CN111199812A - Robot arm is with twisting reverse flexible cable - Google Patents
Robot arm is with twisting reverse flexible cable Download PDFInfo
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- CN111199812A CN111199812A CN201811375864.6A CN201811375864A CN111199812A CN 111199812 A CN111199812 A CN 111199812A CN 201811375864 A CN201811375864 A CN 201811375864A CN 111199812 A CN111199812 A CN 111199812A
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- 238000002156 mixing Methods 0.000 claims description 28
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- 229920001200 poly(ethylene-vinyl acetate) Polymers 0.000 claims description 8
- 229920000573 polyethylene Polymers 0.000 claims description 8
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- 238000000034 method Methods 0.000 claims description 6
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Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/04—Flexible cables, conductors, or cords, e.g. trailing cables
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/02—Disposition of insulation
- H01B7/0208—Cables with several layers of insulating material
- H01B7/0216—Two layers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
- H01B7/18—Protection against damage caused by wear, mechanical force or pressure; Sheaths; Armouring
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- Insulated Conductors (AREA)
- Organic Insulating Materials (AREA)
Abstract
The invention discloses a twisted flexible cable for a robot arm, which comprises a cable core, a first wrapping layer, a total metal shielding layer, a second wrapping layer and an outer sheath, wherein the first wrapping layer is sequentially wrapped outside the cable core from inside to outside and is made of polytetrafluoroethylene; the modified polytetrafluoroethylene material takes polytetrafluoroethylene as a matrix material, and polyether block amide is mainly added; the cable core comprises a plurality of reinforcing cores and a plurality of three-wire core assemblies. The invention provides a twisting flexible cable for a robot arm, which has high tensile property, low friction coefficient, high torsion resistance and high wear resistance, aiming at the problem that the cable in the prior art is easy to deform and break in a mechanical arm or a drag chain system which moves at a high speed, is continuously bent and twisted and is pulled by tension.
Description
Technical Field
The invention relates to the technical field of cables for robots, in particular to a torsion flexible cable for a robot arm.
Background
Intelligent manufacturing: the system is a man-machine integrated intelligent system which is formed by an intelligent machine and a person. Intelligence is a growing direction in manufacturing automation. The robot is widely applied to the field of manufacturing industry, and also applied to other fields such as resource exploration and development, disaster relief and danger elimination, medical service, families, entertainment, military, aerospace and the like. Robots are important production and service equipment in industrial and non-industrial fields, and are also indispensable automation equipment in the field of advanced manufacturing technology. Among the many manufacturing industries, the most widespread field of application of industrial robots is the automobile and automobile parts manufacturing industry. In the 2005 american area of automotive and automotive component manufacturing, the demand for industrial robots is up to 61% of all the demand for industrial robots in that area, and the demand for industrial robots will be on the high-speed growth trend in the coming years.
The robot cable is a skeleton of the robot, and the development of the robot cable promotes the production development of the robot. According to the statistical data of the german TUV company, it is shown that, at present, germany and japan are still leading in the number of times of torsion resistance (failure-free operation) of the robot cable, and china is still at the beginning. Most of the high-end products in the cable for the mechanical arm in the domestic robot industry are imported, the cost is high, the localization of the cable for the middle-end and high-end robots is the development trend of the flexible torsion cable for the mechanical arm of the robot, and the domestic robot cable in the prior art still has the problems that the cable is moved at a high speed, is continuously bent and twisted and is easy to deform and break in the mechanical arm or a drag chain system due to tension.
Disclosure of Invention
The invention aims to solve the technical problem that a cable in the prior art is easy to deform and break in a mechanical arm or a drag chain system which moves at a high speed, continuously bends and twists and is pulled by tension, and provides a twisting flexible cable for a robot mechanical arm, which has high tensile property, low friction coefficient, high torsion resistance and high wear resistance.
The technical scheme provided by the invention for the problems is as follows:
the invention provides a twisted flexible cable for a robot arm, which comprises a cable core, a first wrapping layer, a total metal shielding layer, a second wrapping layer and an outer sheath, wherein the first wrapping layer is sequentially wrapped outside the cable core from inside to outside and is made of polytetrafluoroethylene; the modified polytetrafluoroethylene material takes polytetrafluoroethylene as a matrix material, and polyether block amide is mainly added; the cable core comprises a plurality of reinforcing cores and a plurality of three-wire core assemblies.
According to the torsional flexible cable for the robot arm, each reinforcing core is composed of a first conductor formed by stranding a plurality of carbon fibers and a first insulating layer made of a modified polytetrafluoroethylene material and extruded outside the first conductor; each three-wire core assembly comprises a second conductor made of copper wire alloy wires and a plurality of carbon fibers and a second insulating layer which is extruded outside the second conductor and made of modified polytetrafluoroethylene materials; each three-wire core assembly comprises a third wrapping band layer made of polytetrafluoroethylene, a metal separating shielding layer made of copper-tantalum alloy wires in a co-winding mode and a fourth wrapping band layer made of polytetrafluoroethylene from inside to outside.
According to the flexible twisting cable for the robot arm, the cable core is formed by twisting the reinforcing core and the three-wire core assembly at the same pitch.
According to the flexible twisting cable for the robot arm, the total metal shielding layer and the partial metal shielding layer are formed by winding copper-tantalum alloy wires in the same direction, and the shielding density is over 85%.
The reinforcing core consists of a middle reinforcing core and six surrounding small reinforcing cores, the diameter of the middle reinforcing core is equal to that of the three-wire core assembly, and the diameter of the middle reinforcing core is 2.82 times of that of the surrounding small reinforcing cores; the number of the three-wire core assembly is six, six three-wire core assembly is uniformly arranged around the middle reinforcing core, and six small reinforcing cores are respectively arranged at each gap outside the three-wire core assembly; each said reinforcing core and each said triad core are disposed tangentially.
According to the twisting flexible cable for the robot arm, the second conductor is formed by twisting a copper wire alloy wire and three carbon fibers.
According to the torsion flexible cable for the robot arm, the preparation method of the modified polytetrafluoroethylene material comprises the following steps:
s1, mixing 100-120 parts of polytetrafluoroethylene copolymer, 30-40 parts of polyether block amide and 5-20 parts of maleic anhydride grafted ethylene-vinyl acetate copolymer in a high-speed mixer at a high speed for 30 seconds, and mixing, plasticizing and granulating by a double-screw granulator;
s2, adding 2-4 parts of organic montmorillonite, 1-1.6 parts of polyethylene wax, 0.8-1.5 parts of dilauryl thiodipropionate, 2-4 parts of bis (3, 5-tertiary butyl-4-hydroxyphenyl) thioether and 1.5-4 parts of pentaerythritol triacetate which are measured according to the weight of the formula into the material obtained in the step S2, mixing the materials in a high-speed mixer for 30 seconds, kneading and granulating the mixture in a double-stage plastifying granulator, and packaging the granules after air cooling;
and S3, extruding the material obtained in the step S2 on a production line of a wire and cable extruding machine, and coating the material on a three-wire core assembly, a reinforced core and a cable core.
According to the twisted flexible cable for the robot arm, the production line of the twin-screw pelletizer in the step S1 comprises a conveying section, a melting section, a mixing section, an exhaust section, a homogenizing section and a handpiece; the processing temperatures in the twin-screw granulator were: the conveying section is 200-220 ℃, the melting section is 220-255 ℃, the mixing section is 250-305 ℃, the exhaust section is 255-305 ℃, the homogenizing section is 255-305 ℃, and the machine head is 250-310 ℃;
the double-stage granulator in the step S2 includes a twin-screw granulator and a single-screw granulator, and the processing temperature of the twin-screw granulator is: the temperature of the conveying section is 200-230 ℃, the melting section is 255-300 ℃, the mixing section is 255-300 ℃, the exhaust section is 255-310 ℃, the homogenizing section is 255-310 ℃ and the machine head is 255-310 ℃; the production line of the single-screw granulator comprises a first area, a second area, a third area and a machine head; the processing temperature in the single screw granulator was: 200-225 ℃ in a first area, 210-235 ℃ in a second area, 270-295 ℃ in a third area and 280-305 ℃ in a machine head;
the production line of the wire extruding machine in the step S3 comprises a first area, a second area, a third area, a fourth area and a machine head, wherein the first area is 200-225 ℃, the second area is 210-235 ℃, the third area is 280-305 ℃, the fourth area is 280-305 ℃, and the machine head is 290-315 ℃.
The torsion flexible cable for the robot arm has the following beneficial effects:
according to the scheme of the invention, the twisted flexible cable for the robot arm sequentially comprises a cable core, a first wrapping layer, a total metal shielding layer, a second wrapping layer and an outer sheath from inside to outside; the cable core comprises a reinforced core and a three-wire core assembly; the reinforced core and the three-wire core assembly respectively comprise a conductor and an insulating layer coated on the outer side of the conductor; the three-wire core assembly further comprises: and the third wrapping belt layer is wrapped, the sub-metal shielding layer wound on the third wrapping belt layer is wound, and the fourth wrapping belt layer is wrapped on the sub-metal shielding layer. Firstly, the first conductor and the second conductor adopt ultrahigh-strength carbon fibers, the tensile strength is greater than 4GPa, and the modulus reaches 450Gpa, so that the flexible cable has high tensile property and cannot break when moving at high speed and bending. Secondly, the first insulating layer, the second insulating layer and the outer sheath are made of modified polytetrafluoroethylene materials, the first, second, third and fourth wrapping layers are made of polytetrafluoroethylene wrapping tapes, and the friction factor of polytetrafluoroethylene is lower than 0.01, so that the torsional stress can be fully eliminated, the torsional performance is improved, the friction coefficient is small, and the scratch and abrasion resistance is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic cross-sectional view of a torsion flexible cable for a robot arm according to an embodiment of the present invention;
fig. 2 is an enlarged cross-sectional view of a twisted flexible cable core for a robot arm according to an embodiment of the present invention;
fig. 3 is an enlarged cross-sectional view of a twisted flexible cable core assembly for a robot arm according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for preparing a modified polytetrafluoroethylene material according to the invention.
Detailed Description
The invention provides a flexible twisting cable for a robot arm, which solves the problem that the cable is easy to deform and break in a robot arm or a drag chain system which moves at a high speed, continuously bends and twists and is pulled, improves the tensile property and the torsion resistance, and has the characteristics of low friction coefficient and high wear resistance.
In order to solve the technical problems, the general idea of the invention is as follows:
the invention provides a twisted flexible cable for a robot arm, which comprises a cable core, a first wrapping layer 20, a total metal shielding layer 30, a second wrapping layer 40 and an outer sheath 50, wherein the first wrapping layer 20, the total metal shielding layer 30, the second wrapping layer 40 and the outer sheath 50 are sequentially wrapped outside the cable core from inside to outside; the modified polytetrafluoroethylene material takes polytetrafluoroethylene as a matrix material, and polyether block amide is mainly added; the cable core comprises a plurality of reinforcing cores 11 and a plurality of three-wire core assemblies 12. Each of the reinforcing cores 11 is composed of a first conductor 111 made of a plurality of carbon fiber strands, and a first insulating layer 112 made of a modified polytetrafluoroethylene material extruded outside the first conductor; each three-wire core assembly 12 comprises a second conductor 121 made of copper wire alloy wires and a plurality of carbon fibers, and a second insulating layer 122 made of modified polytetrafluoroethylene materials and extruded outside the second conductor; each of the three wire cores comprises a third wrapping layer 123, a metal shielding layer 124 and a fourth wrapping layer 125 from inside to outside.
In the embodiment of the invention, the conductors (including the first conductor 111 and the second conductor 121) of the flexible cable are made of carbon fibers, so that the flexible cable has high tensile strength, structural contact parts are made of polytetrafluoroethylene materials, the friction factor is lower than 0.01, the friction coefficient is small, the torsion resistance and the scratch and abrasion resistance of the flexible cable are improved, the metal shielding layer is formed by winding copper-tantalum alloy wires in the same direction, the torsion performance of the flexible cable is improved, and the flexible cable can be twisted by 360 degrees and can be recovered. The problem of among the prior art cable for the arm move at high speed, the cable warp, the conductor fracture when lasting bending torsion and have tensile force is effectively solved.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the twisted flexible cable for a robot arm according to the present invention sequentially includes, from inside to outside: the cable core, the first wrapping layer 20, the total metal shielding layer 30, the second wrapping layer 40 and the outer sheath 50;
the cable core includes: a plurality of reinforcing cores 11 and a plurality of three-wire cores 12; wherein the core 11 and the three-wire core 12 respectively comprise a conductor and an insulating layer coated outside the conductor.
Fig. 2 is an enlarged sectional view of the core 11, and as shown in fig. 2, the core 11 is composed of a first conductor 111 and a first insulating layer 112 covering the outside of the first conductor. Fig. 3 is an enlarged sectional view of the three-wire core assembly 12, and as shown in fig. 3, the three-wire core assembly 12 is composed of a second conductor 121 and a second insulating layer 122 covering the outside of the second conductor. Specifically, the first conductor 111 is formed by twisting a copper-tantalum alloy wire and a plurality of carbon fibers, and the second conductor 121 is formed by a plurality of carbon fibers; the first and second insulating layers (112, 122) are made of modified polytetrafluoroethylene material. The three-wire core 12 further includes: a third tape layer 123 wound on the second insulating layer 122, a metallic shielding layer 124 wound on the third tape layer, and a fourth tape layer 125 wound on the metallic shielding layer.
Specifically, the first, second, third and fourth belting layers (20, 40, 123 and 125) are all made of polytetrafluoroethylene, the total metal shielding layer 30 and the partial metal shielding layer 124 are all made of copper-tantalum alloy wires, the shielding density is more than 85%, and the outer sheath 50 is made of modified polytetrafluoroethylene materials.
In the specific implementation process, the reinforcing core 11 is composed of a central reinforcing core and 6 surrounding small reinforcing cores, and the conductors (including the first conductor 111 and the second conductor 121) adopted by the reinforcing core 11 and the three-wire core assembly 12 adopt ultra-high-strength carbon fibers, the tensile strength is greater than 4GPa, and the modulus reaches 450GPa, so that the flexible cable has high tensile property and can be continuously broken when moving and bending at high speed.
In a specific implementation, each three-wire core assembly 12 includes six insulated wires formed by the second conductor 121 coated with the second insulating layer 122. The six insulated wires are cabled according to a certain twisting pitch, a third tape layer 123 is wrapped outside the insulated wires, a sub-metal shielding layer 124 is wound on the third tape layer 123, and a fourth tape layer 125 is wrapped on the sub-metal shielding layer 124, so that the three-wire core assembly 12 is obtained. The three-wire core assembly 12 can reduce crosstalk interference on signal transmission, reduce attenuation and improve stability and accuracy of signal transmission of the robot cable.
In a specific implementation process, the insulation layer (including the first insulation layer 112 and the second insulation layer 122) and the outer sheath 50 of the twisted flexible cable for the robot arm are both made of modified polytetrafluoroethylene materials. The modified polytetrafluoroethylene material is prepared from the following raw materials in parts by weight: 100-120 parts of a polytetrafluoroethylene copolymer, 30-40 parts of polyether block amide, 5-20 parts of a maleic anhydride grafted ethylene-vinyl acetate copolymer, 2-4 parts of organic montmorillonite, 1-1.6 parts of polyethylene wax, 0.8-1.5 parts of dilauryl thiodipropionate, 2-4 parts of disulfide and 1.5-4 parts of pentaerythritol triacetate.
Wherein, the grafting rate of the maleic anhydride grafted ethylene-vinyl acetate copolymer is 0.6-1.2%.
The modified polytetrafluoroethylene material modifies the polytetrafluoroethylene material, takes the polytetrafluoroethylene as a matrix material, mainly adds polyether block amide, and keeps numerous advantages of the polytetrafluoroethylene: high temperature resistance, low temperature resistance, corrosion resistance, weather resistance, high lubrication and high electrical insulation, and in addition, the tensile strength is improved by 30MPa and the flexural fatigue resistance is improved.
In the specific implementation process, the total metal shielding layer 30 and the partial metal shielding layer 124 are formed by winding copper-tantalum alloy wires in the same direction, the shielding density is over 85%, the twisting performance of the cable is improved by winding in the same direction, and the cable can be twisted by 360 degrees and can be recovered.
A detailed structural description of a flexible torsion cable for a robot arm is given below, with reference to fig. 1, 2, and 3, where the flexible torsion cable for a robot arm includes:
seven reinforcing cores 11, including 1 central reinforcing core and 6 surrounding small reinforcing cores, wherein the diameter of the middle reinforcing core is equal to that of the three-wire core assembly, and the diameter of the middle reinforcing core is 2.82 times of that of the surrounding small reinforcing cores; carbon fiber stranding, wherein the first insulating layer 112 is a modified polytetrafluoroethylene material;
six three-wire core assemblies 12, each three-wire core assembly 12 comprising three insulated wires; each insulated wire is formed by stranding copper-tantalum alloy wires and 3 carbon fibers, and the second insulating layer 122 is made of a modified polytetrafluoroethylene material; the six insulated wires are twisted according to a certain pitch, a third wrapping tape layer 123 is wrapped outside the twisted insulated wires, a metal separating shielding layer 124 is wrapped on the third wrapping tape layer 123, and a fourth wrapping tape layer 125 is wrapped on the metal separating shielding layer 124, so that the three-wire core assembly 12 is obtained; the third wrapping layer 123 and the fourth wrapping layer 125 are wrapping tapes, and the partial metal shielding layer 124 is formed by co-directionally winding cu-ta alloy wires.
Wherein, seven reinforced cores 11 and six three-wire core sets are arranged into the cable core according to the structure of figure 1, namely: six three-wire core assemblies are uniformly arranged around the middle reinforcing core, and six small reinforcing cores are arranged at each gap outside the three-wire core assemblies; each said reinforcing core is tangent to each said triad core. And a first wrapping layer 20 is wrapped outside the cable core, a metal total shield 30 is wound outside the cable core, a second wrapping layer 40 is wrapped, and an outer sheath 50 made of modified polytetrafluoroethylene materials is extruded, so that the flexible cable with low friction coefficient, high torsion resistance and high wear resistance is finally obtained.
Referring to fig. 4, the method for preparing the modified polytetrafluoroethylene material comprises the following steps:
s1, mixing 100-120 parts of polytetrafluoroethylene copolymer, 30-40 parts of polyether block amide and 5-20 parts of maleic anhydride grafted ethylene-vinyl acetate copolymer in a high-speed mixer at a high speed for 30 seconds, and mixing, plasticizing and granulating by a double-screw granulator. The processing temperature is as follows: the conveying section is 200-220 ℃, the melting section is 220-255 ℃, the mixing section is 250-305 ℃, the exhaust section is 255-305 ℃, the homogenizing section is 255-305 ℃, and the machine head is 250-310 ℃;
s2, adding 2-4 parts of organic montmorillonite, 1-1.6 parts of polyethylene wax, 0.8-1.5 parts of dilauryl thiodipropionate, 2-4 parts of bis (3, 5-tertiary butyl-4-hydroxyphenyl) thioether and 1.5-4 parts of pentaerythritol triacetate in parts by weight of the materials obtained in the step S1, mixing in a high-speed mixer for 30 seconds, and kneading and granulating in a double-stage granulator. The double-stage granulator comprises a double-screw granulator and a single-screw granulator, wherein the processing temperature of the double-screw granulator is as follows: the temperature of the conveying section is 200-230 ℃, the melting section is 255-300 ℃, the mixing section is 255-300 ℃, the exhaust section is 255-310 ℃, the homogenizing section is 255-310 ℃ and the machine head is 255-310 ℃; the processing temperature of the single-screw granulator is as follows: the temperature of the first zone is 200-225 ℃, the temperature of the second zone is 210-235 ℃, the temperature of the third zone is 270-295 ℃, the temperature of the machine head is 280-305 ℃, and the materials are granulated, air-cooled and packaged;
s3, extruding the material obtained in the step S2 on a production line of a wire and cable extruding machine at the temperature of 200-225 ℃ in a first area, 210-235 ℃ in a second area, 280-305 ℃ in a third area, 280-305 ℃ in a fourth area and 290-315 ℃ at a machine head, and coating the material on the three-wire core assembly 12, the reinforced core 11 and the cable core.
The processing method comprises the steps that when a double-screw granulator, a single-screw granulator and a wire extruding machine are used for processing each production line, the temperature on each production line needs to be preset in a control system of each machine, whether the temperature of each stage meets the range requirement of the processing temperature is monitored through a temperature monitor installed inside each production line stage, when the temperature requirement is not met, the temperature is timely fed back to the control system of the double-screw granulator, the single-screw granulator and the wire extruding machine, a processor in the control system correspondingly takes out the standard temperature of each corresponding section stored in the processor and compares the standard temperature with the temperature of each section or each section actually detected, whether the temperature is too low or too high is judged, and different temperatures of each section are adjusted according to the corresponding standard temperatures.
Example 1
S1, mixing 100 parts of polytetrafluoroethylene copolymer, 30 parts of polyether block amide and 5 parts of maleic anhydride grafted ethylene-vinyl acetate copolymer in a high-speed mixer at a high speed for 30 seconds, and mixing, plasticizing and granulating by a double-screw granulator. The processing temperature is as follows: the conveying section is 200 ℃, the melting section is 220 ℃, the mixing section is 250 ℃, the exhaust section is 255 ℃, the homogenizing section is 255 ℃ and the machine head is 250 ℃;
s2, adding 2 parts of organic montmorillonite, 1 part of polyethylene wax, 0.8 part of dilauryl thiodipropionate, 2 parts of bis (3, 5-tertiary butyl-4-hydroxyphenyl) thioether and 1.5 parts of pentaerythritol triacetate into the material obtained in the step S1, mixing in a high-speed mixer for 30 seconds, and kneading, plasticizing and granulating in a double-stage granulator. The double-stage granulator comprises a double-screw granulator and a single-screw granulator, wherein the processing temperature of the double-screw granulator is as follows: the conveying section is 200 ℃, the melting section is 255 ℃, the mixing section is 255 ℃, the exhaust section is 255 ℃, the homogenizing section is 255 ℃ and the machine head is 255 ℃; the processing temperature of the single-screw granulator is as follows: cutting, air-cooling and packaging at 200 ℃ in a first area, 210 ℃ in a second area, 270 ℃ in a third area and 280 ℃ in a machine head;
s3, extruding the material obtained in the step S2 on a production line of a wire and cable extruding machine at the temperature of 200 ℃ in a first area, 210 ℃ in a second area, 280 ℃ in a third area, 280 ℃ in a fourth area and 290 ℃ at a machine head, and coating the material on the three-wire core assembly 12, the reinforced core 11 and the cable core.
Example 2
S1, mixing 120 parts of polytetrafluoroethylene copolymer, 40 parts of polyether block amide and 20 parts of maleic anhydride grafted ethylene-vinyl acetate copolymer in a high-speed mixer at a high speed for 30 seconds, and mixing, plasticizing and granulating by a double-screw granulator. The processing temperature is as follows: a conveying section of 220 ℃, a melting section of 255 ℃, a mixing section of 305 ℃, an exhaust section of 305 ℃, a homogenizing section of 305 ℃ and a machine head of 310 ℃;
s2, adding 4 parts of organic montmorillonite, 1.6 parts of polyethylene wax, 1.5 parts of dilauryl thiodipropionate, 4 parts of bis (3, 5-tertiary butyl-4-hydroxyphenyl) thioether and 4 parts of pentaerythritol triacetate in the formula weight into the material obtained in the step S1, mixing in a high-speed mixer for 30 seconds, and kneading, plasticizing and granulating in a double-stage granulator. The double-stage granulator comprises a double-screw granulator and a single-screw granulator, wherein the processing temperature of the double-screw granulator is as follows: the conveying section is 230 ℃, the melting section is 300 ℃, the mixing section is 300 ℃, the exhaust section is 310 ℃, the homogenizing section is 200-225 ℃, the second region is 235 ℃, the third region is 295 ℃, the head is 305 ℃, the granules are cut, cooled by air and packaged;
s3, extruding the material obtained in the step S2 on a production line of a wire and cable extruding machine at the temperature of 225 ℃ in a first area, 235 ℃ in a second area, 305 ℃ in a third area, 305 ℃ in a fourth area and 315 ℃ in a head, and coating the material on the three-wire core assembly 12, the reinforced core 11 and the cable core.
Example 3
S1, mixing 110 parts of polytetrafluoroethylene copolymer, 35 parts of polyether block amide and 15 parts of maleic anhydride grafted ethylene-vinyl acetate copolymer in a high-speed mixer at a high speed for 30 seconds, and mixing, plasticizing and granulating by a double-screw granulator. The processing temperature is as follows: the conveying section is 210 ℃, the melting section is 235 ℃, the mixing section is 275 ℃, the exhaust section is 275 ℃, the homogenizing section is 275 ℃ and the head is 280 ℃;
s2, adding 3 parts of organic montmorillonite, 1.4 parts of polyethylene wax, 1.2 parts of dilauryl thiodipropionate, 3 parts of bis (3, 5-tertiary butyl-4-hydroxyphenyl) thioether and 2.6 parts of pentaerythritol triacetate in the materials obtained in the step S1, mixing in a high-speed mixer for 30 seconds, and kneading, plasticizing and granulating in a double-stage granulator. The double-stage granulator comprises a double-screw granulator and a single-screw granulator, wherein the processing temperature of the double-screw granulator is as follows: a conveying section of 225 ℃, a melting section of 275 ℃, a mixing section of 275 ℃, an exhaust section of 275 ℃, a homogenizing section of 275 ℃ and a machine head of 275 ℃; the processing temperature of the single-screw granulator is as follows: cutting, air-cooling and packaging at 215 ℃ in a first area, 215 ℃ in a second area, 285 ℃ in a third area and 295 ℃ in a machine head;
s3, extruding the material obtained in the step S2 on a production line of a wire and cable extruding machine at the temperature of 215 ℃ in a first area, 225 ℃ in a second area, 295 ℃ in a third area, 295 ℃ in a fourth area and 300 ℃ at a machine head, and coating the material on the three-wire core assembly 12, the reinforced core 11 and the cable core.
Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing associated hardware, and the program may be stored in a computer readable storage medium. The above mentioned control or switching function is realized by a Processor, and the Processor may be a Central Processing Unit (CPU), or other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The above-mentioned storage may be a storage device built in the terminal, such as a hard disk or a memory. The system of the invention also comprises a memory which can also be an external storage device of the system, a plug-in hard disk, an intelligent memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like. The memory may also include both internal storage units of the system and external storage devices for storing computer programs and other programs and information as needed. The memory may also be used to temporarily store information that has been output or is to be output.
In summary, the torsion flexible cable for the robot arm provided by the invention has the following beneficial effects:
(1) the first conductor 111 and the second conductor 121 are made of ultra-high-strength carbon fibers, the tensile strength is greater than 4GPa, and the modulus reaches 450GPa, so that the flexible cable has high tensile strength and cannot be broken when moving and bending at high speed.
(2) The first insulating layer 112, the second insulating layer 122 and the outer sheath 50 are made of modified polytetrafluoroethylene materials, the first, second, third and fourth wrapping layers (50, 40, 123 and 125) are made of polytetrafluoroethylene wrapping tapes, the polytetrafluoroethylene has incombustibility, the oxygen index is up to 90, the high-grade fireproof material is acid-base-resistant, aqua regia-resistant and better in oil resistance than TPU, the friction factor of the polytetrafluoroethylene is lower than 0.01, the torsional stress can be fully eliminated, the torsional property is improved, the friction coefficient is small, and the scratch and abrasion resistance is improved.
(3) The flexible cable is suitable for high-frequency bending and twisting, has the characteristics of high temperature resistance, low temperature resistance, corrosion resistance, weather resistance, high lubrication, high electrical insulation, bending fatigue resistance, high recovery and the like, can be widely applied to a mechanical arm or a drag chain system which moves at high speed, continuously bends and twists and has tension, has the bending and twisting resistance of 10000 ten thousand times without cable deformation and conductor fracture, ensures that the whole cable has excellent mechanical and physical properties, and can effectively prevent external low-frequency electromagnetic interference; secondly, the total metal shielding layer 30 and the partial metal shielding layer 124 are shielded by winding copper-tantalum alloy wires, polytetrafluoroethylene tape layers (including a first tape layer 20, a second tape layer 40, a third tape layer 123 and a fourth tape layer 125) are wrapped inside and outside the shielding, the outer sheath 50 and the reinforcing core 11 are all extruded with modified polytetrafluoroethylene materials, the contact part of the whole flexible cable structure is made of the polytetrafluoroethylene materials, and the characteristics of high lubrication and low friction coefficient of the polytetrafluoroethylene are fully exerted. Because the friction factor of the polytetrafluoroethylene is lower than 0.01 and is only one fourth of that of the polyethylene, the torsional stress can be fully eliminated, the torsional property of the product is improved, the flexible cable can be restored to the original shape after being twisted for 360 degrees, the torsional bending life of the flexible cable is prolonged, the flexible cable is bent for 10000 thousands of times, the attenuation change value is less than 2 percent, the friction coefficient is small, and the scratch and abrasion resistance of the flexible cable is improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
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