A PEEK composite material and its application in robot frame

Abstract

The invention discloses a kind of high performance PEEK composite material and its application in robot skeleton, belong to the field of special engineering plastics technology, the PEEK composite material of the present invention is measured by weight, including the following components: 50 80 parts of PEEK, 10 20 parts of elastomer, 15 30 parts of carbon fiber, 5 10 parts of compatibilizer, the compatibilizer is obtained by copolymerizing monomers 1 to 4 to obtain hyperbranched polyaryletherketone copolymer and then modified with polysiloxane end-capping and maleic anhydride to prepare, wherein monomer 1 is 4,4 ', 4''-trihydroxy 3,3 ', 3''-trimethoxytriphenylmethane, monomer 2 is isopropylhydroquinone, monomer 3 is hydroquinone, and monomer 4 is 4,4 '-difluorobenzophenone. The invention provides a kind of high performance PEEK composite material and its application in robot skeleton, by adding homemade compatibilizer, so that PEEK and carbon fiber composite material have the characteristics such as high strength, interface compatibility, good bending fatigue performance.

Description

Technical Field

[0001] The present invention relates to the technical field of special engineering plastics, in particular to a PEEK composite material and application thereof in a robot frame. Background Art

[0002] Amidst global technological innovation, humanoid robots, the result of a deep fusion of cutting-edge technologies such as artificial intelligence, high-end manufacturing, and new materials, are gradually emerging and are poised to become a new research direction, following computers, smartphones, and new energy vehicles. Furthermore, the design and performance of humanoid robots are highly dependent on breakthroughs in materials technology. Their core requirements must balance lightweighting, high strength, wear resistance, high precision, and biomimetic properties. The application of composite materials is crucial in robotics manufacturing.

[0003] Composite materials offer advantages such as high strength, high stiffness, and low density, effectively reducing the weight of robots and improving their efficiency and flexibility. They also possess excellent corrosion and high-temperature resistance, making them suitable for a variety of harsh working environments. Metal alloys such as aluminum and titanium are widely used in humanoid robot manufacturing. Aluminum alloys offer low density, high strength, a specific strength approaching that of high-alloy steel, and a specific stiffness exceeding that of steel. They also possess excellent casting and plastic processing properties, and possess ideal electrical and thermal conductivity, corrosion resistance, and weldability. Titanium alloys offer even higher strength and corrosion resistance, but are relatively expensive. They are generally used as structural materials in robots, supporting the overall frame and moving parts. Carbon fiber composites have significant advantages in humanoid robots. While carbon fiber has a density only about one-third that of steel, its strength is far greater than many metal materials. This means that while maintaining structural strength, the weight of humanoid robots can be significantly reduced. Furthermore, carbon fiber composites offer high stiffness, fatigue resistance, corrosion and high-temperature resistance, a low coefficient of thermal expansion, and high energy efficiency. These advantages make carbon fiber composites an ideal choice for key components such as robotic arms and joints. As a special engineering plastic, PEEK material also has high application potential in the field of humanoid robots. The specific strength of PEEK material is about 8 times that of aluminum alloy, and it has excellent physical and chemical comprehensive properties such as excellent heat resistance, wear resistance, and radiation resistance. Without affecting performance, PEEK material can reduce the weight of humanoid robots while improving the robot's energy efficiency and load capacity. In addition, PEEK material also has excellent tensile properties, creep resistance, insulation properties and chemical resistance, and is also widely used in semiconductors, medical care, new energy vehicles and other fields.

[0004] Therefore, composite materials created by combining PEEK with carbon fiber can achieve a combination of lightweight and high strength, exhibiting high-temperature resistance, high thermal stability, corrosion resistance, and self-lubrication. However, the interface between PEEK and carbon fiber composites is crucial for material performance. The interfacial phase lies between the carbon fiber reinforcement and the PEEK resin matrix, where the two remain independent but not isolated, coordinating to form a continuous transition zone. As a vulnerable region, this interfacial phase significantly influences the composite's mechanical properties, temperature resistance, and resistance to wet-heat aging. Currently, most carbon fiber sizing agents used in China are based on thermosetting epoxy resin systems, which typically operate below 250°C and are unsuitable for the high-melting-point PEEK material. Furthermore, the PEEK resin matrix is ​​chemically inert, with few crosslinkable active groups in its molecular structure. Furthermore, its molecular structure differs significantly from that of traditional thermosetting resins, resulting in poor compatibility and poor interfacial matching. This can lead to defects such as weak interfacial bonding, bubbles, and voids, which in turn affect mechanical properties. Summary of the Invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a PEEK composite material and its application in a robot frame. By adding a homemade compatibilizer, the PEEK and carbon fiber composite material has the characteristics of high strength, interface compatibility, and good bending fatigue performance.

[0006] Another object of the present invention is to provide a method for preparing a PEEK composite material and its application in a robot frame.

[0007] The present invention is achieved through the following technical solution: a PEEK composite material, comprising the following components, by weight: 50-80 parts of PEEK, 10-20 parts of an elastomer, 15-30 parts of carbon fibers, and 5-10 parts of a compatibilizer. The compatibilizer is prepared by copolymerizing monomers 1 to 4 to obtain a hyperbranched polyaryletherketone copolymer, which is then capped with polysiloxane and modified with maleic anhydride. Monomer 1 is 4,4',4''-trihydroxy-3,3',3''-trimethoxytriphenylmethane, monomer 2 is isopropylhydroquinone, monomer 3 is hydroquinone, and monomer 4 is 4,4'-difluorobenzophenone.

[0008] In a specific embodiment, the grafting rate of maleic anhydride is 0.2-1%.

[0009] In a specific embodiment, the molecular weight of the polysiloxane is 3000-6000.

[0010] In a specific embodiment, the preparation method of the monomer 1 is as follows: vanillin, guaiacol and anhydrous ethanol are mixed, the system temperature is controlled to be below 5°C, an acidic ethanol solution is slowly added dropwise, and the reaction is continuously stirred at below 10°C under inert gas protection for 24 to 48 hours. The reaction solution is alternately extracted with dichloromethane and distilled water until neutral, the organic phase is separated, and the guaiacol is recovered by distillation at 210°C. After cooling, crystals are precipitated to obtain monomer 1. The structure of the monomer 1 is shown in Formula 1:

[0011] Formula 1.

[0012] In a specific embodiment, the acidic ethanol solution is a sulfuric acid-ethanol solution.

[0013] In a specific embodiment, the molar ratio of monomers 1 to 3 is (0.5-2):(1-3):1, and the molar ratio of the total molar amount of hydroxyl groups in monomers 1 to 3 to the molar ratio of fluorine in monomer 4 is 1:1. By controlling the amount of monomer 1 added, the degree of branching can be controlled, and by controlling the molar ratio of the total molar amount of hydroxyl groups in monomers 1 to 3 to the molar ratio of fluorine in monomer 4, the end groups of the hyperbranched poly(aryletherketone) copolymer can be controlled to include both hydroxyl groups and fluorine groups. Furthermore, the hydroxyl groups can be capped by polysiloxane.

[0014] In a specific embodiment, the polysiloxane end-capping method is:

[0015] i. The phenol end groups of the hyperbranched poly(aryletherketone) copolymer are activated with a base and then subjected to nucleophilic substitution with allyl bromide to obtain an allyl-modified hyperbranched poly(aryletherketone) copolymer;

[0016] ii. Anionic ring-opening polymerization of hexamethylcyclotrisiloxane in the presence of trimethylsilanol and tetramethylammonium hydroxide was performed, and the reaction was continued at room temperature for 100 to 200 minutes, followed by addition of chlorodimethylsilane and pyridine to obtain a hydrogen silyl-terminated polydimethylsiloxane.

[0017] iii. The allyl-modified hyperbranched poly(aryletherketone) copolymer and the hydrosilyl-terminated polydimethylsiloxane are subjected to a hydrosilylation reaction in the presence of a Custer catalyst to obtain a polysiloxane-terminated hyperbranched poly(aryletherketone) copolymer.

[0018] In a specific embodiment, the maleic anhydride modification method is as follows: dissolving the hyperbranched poly(aryletherketone) copolymer terminated with polysiloxane in o-dichlorobenzene, heating to 120-140° C., adding an o-dichlorobenzene solution of maleic anhydride and an o-dichlorobenzene solution of benzoyl peroxide, maintaining the temperature at 120-140° C. for 2-4 hours, and obtaining a compatibilizer after purification.

[0019] In a specific embodiment, the elastomer is selected from at least one of phenyl silicone rubber, fluorosilicone rubber, acrylic rubber, and ethylene-vinyl acetate copolymer, and the carbon fiber is at least one of short-fiber carbon fiber or long-fiber carbon fiber.

[0020] Preferably, the elastomer is selected from at least one of phenyl silicone rubber and fluorosilicone rubber.

[0021] The present invention also protects a method for preparing a PEEK composite material, comprising the following steps:

[0022] (1) PEEK, elastomer, carbon fiber and compatibilizer are weighed and mechanically blended using a high-speed mixer to obtain a mixed material;

[0023] (2) The mixed material is fed into a twin-screw extruder with an extrusion screw aspect ratio of 30:1~40:1. The extruder temperature is set at 340~350℃ in the T1 zone, 360~370℃ in the T2 zone, 365~375℃ in the T3 zone, the die temperature is 360~370℃, and the speed is 30~45r / min;

[0024] (3) The extruded wire is sequentially passed through an air cooling device and a granulator to prepare PEEK composite material granules.

[0025] The present invention also protects the application of the PEEK composite material in a robot frame.

[0026] Beneficial effects

[0027] The present invention provides a PEEK composite material suitable for robot frames. PEEK is mixed with an elastomer, carbon fiber, and a compatibilizer, and then extruded and granulated to produce a PEEK composite material. The PEEK composite material achieves a balance between lightweight and high rigidity. The elastomer toughens the material, absorbing impact energy through plastic deformation, addressing PEEK's low-temperature brittleness. This improves the PEEK matrix's high fatigue resistance, and, combined with the elastomer's ability to retard crack propagation, significantly extends the life of robot joints during repeated motion.

[0028] The present invention prepares a compatibilizer composed of a hyperbranched poly(aryletherketone) copolymer, polysiloxane-terminated copolymer, and maleic anhydride-modified copolymer. The hyperbranched poly(aryletherketone) copolymer has a similar structure to PEEK resin and can promote molecular diffusion through π-π stacking and physical entanglement, improving the compatibility between the matrix and the filler, and significantly increasing the shear strength of the CF / PEEK interface. The maleic anhydride groups react with the hydroxyl groups on the carbon fiber surface to form covalent bonds, reducing the risk of interfacial debonding. This also improves the compatibility between the elastomer and PEEK, preventing performance degradation caused by phase separation. The polysiloxane segments reduce the friction coefficient, reduce joint motion energy consumption, improve the flexibility of the composite material under dynamic loads, and avoid fracture caused by stress concentration. The hyperbranched structure reduces melt viscosity, solving the processing difficulties of highly filled CF / PEEK. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the synthetic route of monomer 1;

[0030] Figure 2 is the H NMR spectrum of monomer 1;

[0031] Figure 3 This is the infrared spectrum of compatibilizer 1. DETAILED DESCRIPTION

[0032] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] In the examples, the experimental methods used are conventional methods unless otherwise specified, and the materials, reagents, etc. used are all commercially available unless otherwise specified.

[0034] The raw materials used in the embodiments and comparative examples are now described as follows:

[0035] PEEK: 150GL30, Victrex;

[0036] Carbon fiber: T700, 6mm chopped carbon fiber, Toray, Japan, the CF surface was pre-treated with air plasma;

[0037] Elastomer: L-108-H phenyl silicone rubber, Guangzhou Laiso Chemical Technology Co., Ltd.

[0038] Monomer 1: homemade, prepared as follows: 0.1 mol vanillin and 0.5 mol guaiacol were placed in a 250 mL three-necked flask, 20 mL of anhydrous ethanol was added, 20 ml of sulfuric acid and 20 ml of anhydrous ethanol were mixed and transferred to a constant pressure dropping funnel, the system temperature was controlled below 5 ° C, acidic ethanol solution was slowly added dropwise, and the reaction was continued with stirring at below 10 ° C under nitrogen protection for 48 hours to obtain a purple turbid liquid. The reaction solution was alternately extracted with dichloromethane and distilled water until neutral, the organic phase was separated, and the guaiacol was recovered by distillation at 210 ° C. After cooling, red block crystals were precipitated to obtain 4,4',4''-trihydroxy-3,3',3''-trimethoxytriphenylmethane with a yield of 74.22%. The reaction formula is as follows Figure 1 As shown, the H NMR spectrum is Figure 2 As shown; from the chemical shift and integration of the H NMR spectrum, it can be seen that 4,4',4''-trihydroxy-3,3',3''-trimethoxytriphenylmethane was successfully synthesized.

[0039] Monomer 2: isopropylhydroquinone, 95%, Shanghai Yuanye Biotechnology Co., Ltd.;

[0040] Monomer 3: hydroquinone, 99%, Panhua Chemical (Shanghai) Co., Ltd.

[0041] Monomer 4: 4,4'-difluorobenzophenone, 99.9%, Jiangsu Xinhan New Materials Co., Ltd.

[0042] Compatibilizer 1: Homemade, preparation method is as follows:

[0043] S1. Add 0.01 mol of monomer 1, 0.01 mol of monomer 2, 0.01 mol of monomer 3, 0.035 mol of monomer 4, 0.0105 mol of alkali metal carbonate (K2CO3:Na2CO3=19:1), 16.5 ml of sulfolane, and 10 ml of toluene to a three-necked flask. Under a nitrogen atmosphere, maintain the temperature at 150°C for 2 hours, then raise the temperature to 170°C for prepolymerization for 1 hour. Distill off the remaining toluene, then heat the temperature to 200°C for polycondensation for 3.5 hours to prepare a copolymer. Discard the resulting copolymer in deionized water, dry, grind, and then wash with ethanol and deionized water, respectively, to obtain a white powder.

[0044] S2. 3.95 g of the copolymer obtained in step S1 and 90 ml of tetrahydrofuran were mixed in a two-necked flask and nitrogen was introduced for displacement protection; 235 mg of sodium hydride was added, the reaction was stirred for about 15 minutes, 0.47 ml of allyl bromide was added dropwise, and the reaction was continued at room temperature for 24 hours; after the reaction, the reaction mixture was washed three times with saturated brine; the product was extracted with chloroform, and the organic phases were combined; the chloroform solution was reprecipitated in methanol, the solid was collected, and vacuum dried to obtain an allyl-modified copolymer;

[0045] Under argon protection, 11.3 mmol of hexamethylcyclotrisiloxane, 9 ml of diethyl ether solution, and 1.25 mmol of trimethylsilanol were added to a Schlenk tube. 0.18 ml of a 0.625 mol / L toluene solution of tetramethylammonium hydroxide was injected as a catalyst. The reaction was stirred at 25°C for 140 minutes. 2.2 mmol of chlorodimethylsilane and 7.5 mmol of pyridine were added, and stirring was continued for more than 24 hours to ensure hydrogen silyl termination. The reaction solution was concentrated and washed with acetonitrile several times to obtain hydrogen silyl terminated polydimethylsiloxane with a yield of 92.3%. GPC determination showed a molecular weight of 3200 and a molecular weight distribution coefficient of 1.09.

[0046] Under argon, 0.25 g of the allyl-modified copolymer and 0.51 g of hydrosilyl-terminated polydimethylsiloxane were mixed, 5 ml of anhydrous toluene and 8 drops of Custer's catalyst were added, and the mixture was stirred at 25°C. The reaction progress was monitored by ¹H NMR. After completion of the reaction, the mixture was concentrated, washed with acetone to remove residual PDMS, and vacuum dried to obtain a partially polysiloxane-terminated hyperbranched poly(aryletherketone) copolymer.

[0047] S3. 1 g of the partially polysiloxane-terminated copolymer was added to a three-necked flask, followed by 20 ml of o-dichlorobenzene. The mixture was heated under nitrogen until completely dissolved. The temperature was then raised to 130°C, and 0.1 g of maleic anhydride was dissolved in 5 ml of o-dichlorobenzene and added directly to the three-necked flask. 0.04 g of benzoyl peroxide was dissolved in 5 ml of o-dichlorobenzene and added dropwise over 1 hour. The mixture was kept at 130°C for 3 hours. The product was poured into acetone for precipitation, filtered, dried, and then crushed to obtain a hyperbranched poly(aryletherketone) grafted with maleic anhydride and end-capped with polysiloxane. The grafting yield was determined to be 0.68 wt% by alkali titration. The compatibilizer structure was analyzed using an infrared spectrometer (Thermo Nicolet, is 20). The compatibilizer was in powder form. ATR mode was selected at room temperature with a scanning range of 4000 cm -1 ~500 cm -1 , the number of scans is 32 times, the resolution is 4cm -1 , automatically deducting the atmospheric background, among which, at 1780cm -1 and 1748cm -1 The antisymmetric vibration peak and symmetric vibration peak of maleic anhydride carbonyl group were observed; at 1015cm -1 Broad and strong Si-O-Si stretching vibration peaks were detected, proving that the hyperbranched poly(aryletherketone) was successfully capped with polysiloxane and modified with maleic anhydride.

[0048] Compatibilizer 2: Compared with compatibilizer 1, the difference is that in step S2, the molecular weight of the polysiloxane is 4700 and the molecular weight distribution coefficient is 1.08 as determined by GPC. The specific method is as follows: the amount of trimethylsilanol added is adjusted to 0.83 mmol, the amount of chlorodimethylsilane added is adjusted to 4.2 mmol, and the amount of pyridine added is adjusted to 6.6 mmol;

[0049] Compatibilizer 3: Compared with compatibilizer 1, the difference is that in step S2, the molecular weight of the polysiloxane is 6000 and the molecular weight distribution coefficient is 1.07 as determined by GPC. The specific method is as follows: the amount of trimethylsilanol added is adjusted to 0.63 mmol, the amount of chlorodimethylsilane added is adjusted to 3.2 mmol, and the amount of pyridine added is adjusted to 5.0 mmol;

[0050] Compatibilizer 4: Compared with compatibilizer 1, the difference is that in step S2, the molecular weight of the polysiloxane is 7000 and the molecular weight distribution coefficient is 1.06 as determined by GPC. The specific method is as follows: the amount of trimethylsilanol added is adjusted to 0.45 mmol, the amount of chlorodimethylsilane added is adjusted to 2.2 mmol, and the amount of pyridine added is adjusted to 3.5 mmol;

[0051] Comparative compatibilizer 5: Compared with compatibilizer 1, the difference is that maleic anhydride grafting is not performed, that is, step S3 is not performed;

[0052] Comparative compatibilizer 6: Compared with compatibilizer 1, the difference is that polysiloxane end-capping is not performed, that is, step S2 is not performed;

[0053] Comparative compatibilizer 7: Compared with compatibilizer 1, the difference is that the compatibilizer is linear, that is, monomer 1 is not added in step S1, and the addition amount of monomer 4 is modified to 0.02 mol;

[0054] Comparative compatibilizer 8: commercially available compatibilizer, glycidyl methacrylate grafted, specifically POE-g-GMA, SOG-03, Jiayirong;

[0055] Unless otherwise specified, the components and raw materials used in the examples and comparative examples of the present invention are all commercially available raw materials, and the components and raw materials used in each parallel experiment are all of the same kind.

[0056] Examples and Comparative Examples

[0057] A PEEK composite material and a preparation method thereof, the weight formula of which is shown in Table 1, and the preparation method is as follows:

[0058] 1) PEEK, elastomer, carbon fiber and compatibilizer are weighed and mechanically blended using a high-speed mixer to obtain a mixed material;

[0059] 2) The mixed material is fed into a twin-screw extruder with an extrusion screw aspect ratio of 30:1. The extruder temperature is set at 345°C in the T1 zone, 365°C in the T2 zone, 370°C in the T3 zone, a die temperature of 365°C, and a speed of 30 r / min.

[0060] 3) The extruded wire is sequentially passed through an air cooling device and a granulator to prepare PEEK composite material granules.

[0061] Table 1 Composition and proportion of PEEK composite materials (parts by weight)

[0062]

[0063] The following performance tests were performed on a PEEK composite material prepared in the embodiment and the comparative example. The results are shown in Table 2.

[0064] 1. Flexural Strength: PEEK composite materials were molded into specimens with dimensions of 127 × 12.7 × 3.2 mm and tested in accordance with ASTM D7264-21 at a test rate of 1 mm / min. Each set of test results contained five valid data points.

[0065] 2. Flexural modulus: The PEEK composite material was molded into specimens with dimensions of 127 × 12.7 × 3.2 mm and tested in accordance with ASTM D7264-21 at a test rate of 1 mm / min. Each set of test results contained five valid data points.

[0066] 3. Porosity: The PEEK composite was fixed between two building blocks using quick-drying adhesive. The composite was then polished with 500-, 1000-, 2000-, and 2500-grit sandpaper, followed by polishing with polishing powder. Finally, it was ultrasonically cleaned. The porosity of the CF / PEKK composite was measured using an upright multifunctional microscope and Image J software according to GB / T 3365-2008.

[0067] 4. Interfacial shear strength: The PEEK composite material was molded into specimens with dimensions of 127 × 12.7 × 3.2 mm and tested in accordance with ASTM D2344-22 at a test rate of 1 mm / min. Each set of test results contained five valid data points.

[0068] 5. Bending fatigue performance test: The PEEK composite materials prepared in the examples and comparative examples were tested according to the GB / T35465.1-2017 standard, with an alternating cycle frequency of 25 Hz and a limit load of 60% of the maximum stress;

[0069] Table 2 Performance test results of PEEK composite materials

[0070]

[0071] It can be seen from Examples 3 to 6 that the mechanical properties, porosity and bending fatigue properties of the PEEK composite material are best when the molecular weight of the polysiloxane in the compatibilizer is 3000-6000. When the polysiloxane chain segment is too short (low molecular weight), it is difficult to form a continuous lubricating layer at the PEEK / elastomer interface. When the polysiloxane chain is too long (high molecular weight), the steric hindrance effect will hinder the bonding of the maleic anhydride group to the hydroxyl group on the carbon fiber surface.

[0072] It can be seen from Example 3 and Comparative Example 1 that when maleic anhydride modification is not performed, the interfacial bonding force between carbon fiber and PEEK becomes weaker, the porosity becomes higher, and the interfacial shear strength decreases, thereby affecting the mechanical properties.

[0073] It can be seen from Example 3 and Comparative Example 2 that when polysiloxane end-capping is not performed, phase separation between the elastomer and PEEK is likely to occur, which will also lead to an increase in porosity and further affect the mechanical properties of the PEEK composite material.

[0074] It can be seen from Example 3 and Comparative Example 3 that when a linear structured compatibilizer is used, the linear structure of the compatibilizer contains only two terminal functional groups, the modification amount of polysiloxane is insufficient, and it is difficult for the linear molecules to effectively entangle the PEEK segments through π-π stacking. The low melt viscosity of the hyperbranched structure ensures high filling processing in the PEEK composite material, and its multi-end group design maximizes the interfacial modification effect.

[0075] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A PEEK composite material, characterized in that: The invention comprises the following components by weight: 50-80 parts of PEEK, 10-20 parts of elastomer, 15-30 parts of carbon fiber, and 5-10 parts of a compatibilizer. The compatibilizer is prepared by copolymerizing monomers 1 to 4 to obtain a hyperbranched polyaryletherketone copolymer, which is then capped with polysiloxane and modified with maleic anhydride. The monomer 1 is 4,4',4''-trihydroxy-3,3',3''-trimethoxytriphenylmethane, the monomer 2 is isopropylhydroquinone, the monomer 3 is hydroquinone, and the monomer 4 is 4,4'-difluorobenzophenone. The polysiloxane end-capping method is: i. The phenol end groups of the hyperbranched poly(aryletherketone) copolymer are activated with a base and then subjected to nucleophilic substitution with allyl bromide to obtain an allyl-modified hyperbranched poly(aryletherketone) copolymer; ii. Anionic ring-opening polymerization of hexamethylcyclotrisiloxane in the presence of trimethylsilanol and tetramethylammonium hydroxide was performed, and the reaction was continued at room temperature for 100 to 200 minutes, followed by addition of chlorodimethylsilane and pyridine to obtain a hydrogen silyl-terminated polydimethylsiloxane. iii. A hyperbranched poly(aryletherketone) copolymer modified with an allyl group and a hydrogen silyl-terminated polydimethylsiloxane was subjected to a hydrosilylation reaction in the presence of a Custer catalyst to obtain a polysiloxane-terminated hyperbranched poly(aryletherketone) copolymer; The maleic anhydride modification method comprises: dissolving a polysiloxane-terminated hyperbranched polyaryletherketone copolymer in o-dichlorobenzene, heating the mixture to 120-140° C., adding an o-dichlorobenzene solution of maleic anhydride and an o-dichlorobenzene solution of benzoyl peroxide, maintaining the temperature at 120-140° C. for 2-4 hours, and obtaining a compatibilizer after purification.

2. The PEEK composite material according to claim 1, wherein The grafting rate of the maleic anhydride is 0.2-1%.

3. The PEEK composite material according to claim 1, wherein The molecular weight of the polysiloxane is 3000-6000.

4. The PEEK composite material according to claim 1, wherein The preparation method of the monomer 1 is as follows: vanillin, guaiacol and anhydrous ethanol are mixed, the system temperature is controlled to be below 5°C, an acidic ethanol solution is slowly added dropwise, and the mixture is stirred and reacted at below 10°C under inert gas protection for 24 to 48 hours. The reaction solution is alternately extracted with dichloromethane and distilled water until it is neutral, the organic phase is separated, the guaiacol is recovered by distillation at 210°C, and the crystals are precipitated after cooling to obtain the monomer 1. The structure of the monomer 1 is shown in Formula 1: Formula 1.

5. The PEEK composite material according to claim 1, wherein The molar ratio of the monomers 1 to 3 is (0.5-2): (1-3): 1, and the molar ratio of the total molar amount of hydroxyl groups in the monomers 1 to 3 to the molar ratio of fluorine in the monomer 4 is 1:

1.

6. The PEEK composite material according to claim 1, wherein The elastomer is selected from at least one of phenyl silicone rubber, fluorosilicone rubber, acrylic rubber, and ethylene-vinyl acetate copolymer; and the carbon fiber is at least one of short-fiber carbon fiber or long-fiber carbon fiber.

7. The method for preparing the PEEK composite material according to any one of claims 1 to 6, wherein: The following steps are involved: (1) PEEK, elastomer, carbon fiber and compatibilizer are weighed and mechanically blended using a high-speed mixer to obtain a mixed material; (2) The mixed material is fed into a twin-screw extruder with an extrusion screw aspect ratio of 30:1~40:

1. The extruder temperature is set at 340~350℃ in the T1 zone, 360~370℃ in the T2 zone, 365~375℃ in the T3 zone, the die temperature is 360~370℃, and the speed is 30~45r / min; (3) The extruded wire is sequentially passed through an air cooling device and a granulator to prepare PEEK composite material granules.

8. Use of the PEEK composite material according to any one of claims 1 to 6 in a robot frame.

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