.
[0048] Specifically, the structural design of the first core group 11 and the first filler rope group 12 not only ensures the conductivity of the cable, but also effectively prevents short circuits and electromagnetic interference between cables through the setting of the first core insulation layer 112, thereby improving the safety and stability of the cable. At the same time, the setting of the first filler rope 121 also increases the flexibility and tensile strength of the cable, enabling the cable to maintain good performance in the complex and ever-changing robot motion environment.
[0049] In this embodiment, a first wire group shielding layer 13 and a first wire group insulation layer 14 are also included. The first wire group shielding layer 13 is made of tin-plated copper wire and is wrapped around the outside of the first wire core insulation layer 112 and the first filler rope insulation layer 122.
[0050] The first wire group insulation layer 14 is made of PUR material and is wrapped around the outside of the first wire group shielding layer 13.
[0051] Specifically, the first-wire shielding layer 13 effectively shields against external electromagnetic interference, protecting the internal signal transmission of the cable from interference and improving the stability and accuracy of signal transmission. Simultaneously, the first-wire insulation layer 14 further enhances the cable's insulation performance, ensuring normal operation even under harsh environments such as high voltage and high current, thus improving the cable's safety and reliability. Furthermore, the combined use of the first-wire shielding layer 13 and the first-wire insulation layer 14 effectively prevents electromagnetic radiation leakage within the cable, protecting the surrounding environment and the normal operation of equipment.
[0052] In this embodiment, as Figure 3 and Figure 4As shown, the second core group 21 includes a second conductor core 211 and a second core insulation layer 212 wrapped around the outside of the second conductor core, and the second filler rope group 22 includes a second filler rope 221 and a second filler rope insulation layer 222 wrapped around the outside of the second filler rope 221.
[0053] Specifically, the structural design of the second core group 21 and the second filler rope group 22 not only ensures the conductivity of the cable, but also effectively prevents short circuits and electromagnetic interference between cables through the setting of the second core insulation layer 212, thereby improving the safety and stability of the cable. At the same time, the setting of the second filler rope 221 also increases the flexibility and tensile strength of the cable, enabling the cable to maintain good performance in the complex and ever-changing robot motion environment.
[0054] In this embodiment, as Figure 3 and Figure 4 As shown, it also includes a second wire group shielding layer 23 and a second wire group insulation layer 24. The second wire group shielding layer 23 is made of tin-plated copper wire and is wrapped around the outside of the second wire core insulation layer 212 and the second filler rope insulation layer 222.
[0055] The second wire group insulation layer 24 is made of PUR material, and the second wire group insulation layer 24 wraps around the outside of the second wire group shielding layer 23.
[0056] Specifically, the second wire group shielding layer 23 effectively shields against external electromagnetic interference, protecting the internal signal transmission of the cable from interference and further improving the stability and accuracy of signal transmission. Meanwhile, the PUR material of the second wire group insulation layer 24 has excellent abrasion resistance and chemical corrosion resistance, maintaining the cable's good performance in harsh robot operating environments. Furthermore, the combined use of the second wire group shielding layer 23 and the second wire group insulation layer 24 effectively prevents electromagnetic radiation leakage within the cable, protecting the surrounding environment and the normal operation of equipment, further improving the cable's safety and reliability.
[0057] In this embodiment, the first filling rope 121 is formed by twisting together several thin filling ropes;
[0058] The first wire group 1 is a power wire group, and the first conductor core 111 is made of several metal wires twisted together.
[0059] Specifically, it should be explained that the aforementioned metal wire can be copper wire, aluminum wire, etc.
[0060] Specifically, the first filler rope 121 is designed with a structure composed of several thin filler ropes twisted together. This not only improves the strength and toughness of the filler rope but also makes the cable more flexible when bending, reducing the likelihood of breakage or wear. Meanwhile, the first wire group 1, as the power wire group, has its first conductor core 111 composed of several metal wires twisted together. This design not only ensures the cable's conductivity but also improves its tensile strength and abrasion resistance, enabling the cable to maintain good performance when subjected to frequent bending and twisting movements of the robot.
[0061] In this embodiment, the second filling rope 221 is formed by twisting together several thin filling ropes;
[0062] The second wire group 2 is a control wire group and / or a signal wire group, and the second conductor core 211 is made of several metal wires twisted together;
[0063] The control line group and / or signal line group are arranged in a cyclical pattern around the outer periphery of the first line group 1.
[0064] Specifically, it should be explained that the aforementioned metal wires can be copper wires, aluminum wires, etc., and the aforementioned second wire group 2 can all be control wire groups, all be signal wire groups, or both control wire groups and signal wire groups.
[0065] Specifically, the second filler rope 221, with its structure composed of several fine filler ropes twisted together, also improves the strength and toughness of the filler rope, enabling the cable to maintain good flexibility and tensile strength when subjected to complex and varied robot motion environments. Meanwhile, the second wire group 2, serving as a control wire group and / or signal wire group, has its second conductor core 211 composed of several metal wires twisted together. This design not only ensures the cable's conductivity but also improves its tensile strength and abrasion resistance, ensuring stable transmission of control signals and data. Furthermore, the control wire group and / or signal wire group are arranged sequentially and cyclically around the outer periphery of the first wire group 1. This layout allows the wire groups to support each other and distribute bending stress when the cable is bent, further improving the cable's bending resistance.
[0066] In this embodiment, as Figure 6 As shown, the outer protective layer 5 includes a wrapping layer 51, an outer shielding layer 52, and a protective sleeve 53. The wrapping layer 51 wraps around the outside of the first wire group 1 and the second wire group 2. The outer shielding layer 52 wraps around the outer layer of the wrapping layer 51. The protective sleeve 53 wraps around the outside of the outer shielding layer 52. The wrapping layer 51 is made of aramid aluminum foil, and the protective sleeve 53 is made of PUR material.
[0067] Specifically, the multi-layered structure of the outer sheath 5 not only enhances the cable's mechanical strength but also improves its anti-interference capability and abrasion resistance. The wrapping layer 51, made of aramid aluminum foil, balances flexibility while providing anti-interference. The outer shielding layer 52 further enhances the cable's electromagnetic shielding performance, ensuring stable operation in complex electromagnetic environments. The PUR protective sheath 53 possesses excellent abrasion resistance and chemical corrosion resistance, maintaining good cable performance and extending its service life even in harsh robotic environments.
[0068] In this embodiment, an anti-torsion layer 54 is also included. The anti-torsion layer 54 is located between the outer shielding layer 52 and the protective sleeve 53. The anti-torsion layer 54 is composed of a plurality of anti-torsion elements 4, and the anti-torsion elements 4 are made of aramid material.
[0069] Specifically, the inclusion of the anti-torsion layer 54 further enhances the cable's resistance to torsion. When the cable is subjected to external torsional forces, the aramid anti-torsion element 4 in the anti-torsion layer 54 effectively absorbs and disperses torsional stress, preventing twisting deformation of the internal cable windings, thereby ensuring the cable's stability and reliability. Furthermore, the aramid material possesses excellent properties such as high strength and high modulus, enabling the anti-torsion layer 54 to maintain stable performance during long-term use, resisting aging or damage, and further extending the cable's service life.
[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 cable for multi-joint robots, characterized in that: It includes an outer sheath (5) and a first line group (1) and several second line groups (2) located within the outer sheath (5); The first line group (1) includes a plurality of first core groups (11) and a plurality of first filler rope groups (12), wherein the plurality of first filler rope groups (12) are located between the plurality of first core groups (11); The second line group (2) includes a plurality of second core groups (21) and a plurality of second filler rope groups (22), the plurality of second filler rope groups (22) being located between the plurality of second core groups (21); The first line group (1) is located at the center of the outer protective layer (5), and several second line groups (2) surround the outer periphery of the first line group (1). The several second line groups (2) are arranged tangent to each other, and the several second line groups (2) are respectively tangent to the first line group (1).
2. The highly flexible cable for multi-joint robots as described in claim 1, characterized in that: An anti-torsion element (4) is provided at the gap between the first wire group (1) and the second wire group (2).
3. The highly flexible cable for multi-joint robots as described in claim 1, characterized in that: The first core group (11) includes a first conductor core (111) and a first core insulation layer (112) wrapped around the outside of the first conductor core (111). The first filler rope group (12) includes a first filler rope (121) and a first filler rope insulation layer (122) wrapped around the outside of the first filler rope (121).
4. The highly flexible cable for multi-joint robots as described in claim 3, characterized in that: It also includes a first wire group shielding layer (13) and a first wire group insulation layer (14). The first wire group shielding layer (13) is made of tin-plated copper wire and is wrapped around the outside of the first wire core insulation layer (112) and the first filler rope insulation layer (122).
5. The highly flexible cable for multi-joint robots as described in claim 1, characterized in that: The second core group (21) includes a second conductor core (211) and a second core insulation layer (212) wrapped around the outside of the second conductor core. The second filler rope group (22) includes a second filler rope (221) and a second filler rope insulation layer (222) wrapped around the outside of the second filler rope (221).
6. The highly flexible cable for multi-joint robots as described in claim 5, characterized in that: It also includes a second wire group shielding layer (23) and a second wire group insulation layer (24). The second wire group shielding layer (23) is made of tin-plated copper wire. The second wire group shielding layer (23) is wrapped around the outside of the second wire core insulation layer (212) and the second filler rope insulation layer (222). The second wire group insulation layer (24) wraps around the outside of the second wire group shielding layer (23).
7. The highly flexible cable for multi-joint robots as described in claim 3, characterized in that: The first filling rope (121) is formed by twisting together several thin filling ropes; The first wire group (1) is a power wire group, and the first conductor core (111) is made of several metal wires twisted together.
8. The highly flexible cable for multi-joint robots as described in claim 5, characterized in that: The second filling rope (221) is made of several thin filling ropes twisted together; The second wire group (2) is a control wire group and / or a signal wire group, and the second conductor core (211) is made of several stranded metal wires; The control line group and / or signal line group are arranged in a cyclic manner around the outer periphery of the first line group (1).
9. The highly flexible cable for multi-joint robots as described in claim 1, characterized in that: The outer protective layer (5) includes a wrapping layer (51), an outer shielding layer (52), and a protective sleeve (53). The wrapping layer (51) is wrapped around the outside of the first wire group (1) and the second wire group (2). The outer shielding layer (52) is wrapped around the outer layer of the wrapping layer (51). The protective sleeve (53) is wrapped around the outside of the outer shielding layer (52). The wrapping layer (51) is made of aramid aluminum foil; The protective cover (53) is made of PUR material.
10. The highly flexible cable for multi-joint robots as described in claim 9, characterized in that: It also includes an anti-torsion layer (54), which is located between the outer shielding layer (52) and the protective sleeve (53); The anti-torsion layer (54) is composed of several anti-torsion elements (4).