CN208093175U - A kind of mechanical arm private cable - Google Patents

Abstract

The utility model discloses a kind of mechanical arm private cables, including conductor, video core, communication core, fiber optic bundle and restrictive coating, the restrictive coating includes the restrictive coating outer layer of zinc-coated wire wrapped restrictive coating internal layer and polyvinyl chloride, the video core outer cladding video masking layer, it communicates core outer cladding and communicates shielded layer, core is communicated to be distributed around video core, it communicates gap between core and video core and is equipped with conductor and fiber optic bundle, conductor outsourcing insulating layer coating, fiber optic bundle outer cladding elastic layer, the interior B alloy wire for being equipped with pair twist of fiber optic bundle.Compared with prior art, the utility model has the beneficial effects that：The utility model is of low cost, and optical cable core, power cable conductor, video core and communication core combine into composite cable, save space, facilitate the laying and maintenance of optical cable, and Each performs its own functions for cable and optical cable, does not interfere with each other.And can be used as ground wire as the zinc-coated wire of tension original paper, reduce the quantity of cable core.

Description

A kind of mechanical arm private cable

Technical field

The utility model is related to a kind of field of cables, specifically a kind of mechanical arm private cable.

Background technology

Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity, The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively With.Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Thus machine There is also uncertainties for the modeler model of tool arm, for different tasks, need the movement rail for planning joint of mechanical arm space Mark constitutes end pose to cascade.In recent years, with the development of robot technology, using high speed, high-precision, high load is certainly Again than robot architecture by industry and aerospace field paid close attention to.Due to the flexible effect in joint in motion process and connecting rod The increase answered makes structure deform to make the precision of task execution reduce.So robot arm structural flexibility feature It must pay attention to, realize that the effectively control of flexible mechanical arm high-precision also must be considered that system dynamics.Flexible mechanical arm It is an extremely complex dynamic system, kinetics equation has the features such as non-linear, close coupling, consolidation.And it carries out soft The research of property arm dynamics problem, the foundation of model is extremely important.Flexible mechanical arm is not only Coupled Rigid-flexible Nonlinear system, and be also that system dynamics and control characteristic intercouple the nonlinear system of i.e. mechanical-electric coupling.It is dynamic The purpose of mechanical modeling is that System describe and controller design provide foundation in order to control.General control systems description (including when The description of the transmission function of the state space description in domain and frequency domain) positioning with sensor/actuator, from actuator to sensor Information is transmitted and the kinetic characteristics of mechanical arm are closely related.The semaphore request needed when the signal transmission of mechanical arm is accurate, The circuit that synchronous signal needs is more, can influence the work of mechanical arm.

Utility model content

It is mentioned above in the background art to solve the purpose of this utility model is to provide a kind of mechanical arm private cable Problem.

To achieve the above object, the utility model provides the following technical solutions：

A kind of mechanical arm private cable, including conductor, video core, communication core, fiber optic bundle and restrictive coating, the shield Jacket layer includes the restrictive coating outer layer of zinc-coated wire wrapped restrictive coating internal layer and polyvinyl chloride, and the video core outer cladding regards Frequency shielded layer, communication core outer cladding communicate shielded layer, and communication core is distributed around video core, communicates core and video core Between gap be equipped with conductor and fiber optic bundle, conductor outsourcing insulating layer coating, fiber optic bundle outer cladding elastic layer is equipped with pair twist in fiber optic bundle B alloy wire, restrictive coating outer wall be equipped with geometrical clamp, restrictive coating outer wall be equipped with multigroup annulus.

As further program of the utility model：Be equipped in the restrictive coating zinc-coated wire for facilitating erecting cable and Elastic string.

Compared with prior art, the utility model has the beneficial effects that：The utility model is easy to operate, of low cost, light Cable core, power cable conductor, video core and communication core combine into composite cable, save space, facilitate light The laying and maintenance of cable, and Each performs its own functions for cable and optical cable, simultaneous transmission electric energy and communication signal are not interfere with each other.And as anti- It draws the zinc-coated wire of original paper that can be used as ground wire, reduces the quantity of cable core, geometrical clamp is conducive to cable fixed wiring, avoids It influences the work of mechanical arm, and annulus interruption is evenly distributed on cable, and annulus facilitates the winding of cable, facilitates binding and fortune It is defeated.

Description of the drawings

Fig. 1 is a kind of structural schematic diagram of mechanical arm private cable.

In figure：1, conductor, 2, insulating layer, 3, zinc-coated wire, 4, video core, 5, video masking layer, 6, elastic string, 7, logical Interrogate core, 8, communication shielded layer, 9, the wrapped restrictive coating internal layer of zinc-coated wire, 10, the restrictive coating outer layer of polyvinyl chloride, 11, light Fine beam, 12, elastic layer, 13, B alloy wire, 14, geometrical clamp, 15, annulus.

Specific implementation mode

The technical solution of this patent is described in more detail With reference to embodiment.

Referring to Fig. 1, a kind of mechanical arm private cable, including conductor 1, video core 4, communication core 7, fiber optic bundle 11 And restrictive coating, the restrictive coating include the restrictive coating outer layer 10 of zinc-coated wire wrapped restrictive coating internal layer 9 and polyvinyl chloride, institute The 4 outer cladding video masking layer 5 of video core stated, communication 7 outer cladding of core communicate shielded layer 8, and communication core 7 surrounds video line Core 4 is distributed, and is communicated gap between core 7 and video core 4 and is equipped with conductor 1 and fiber optic bundle 11,1 outsourcing insulating layer coating 2 of conductor, light 11 outer cladding elastic layer 12 of fine beam, the interior B alloy wire 13 for being equipped with pair twist of fiber optic bundle 11, interior be equipped with of restrictive coating facilitate erecting cable Zinc-coated wire 3 and elastic string 6, restrictive coating outer wall are equipped with geometrical clamp 14, and geometrical clamp 14 is conducive to cable fixed wiring, avoids its influence The work of mechanical arm, restrictive coating outer wall are equipped with multigroup annulus 15, and the interruption of annulus 15 is evenly distributed on cable, 15 convenience of annulus The winding of cable, facilitates binding and transport.

The operation principle of the utility model is：The utility model is integrally transmitted using a variety of electric wires, has saved space, wherein Elastic when elastic string 6 is used to adjust erecting cable, zinc-coated wire 3 is for carrying cable weight.The fiber optic bundle of the utility model Peripheral hardware elasticity layer can buffer extraneous extruding and impact force, can be well protected that fiber optic bundle is injury-free, and geometrical clamp is conducive to Cable fixed wiring avoids it from influencing the work of mechanical arm, and annulus interruption is evenly distributed on cable, and annulus facilitates the receipts of cable Volume, facilitates binding and transport.

The better embodiment of this patent is explained in detail above, but this patent is not limited to above-mentioned embodiment party Formula, one skilled in the relevant art within the scope of knowledge, can also be under the premise of not departing from this patent objective It makes a variety of changes.

Claims (2)

1. a kind of mechanical arm private cable, including conductor (1), video core (4), communication core (7), fiber optic bundle (11) and sheath Layer, which is characterized in that the restrictive coating includes outside the wrapped restrictive coating internal layer (9) of zinc-coated wire and the restrictive coating of polyvinyl chloride Layer (10), described video core (4) the outer cladding video masking layer (5), communication core (7) outer cladding communication shielded layer (8) lead to It interrogates core (7) to be distributed around video core (4), gap is equipped with conductor (1) and light between communication core (7) and video core (4) Fine beam (11), conductor (1) outsourcing insulating layer coating (2), fiber optic bundle (11) outer cladding elastic layer (12) are equipped in fiber optic bundle (11) pair The B alloy wire (13) of strand, restrictive coating outer wall are equipped with geometrical clamp (14), and restrictive coating outer wall is equipped with multigroup annulus (15).

2. a kind of mechanical arm private cable according to claim 1, which is characterized in that it is convenient to be equipped in the restrictive coating The zinc-coated wire (3) and elastic string (6) of erecting cable.