JPH081530Y2 - Heat-resistant / flexible / wear-resistant coating robot cables - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a cable for controlling a painting robot, more specifically, flexible, heat-resistant, flex-resistant,
The present invention relates to a coating robot cable that has abrasion resistance, suppresses the occurrence of robot runaway that has become a problem in the industry in recent years, and has dramatically improved the most important thinner resistance property of the coating cable.

[0002]

2. Description of the Related Art Cables for coating robots have at least flexibility, abrasion resistance, bending resistance, shielding properties for eliminating the cause of robot runaway, and thinners used as paint solvents. It must have the characteristics that it can withstand. When used in a high temperature environment, heat resistance is required in addition to the above characteristics.

In order to have the above required characteristics, the conventional coating robot cables have an insulating coating of polytetrafluoroethylene (PTFE) provided on a flexible conductor to form an insulating core wire, which is twisted into two. Align them, and then apply a press-wrap tape, a braided annealed copper wire and a press-wrap tape in this order to create a shield core wire, and twist the shield core wire together with the required number and interposers, and then press-wrap the tape. In some cases, a cable core is formed by applying the resin composition and a resin composition containing a polyurethane elastomer as a main material is provided on the cable core.

When PTFE is used as the jacket, the thinner resistance is sufficient, but the workability and the flexibility of the cable are impaired. For this reason, extrusion molding of the jacket becomes difficult and the operation of the spray gun becomes unsmooth. Therefore, at the sacrifice of the thinner resistance, the polyurethane elastomer or the like is conventionally used as described above. However, this polyurethane elastomer has poor thinner resistance and swells when immersed in thinner at room temperature for 10 days. That is, if it is used for a coating robot for a long time, it will be in a swelling state. When swollen, the jacket is torn by repeated bending.

Further, the flexibility of the insulating core wire can be obtained by twisting the conductor into a large number of thin wires. However, higher flexibility is desired today, and the PTFE is as described above. Since it has poor flexibility, it has a problem as an insulating coating. Furthermore, a flexible pure copper stranded wire made of only copper (Cu) has not been sufficiently satisfactory in flex resistance, and higher flex resistance is desired.

In view of the above situation, the present invention has as its main object to dramatically improve the thinner resistance.
A sub-task is to improve flexibility and flex resistance.

[0007]

In order to solve the above problems, in the present invention, the flexible conductor is the one described in the following copper alloy (I) or (II) , and the flexible conductor is A plurality of insulating core wires coated with an insulating coating of the following resin composition a are twisted together, a shielding layer is provided around the insulating core wires, and a press-winding tape layer is further formed thereon to form a shielding core wire. Aromatic polyester is wound around multiple core wires.
Than it was formed by providing a jacket of a resin composition mainly comprising a thermoplastic polyester elastomer imparts flexibility by adding an aliphatic polyether and (claim 1
Or 2). The shielding core wire may be twisted together with the interposition.

[Copper Alloy] (I) Zr 0.01-0.05 wt%, Cr 0.01-
A copper alloy in which 0.05 wt% and the balance is substantially Cu, and Cu ₃ Zr is precipitated by heat treatment.

(II) 0.01 to 0.05% by weight of Zr, C
A copper alloy in which r is 0.01 to 0.05% by weight and the balance is substantially Cu, and Cr is precipitated by heat treatment.

In the copper alloy having the composition (I) or (II) , in addition to Zr and Cr, In, Sn, Ag, Al and B are added.
i, Ca, Fe, Ge, Hf, Mg, Mn, Ni, P
at least one of b, Sb, Si, Ti, Zn, B and Y
It is assumed that 0.002 to 0.3% by weight is added in total.
(Claim 3), and it is preferable that substantially Cu is pickled, and the copper alloy of each composition has O
₂ It is preferable that the content is less than 50 ppm (claim
5) Further, it is preferable that the recrystallized structure of the composition metal remains at 50% or less (claim 4) .

Zr and Cr are added to the same degree and heat treatment is performed.
By developing a synergistic precipitation hardening reasonably,
Improves both mechanical strength and conductivity. Where Zr and
And Cr is less than 0.01% by weight, the mechanical strength is unsatisfactory.
If it exceeds 0.05% by weight, the conductivity will deteriorate and the fine
The drawability of the wire is also poor.

In, Sn, Ag, Al, Bi, Ca, F
e, Ge, Hf, Mg, Mn, Ni, Pb, Sb, S
When i, Ti, Zn, B and Y are added and alloyed,
Strength is improved. At this time, the addition amount is 0.002
If it is less than the amount%, no improvement in mechanical strength is observed, and
If it exceeds 3% by weight, the sacrifice of conductivity becomes large.

Further , Cr and Zr are precipitated by heat treatment.
By doing so, without significantly lowering the mechanical properties,
The conductivity is improved.

The details of the copper alloy are described in Japanese Patent Application No. 3-3.
1559 (JP-A-4-214829), Japanese Patent Application No. 2-30
5648 (JP-A-4-176849), Japanese Patent Application No. 2-11
4438 (JP-A-4-9454).

[Resin Composition a] A fluorine-based elastomer (hereinafter referred to as F-TPE) based on a polyether or polycarbonate polyurethane elastomer (hereinafter referred to as TPU) and polyvinylidene fluoride (hereinafter referred to as PVDF). .) And a weight ratio of 30/70 to 90/10, and a crosslinking agent 1 to 9 PHR was added thereto.

Preferably, the weight ratio of TPU / F-TPE is 30/70 to 70/30, and 3 to 7 PHR is added to the crosslinking agent.

When the above weight ratio is out of the above range, TP
The advantages of U and F-TPE cannot be utilized, and defects are surfaced. That is, when TPU is increased, heat resistance, water resistance,
The electrical insulation is poor. Also, when the F-TPE increases,
Extrudability and mechanical properties deteriorate. On the other hand, when TPU is low, wear resistance, tensile strength and elasticity in a wide temperature range cannot be expected. When F-TPE is low, heat resistance, chemical resistance, and surface slipperiness cannot be expected.

When the amount of the crosslinking agent is less than the above range,
It is not possible to obtain desired physical properties such as tensile strength, hardness, heat deformation resistance, and elongation. On the contrary, when the amount of the cross-linking agent is large, the cross-linking agent is over-crosslinked, the hardness is increased, the heat aging resistance and the flexibility are lowered, and the cross-linking agent is bloomed to deteriorate the appearance.

The TPUs shown in Table 1 are F
Examples of -TPE include those shown in Table 2.

[0020]

[Table 1]

[0021]

[Table 2]

The flexibility of the polyester elastomer is controlled by adjusting the weight of the hard segment H (aromatic polyester = polybutyl terephthalate) and the soft segment S (aliphatic polyether = polytetramethylene glycol).
It is carried out by adjusting the amount of addition at the same time , and H: S = 7: 3 in Perprene (registered trademark) P-150B (JISA hardness: 98) manufactured by Toyobo Co., Ltd. As a result of the thinner resistance test, the grades of P-70B and P-55B were also usable.

[0023]

The cable according to the present invention constructed as described above is
First, the copper alloy having the above-described composition that forms a flexible conductor has excellent bending resistance and is comparable in conductivity to pure copper. For example, in the fatigue characteristics, under the condition that the bending strain is 0.306%, the number of break bending of the copper alloy wire is about 161,000 times, whereas that of the pure copper wire is about 43,000 times, which is about 1/4. Under the condition that the bending strain is 0.22%, the above copper alloy wire: 3
1.5 million times or more, pure copper wire: about 1193 thousand times and about 260
Under the condition that the bending strain is 0.18% or less, the above copper alloy wire: 62 million times or more, pure copper wire: about 218,000 times and about 2
It is 1/80 or less.

In addition, the insulating core wire has abrasion resistance at the TPU portion, bending resistance and heat resistance at the F-TPE portion, and heat resistance, bending resistance, and abrasion resistance within the above-mentioned specific compounding range. Retains characteristics. Therefore, the cable as a whole has these characteristics. In addition, since the insulating coating of the resin composition a has good slipperiness, the insulating core wires also have good slipperiness. Therefore, the flexibility of the entire cable is good. Furthermore, since the thermoplastic polyester elastomer is used for the sheath (outer sheath), the thinner resistance is dramatically improved while maintaining the flexibility and heat resistance.

[0025]

EXAMPLES First, as shown in Table 3, the resin compositions a of Examples 1 to 4 were kneaded and adjusted. The kneading is performed with a Blanbender mixer, and the kneading temperature is 180 ° C. for 3 to 5 minutes. First, the required amount of TPU and F-TPE was added and kneaded for 3 minutes, then the required amount of cross-linking agent was added, and the temperature was set to 150.
The mixture was kneaded and adjusted at 2 ° C for 2 minutes.

[0026]

[Table 3]

20% of the resin composition a prepared as described above is used.
A 1 mm thick crosslinked sheet was formed with a hot press at 0 ° C. and 100 kgf / cm ² , and the sheet was crosslinked by electron beam irradiation at 15 Mrad to prepare a sample. With this sample, JIS K672
Based on No. 3, tensile test samples (heat aging test samples) and electrical property test samples were prepared, and the results of the respective tests are shown in FIGS. 4 and 5. In the figure, El indicates elongation and Ts indicates tensile strength.

Next, the prepared resin composition a was extruded by an extruder to form 7 wires / corresponding to the copper alloy wire having the composition (I).
An insulated core wire P shown in FIG. 3 was obtained by extrusion molding with a thickness of 0.3 mm on a 36 / 0.05 mm aggregate stranded wire a (a part of the wires is omitted in the drawing).

FIG. 6 shows the results of a wear resistance test of this insulating core wire P in accordance with JIS K7204 (using abrasive grains CS-17).

The bending resistance test was carried out by using the device shown in FIG.
Was mounted and carried out under the following conditions, and the number of reciprocations at which the wire breakage occurred was determined. In the figure, 1 is a moving guide and 2 is a fixed guide. FIG. 8 shows the result.

Sample a length 15 to 16 cm Moving length of moving guide 1 50 mm Amplitude speed 60 times / min Curvature r 7 mm From the above test results, the insulating core wire P according to the present invention is heat resistant,
It can be understood that the bending resistance and abrasion resistance are sufficiently satisfied.

Next, according to the configuration shown in Table 4, FIG.
As shown in (b), the above-mentioned pairs of insulating core wires P are twisted together, and a press-winding tape layer 4 is formed around the pair, and then a shielding layer 5 is provided, and the press-winding tape layer 4 is also provided thereon. To form the shielding core wire 6.

As shown in FIG. 1A, the shielding core wire 6 is
6 were twisted together with the interposition 7, the press-wound tape layer 4 was formed thereon, and the sheath 8 was extrusion-molded around it to obtain a cable A according to the present invention. The shielded core wires 6 were identified as shown in Table 5, and the arrangement was as shown in FIG.

When the effect of each of the examples was investigated, the shielding property was the same as that of the conventional one, and the flexibility and bending resistance were better, and the thinner resistance was as shown in Table 6. It was As Comparative Examples 9 and 10, the sheath 8 was provided with the following Elastollan ET385 (Comparative Example 9) and Resamine P-.
A test using 890 (Comparative Example 10) was performed. In the thinner resistance test, a JIS No. 3 dumbbell test piece was dipped in a thinner for 10 days, and the degree of swelling was examined.

Elastollan ET-385 <JIS A hardness; 85>
; Takeda Bardish Urethane Co., Thermoplastic Polyether Urethane Elastomer Resamine P-890; <JISA
Hardness: 90>; Thermoplastic polycarbonate urethane elastomer manufactured by Dainichiseika Kogyo Co., Ltd. The shielding layer 5 has a braid density of 70% or more to obtain sufficient shielding property.

[0036]

[Table 4]

[0037]

[Table 5]

[0038]

[Table 6]

Even if a copper alloy having the above composition (II) is used for the flexible conductor a, the same effect can be obtained, and the copper alloy may be added with In, etc. Copper is pickled electrolytic copper or has an O ₂ content of 5
The effect was further improved when the recrystallization structure of the composition metal was less than 0 ppm and 50% or less.

[0040]

[Effect of the Invention] The present invention is configured as described above.
It has excellent flexibility, heat resistance, wear resistance, bending resistance, and thinner resistance.

[Brief description of drawings]

1A is a cross-sectional view of an embodiment of a coating robot cable according to the present invention, and FIG. 1B is a detailed cross-sectional view of a shielding core wire of the same embodiment.

FIG. 2 is an array diagram of shielding core wires of the same embodiment.

FIG. 3 is a partially cut perspective view of an insulating core wire.

[Fig. 4] Test result diagram

[Figure 5] Test result diagram

FIG. 6 Test result diagram

FIG. 7 is a schematic view of a bending resistance tester, in which (a) is a front view and (b) is a left side view.

[Figure 8] Test result diagram

[Explanation of symbols]

 1 Moving Guide 2 Fixed Guide 4 Pressing Winding Tape Layer 5 Shielding Layer 6 Shielding Core Wire 7 Intervening 8 Sheath (Coating) P Insulating Core Wire a Stranded Wire (Flexible Conductor) A Cable

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical indication location H01B 3/44 C 7/28 F (72) Creator Masaaki Kihara 2-3-3 Iwata-cho, Higashiosaka-shi, Osaka No. Tatsuta Electric Wire Co., Ltd. (72) Inventor Osamu Ehara 2-3-1, Iwata-cho, Higashi-Osaka City, Osaka Prefecture Tatsuta Electric Wire Co., Ltd. (56) Reference JP-A-59-9137 (JP, A) Kai 62-115611 (JP, A) JP 62-287509 (JP, A) JP 64-3903 (JP, A) JP 62-136707 (JP, A) JP 1-154403 ( JP, A) JP 2-106815 (JP, A) JP 2-199708 (JP, A) JP 2-288017 (JP, A) Actually open Sho 57-90513 (JP, U) Actually open 57-117506 (JP, U) Actually opened 64-20981 (JP, U) Actually opened 59-51407 (JP, U) Actually opened 61-189516 (JP, U) Actually opened 63-127015 (JP , U) Actual Kaihei 3-40715 (JP, U)

Claims (5)

[Scope of utility model registration request] 1. A flexible conductor made of a copper alloy having the following composition is twisted with a plurality of insulating core wires coated with an insulating coating of the following resin composition a, and a shielding layer is provided around the insulating core wire, and further on that. A press-wrap tape layer is formed to form a shield core, and the shield core is twisted multiple times, and the aromatic polyester and the grease are wrapped around it .
A heat-resistant, bending-resistant and wear-resistant coating robot cable, characterized in that an outer cover is provided by a resin composition mainly composed of a thermoplastic polyester elastomer to which flexibility is added by adding an aliphatic polyether . Note [copper alloy] Zr 0.01 to 0.05% by weight, Cr 0.01 to 0.0
5 wt%, the balance being substantially made of Cu, the heat treatment
A copper alloy with Cr deposited . [Resin Composition a] Polyether or Polycarbonate Polyurethane Elastomer and Polyvinylidene Fluoride-Based Fluorine Elastomer in Weight Ratio 30/70 to 90/10
The resin composition obtained by kneading in the range of 1) and adding the crosslinking agents 1 to 9 PHR thereto. 2. A flexible conductor made of a copper alloy having the following composition is twisted with a plurality of insulating core wires coated with an insulating coating of the following resin composition a, and a shielding layer is provided around the insulating core wires. Mainly composed of a thermoplastic polyester elastomer in which a press-wrap tape layer is formed to form a shielding core wire, a plurality of the shielding core wires are twisted, and around which the aromatic polyester and the aliphatic polyether are added to provide flexibility. A heat-resistant, flex-resistant and wear-resistant coating robot cable, characterized in that an outer cover is provided with the resin composition. Note [copper alloy] Zr 0.01 to 0.05% by weight, Cr 0.01 to 0.0
5% by weight, the balance being substantially Cu, and a copper alloy in which Cu ₃ Zr is precipitated by heat treatment. [Resin Composition a] Polyether or Polycarbonate Polyurethane Elastomer and Polyvinylidene Fluoride-Based Fluorine Elastomer in Weight Ratio 30/70 to 90/10
The resin composition obtained by kneading in the range of 1) and adding the crosslinking agents 1 to 9 PHR thereto. 3. The heat resistance / bending resistance according to claim 1 or 2.
In the wear-resistant coating robot cable, the copper alloy contains In, Sn, Ag, Al, in addition to Zr and Cr.
Bi, Ca, Fe, Ge, Hf, Mg, Mn, Ni, P
b, Sb, Si, Ti, Zn, B, Y one or more kinds added in a total amount of 0.002 to 0.3% by weight, which is a heat-resistant, bending- and wear-resistant coating. Cable for robot. 4. The cable for a heat-resistant, flex-resistant and wear-resistant coating robot according to claim 1, wherein the recrystallization structure of the composition metal of the copper alloy is 50% or less. Characteristic heat resistant, bending resistant and wear resistant coating robot cable. 5. The heat resistant / flexible / abrasion resistant coating robot cable according to any one of claims 1 to 4, wherein the copper alloy has an O ₂ content of less than 50 ppm. Heat-resistant, bend-resistant and wear-resistant coating robot cable.