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CN-122025310-A - Production method and forming device of high-flexibility torsion-resistant composite cable for industrial robot joint

CN122025310ACN 122025310 ACN122025310 ACN 122025310ACN-122025310-A

Abstract

The invention discloses a production method and a forming device of a high-flexibility torsion-resistant composite cable for an industrial robot joint, and particularly relates to the field of cable production, comprising a cable body, wherein a guide device, a bidirectional wrapping mechanism, a compacting device and a winding device are sequentially arranged on a conveying path of the cable body from left to right; the output end of the servo motor drives the front connecting rod to rotate, and the two connecting rods are reversely rotated through the transmission of two mutually meshed reversing gears, and then the two bevel gears with opposite directions are in meshed transmission with the corresponding bevel gear rings to drive the two rotating rings to reversely rotate along the annular guide rail, the rotating rings drive the corresponding wire reels to make revolution motion, the wire reels synchronously realize rotation under the traction action of fiber wires, the fiber wires on the wire reels are released at a constant speed in the rotation process, and the wire reels are wound on the surface of the cable body which moves at a constant speed, so that the effect of bidirectionally spirally winding the fiber wires on the outer surface of the cable body is realized.

Inventors

  • ZHANG JIN
  • WANG BIAO
  • ZHAO JIANBO
  • An Xiaosheng
  • Liang Jinshuang
  • YUAN YUE

Assignees

  • 金杯电工(成都)有限公司

Dates

Publication Date
20260512
Application Date
20260415

Claims (10)

  1. 1. The high-flexibility torsion-resistant composite cable forming device for the industrial robot joint is characterized by comprising a cable body (10), wherein a guide device (11), a bidirectional wrapping mechanism (20), a pressing device (12) and a winding device (13) are sequentially arranged on a conveying path of the cable body (10) from left to right, the bidirectional wrapping mechanism (20) comprises a supporting seat (201), a fixing ring (202) is fixedly connected to the top of the supporting seat (201), rotating rings (204) with opposite rotating directions are respectively arranged on the front side and the rear side of the fixing ring (202), a group of rotating rods (205) are rotatably connected to the outer sides of the rotating rings (204), and a wire spool (206) is fixedly arranged on the outer sides of the rotating rods (205).
  2. 2. The high-flexibility torsion-resistant composite cable forming device for the industrial robot joint according to claim 1 is characterized in that annular guide rails (203) are fixedly connected to the front side and the rear side of each fixed ring (202), the annular guide rails (203) are rotatably connected with corresponding rotating rings (204), a connecting frame (207) is fixedly connected to the right side of each supporting seat (201) through a mounting frame, a pair of connecting rods (208) which are arranged front and rear are rotatably connected to the right side wall of each connecting frame (207), mutually meshed reversing gears (209) are fixedly connected to the outer sides of the two connecting rods (208), umbrella gear rings (211) are fixedly connected to the left side ends of the two connecting rods (208), the umbrella gear rings (211) are meshed with the corresponding umbrella gear rings (210), servo motors (212) are fixedly installed on the right side of the connecting frames (207), the output ends of the servo motors (212) are fixedly connected with the end portions of the front connecting rods (208), and a winding disc (30) is arranged clockwise.
  3. 3. The high-flexibility torsion-resistant composite cable forming device for industrial robot joints according to claim 2, wherein a guiding mechanism (40) is arranged on the inner side of the wire spool (206), the guiding mechanism (40) comprises a fixed frame (401), an L-shaped mounting plate (402) is fixedly connected to the inner side of the fixed frame (401), the mounting plate (402) is fixedly connected with the surface of the rotating ring (204), a yarn guide nozzle (403) is fixedly connected to the top of the fixed frame (401), one end of the yarn guide nozzle (403) facing the cable body (10) is gradually narrowed and is hollow in the yarn guide nozzle (403), and mirror-symmetrical yarn guide rollers (404) are fixedly mounted on the front side and the rear side of the inner part respectively.
  4. 4. The high-flexibility torsion-resistant composite cable forming device for industrial robot joints according to claim 3, wherein a collecting mechanism (50) is arranged on the outer side of the fixed frame (401), the collecting mechanism (50) comprises a collecting box (501) fixedly connected with the fixed frame (401), the inside of the collecting box (501) is in a negative pressure state, a filter plate (502) is hollow and fixedly installed in the collecting box, an openable sealing plate is arranged at the bottom of the collecting box (501), the sealing plate is fixed at the bottom of the collecting box (501) through a clamping piece, a lower hose (503) and an upper hose (504) are connected to the top of the collecting box (501) in a sealing manner through connectors, one-way valves are respectively arranged on the outer sides of the lower hose (503) and the upper hose (504), air flow can only flow to the collecting box (501) in one direction, the other sides of the lower hose (503) and the upper hose (504) penetrate through corresponding sides of the surfaces of yarn guide nozzles (403) and are fixedly communicated with the air suction boxes (505), and the two air suction boxes (505) are distributed in an upper side and lower side of the collecting box (501) are opposite to the two yarn guide areas and the two yarn guide rollers (404) are in a symmetrical mode.
  5. 5. The high-flexibility torsion-resistant composite cable forming device for industrial robot joints according to claim 4, wherein a pair of air inlet cylinders (506) are fixedly communicated with the outer side of the collection box (501), pistons (508) are slidably connected inside the two air inlet cylinders (506), air inlet push rods (509) are fixedly connected with the outer sides of the pistons (508), one-way valves II (507) are arranged on the air inlet cylinders (506), the one-way valves II (507) only allow the air inlet cylinders (506) to suck air from the collection box (501), exhaust pipes (510) are fixedly communicated with the side surfaces of the air inlet cylinders (506), one-way valves III are arranged on the outer sides of the exhaust pipes (510), the outer side of the outer side air inlet push rod (509) is fixedly connected with an L-shaped rod (515), the L-shaped rod (515) is composed of a cross rod and a longitudinal rod, wherein the inner side of the cross rod is fixedly connected with a straight contact rod (516), the outer side of the straight contact rod (516) is rotationally connected with a rolling rod (518), the top of the mounting plate (402) is fixedly connected with a first guide block (517), the first guide block (517) is in sliding connection with the straight contact rod (516) to ensure that the straight contact rod (516) moves stably, the inner side of the fixed ring (202) is fixedly connected with a supporting ring (519), the inner side of the supporting ring (519) is provided with a continuous S-shaped path groove (520), the straight contact rod (516) is in rolling connection with the path groove (520), the supporting plate (511) is fixedly connected to the outer side of the collecting box (501), the top of the supporting plate (511) is rotatably connected with the overturning rod (512) through the rotating rod, through waist holes (513) are formed in the tops of the left side and the right side of the overturning rod (512), driving rods (514) are connected in sliding mode in the two waist holes (513), and the bottoms of the driving rods (514) are fixedly connected with corresponding air inlet push rods (509) respectively.
  6. 6. The high-flexibility torsion-resistant composite cable forming device for industrial robot joints according to claim 5, wherein an air adjusting mechanism (60) is arranged in the collecting box (501), the air adjusting mechanism (60) comprises a pair of communicating grooves (601) formed in the inner top of the collecting box (501), the communicating grooves (601) are arranged front and back, the connecting positions of the communicating grooves correspond to the connecting positions of the upper hose (504) and the lower hose (503) and are rectangular in section, an attaching plate (602) attached to the surface of the collecting box (501) is slidingly connected to the inner bottom of the collecting box (501), a butt joint rod (604) is fixedly connected to the left side of the attaching plate (602), a vertical sealing push rod (603) is fixedly connected to the left side of the butt joint rod (604), one side of the sealing push rod (603) penetrates through the collecting box (501), a sliding seal sleeve (605) is arranged at the connecting position, a connecting spring (606) is fixedly connected to one side of the sealing sleeve (605) corresponding to the collecting box (501), a connecting spring (607) is fixedly connected to one side of the collecting box (501), a guide block (608) is fixedly connected to the other side of the collecting box (501), a guide block (402) is fixedly connected to the other side of the connecting block (402), the second guide block (607) is slidably connected with the sealing push rod (603), an adjusting ring (609) is fixedly connected with the inner side of the supporting ring (519), an adjusting groove (610) is formed in one side, corresponding to the sealing push rod (603), of the adjusting ring (609), the rotating roller (608) is in rolling connection with the adjusting groove (610), and the interior of the adjusting groove (610) is divided into a, b, c, d areas which correspond to the left area, the front area, the right area and the rear area of the rotating ring (204) respectively.
  7. 7. A method for producing a high-flexibility torsion-resistant composite cable for an industrial robot joint, the production process using the cable forming device according to any one of claims 1 to 6, characterized by comprising the steps of: Step 1, paying-off and conveying treatment of a cable body (10), guiding the cable body (10) through a guiding device (11), and enabling the cable body (10) to sequentially pass through a bidirectional wrapping mechanism (20) and a compacting device (12), wherein the end part of the cable body is fixed on the surface of a winding roller of a winding device (13); Step 2, arranging a guide device (11), a bidirectional wrapping mechanism (20), a compressing device (12) and a winding device (13) in sequence from left to right according to the process flow, so that central axes of all the equipment are collinear; Step 3, sequentially penetrating the end part of the cable body (10) on the pay-off rack through a guide hole of a guide device (11), a central through hole of a fixed ring (202) of a bidirectional wrapping mechanism (20), a gap between two rotating rings (204) and between two compacting wheels of a compacting device (12), and finally fixing the end part of the cable body (10) on the surface of a winding roller of a winding device (13); step 4, leading out the ends of the aramid fiber wires from the wire reel (206), sequentially winding the fiber wires around the outer sides of the rollers of the tensioning device (30), passing through the central through hole of the yarn guide mouth (403) of the guiding mechanism (40), tensioning the ends of the fiber wires passing through the yarn guide mouth (403), fixing the ends of the fiber wires at the appointed wrapping starting position of the cable body (10), and temporarily fixing the ends of the fiber wires by adopting a high-temperature adhesive tape; Step 5, synchronously wrapping the bidirectional spiral torsion-resistant fiber layer, starting a winding device and a bidirectional wrapping mechanism, enabling aramid fibers to be synchronously wound on the outer surface of the cable body conveyed at a constant speed in a left spiral and right spiral crossing mode, forming a double-layer torsion-resistant reinforcing layer, enabling a guiding mechanism to adapt to a fiber outlet angle in the wrapping process, and synchronously collecting fiber powder generated by friction by a collecting mechanism; Step 6, the cable body (10) wrapped by the fiber layer is pulled along with the winding device (13) and enters the compressing device (12), the compressing wheel of the compressing device (12) compresses the cable gently under the preset pressure, so that the aramid fiber reinforced layer is tightly attached to the insulating layer of the cable body (10), and the gap between the fiber layer and the cable body is eliminated; Step 7, the cable body (10) after compaction and shaping enters a winding device (13) to realize constant-speed and regular winding on the winding roller, in the winding process, a winding mechanism of the winding roller is regulated, when the cable body (10) is wound to a preset length, a servo motor (212) of a bidirectional winding mechanism (20) is firstly closed, the winding of a fiber layer is stopped, the winding is continued until the end part of the cable reaches the designated position of the winding roller, the winding device (13) is closed, the winding of a single-coil cable is completed, and then the cable body (10) is cut off, the wound cable is taken down from the winding roller, and the end part of the cable is subjected to sealing treatment; step 8, placing the cable of which the fiber reinforced layer is wrapped on a pay-off rack, and coating an outer sheath by an extruder, selecting polyurethane sheath materials, adding the polyurethane sheath materials into an extruder hopper, heating the polyurethane sheath materials to 190-210 ℃ by the extruder, melting and plasticizing the polyurethane sheath materials, extruding the polyurethane sheath materials on the outer surface of the fiber reinforced layer of the cable by a coating die head to form an outer sheath layer, ensuring that the extrusion speed and the cable traction speed are matched with the wall thickness of the sheath layer in the extrusion process, and controlling the wall thickness deviation of the sheath layer to be within +/-0.1 mm; And 9, firstly, feeding the cable coated with the outer sheath layer into an air cooling channel for pre-cooling, wherein the air cooling temperature is 25-30 ℃, the cooling time is 5-10s, so that the surface of the sheath layer is rapidly formed, the deformation and adhesion of the sheath layer in the subsequent water cooling process are avoided, feeding the cable subjected to air cooling pre-cooling into a water cooling box for gradient cooling, cooling water in the water cooling box is 40-30-20 ℃ from an inlet to an outlet, the cooling time of the cable in the water cooling box is 20-30s, the sheath layer is gradually cooled from outside to inside, and the cooled cable is subjected to an air drying wheel set, so that the residual moisture on the surface of the cable is removed through high-pressure cold air.
  8. 8. The method for producing a high-flexibility torsion-resistant composite cable for an industrial robot joint according to claim 7, wherein, The step 1 comprises the following steps: The method comprises the steps of 1.1, placing a prepared cable body on a pay-off rack, checking that the surface of the cable body is not damaged and an insulating layer is not cracked, and then penetrating the end part of the cable body through a guide hole of a guide device to finish paying-off positioning of the cable body; Step 1.2, sequentially passing the end part of the cable body passing through the guide device through a central through hole of a fixed ring of the bidirectional wrapping mechanism and a gap between two rotating rings, and then passing through a gap between two pressing wheels of the pressing device; and 1.3, tensioning and fixing the end part of the cable body on the surface of a winding roller of the winding device, and adjusting the position of a guide wheel of the guide device to enable the cable body to be in a straightening and tensioning state without looseness, bending and deflection.
  9. 9. The method for producing a high-flexibility torsion-resistant composite cable for an industrial robot joint according to claim 7, wherein, The step2 comprises the following steps: step 2.1, debugging a bidirectional wrapping mechanism (20); Step 2.2, debugging the tensioning device (30); Step 2.3, debugging the guiding mechanism (40) and the collecting mechanism (50); step 2.4, debugging the compressing device (12) and the winding device (13).
  10. 10. The method for producing a high-flexibility torsion-resistant composite cable for an industrial robot joint according to claim 7, wherein, The step 5 comprises the following steps: Starting a winding device (13), enabling the winding roller to rotate at a constant speed, driving the cable body (10) to be conveyed rightward at a constant speed along the horizontal direction, controlling the conveying speed to be 3-8m/min, simultaneously starting a servo motor (212) of a bidirectional wrapping mechanism (20), enabling the servo motor (212) to drive a front connecting rod (208) to rotate, enabling the front connecting rod and the rear connecting rod (208) to reversely rotate through transmission of two mutually meshed reversing gears (209), and further driving two rotating rings (204) to reversely revolve along an annular guide rail (203) through meshing transmission of a bevel gear (210) and a bevel gear ring (211); And 5.2, in the revolution process of the rotary ring (204), the wire spool (206) makes revolution motion along with the rotary ring, meanwhile, under the action of the fiber wire pulling force pulled by the cable body, the wire spool (206) rotates around the rotating rod (205) to release the aramid fiber wire at a constant speed, and the front rotary ring and the rear rotary ring (204) drive the fiber wire to synchronously wind on the outer surface of the cable body (10) which is conveyed at a constant speed in a left spiral and right spiral crossing mode.

Description

Production method and forming device of high-flexibility torsion-resistant composite cable for industrial robot joint Technical Field The invention relates to the technical field of cable production, in particular to a method for producing a high-flexibility torsion-resistant composite cable for an industrial robot joint and a forming device. Background The industrial robot joint needs to frequently perform high-frequency and large-angle torsion and bending motions in the working process, and strict requirements are provided for the flexibility, the torsion resistance and the structural stability of the matched cable. In order to meet the use requirement, an anti-torsion reinforcing layer is required to be arranged outside the cable body in the production of the cable, and the twisting stress is dispersed through the winding of high-strength materials such as aramid fiber and the like, so that the problems of conductor breakage, insulating layer cracking and the like of the cable under the dynamic working condition are avoided. At present, a wrapping process of the torsion-resistant reinforcing layer is a core link for influencing the torsion resistance of the cable, and related wrapping devices and methods become important points of industrial researches. The Chinese patent discloses a cable core cladding forming device for cable processing with publication number CN117352236A, and application date is 2023.12.05, and this patent technology is through extruding urceolus and inner structure setting, makes the inside anti-skidding structure that forms of outer insulating layer that extrudes, strengthens the fixed of cable inner core and insulating layer, avoids the cable inner core to twist reverse by oneself, prevents the inside eccentric core of cable simultaneously. But the device can only realize the unidirectional lapping operation, and the formed reinforcing layer is of a unidirectional spiral structure, so that when the cable bears forward and reverse torsion, the spiral structure is easy to generate stress concentration, and relative sliding occurs between the reinforcing layer and the cable body, so that the torsion-resistant service life of the cable is influenced, and the use requirement of the industrial robot joint for torsion cycles of more than 500 ten thousand times is difficult to meet. Disclosure of Invention The invention aims to provide a production method and a forming device of a high-flexibility torsion-resistant composite cable for an industrial robot joint, so that the wrapping effect of simultaneously carrying out two rotation directions on the cable is achieved. The aim of the invention can be achieved by the following technical scheme: The high-flexibility torsion-resistant composite cable forming device for the industrial robot joint comprises a cable body, wherein a guide device, a bidirectional wrapping mechanism, a pressing device and a winding device are sequentially arranged on a conveying path of the cable body from left to right, the bidirectional wrapping mechanism comprises a supporting seat, a fixed ring is fixedly connected to the top of the supporting seat, rotating rings with opposite rotating directions are respectively arranged on the front side and the rear side of the fixed ring, a group of rotating rods are rotatably connected to the outer side of the rotating rings, and a wire spool is fixedly arranged on the outer side of the rotating rods. The invention further provides a scheme that annular guide rails are fixedly connected to the front side and the rear side of the fixed ring respectively, the annular guide rails are in rotary connection with corresponding rotary rings, the right side of the supporting seat is fixedly connected with a connecting frame through a mounting frame, the right side wall inside the connecting frame is rotationally connected with a pair of connecting rods which are arranged front and rear, the outer sides of the two connecting rods are fixedly connected with mutually meshed reversing gears respectively, the left side ends of the two connecting rods are fixedly connected with bevel gears respectively, the outer sides of the rotary rings are fixedly connected with umbrella gear rings which are meshed with the corresponding bevel gears, a servo motor is fixedly installed on the right side of the connecting frame, the output end of the servo motor is fixedly connected with the end of the front connecting rod, and a wire winding device is arranged clockwise. As a still further scheme of the invention, the inner side of the wire spool is provided with a guide mechanism, the guide mechanism comprises a fixed frame, the inner side of the fixed frame is fixedly connected with an L-shaped mounting plate, the mounting plate is fixedly connected with the surface of the rotating ring, the top of the fixed frame is fixedly connected with a yarn guide nozzle, the yarn guide nozzle is gradually narrowed towards one end of the cable body, the inside