Multilayer material for friction part of humanoid robot and processing method

Abstract

The invention discloses a multilayer material for a humanoid robot friction part and a processing method. The multi-layer material comprises TC4 titanium alloy sheets and PEEK sheets, the TC4 titanium alloy sheets and the PEEK sheets are alternately arranged to form the multi-layer material, and an epoxy resin binder is arranged between every two adjacent sheets; the outer surface of the end of the multi-layer material serves as the friction surface of the humanoid robot friction part, and TC4 titanium alloy sheets and PEEK sheets are alternately arranged on the friction surface. The outer surface of the end portion of the multi-layer material further comprises a groove texture or a pit texture. A multi-layer material is obtained through superposition of the titanium alloy thin plate and the PEEK thin plate, the outer surface of the end of the multi-layer material serves as a friction surface, on the basis, a texture structure is conveniently introduced through thin plate edge appearance machining and the height difference relation of the adjacent thin plates, and the tribological performance is further improved; therefore, the multilayer material has low density, high strength and good tribological properties.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robot manufacturing, and particularly relates to a multilayer material and processing method for friction components of humanoid robots. Background Technology

[0002] The development of humanoid robots is inseparable from the integration of artificial intelligence and mechanical components. These mechanical components include not only the main structure of the humanoid robot but also numerous joint structures necessary for its movement, such as the grasping of robotic hands, the bending and extension of arms and legs, and the twisting of the neck and waist. These movements all require corresponding mechanical structures and joints, and friction components within these structures and joints are indispensable during the movement process. Humanoid robots face complex service scenarios. Since most employ self-powered, rechargeable structures, and given limited energy supply, weight reduction can effectively extend the range of motion and service life of humanoid robots. The robot's own weight has become a key factor directly determining the breadth and depth of its applications; therefore, major robotics companies in the market are currently focusing their research on reducing robot weight as a key research direction.

[0003] The numerous motion-related mechanical components on a humanoid robot are a significant factor affecting its weight. Among the various bearings and joint friction components in existing humanoid robots, alloys (primarily metals), ceramics, and polymers are the three main types. From the perspective of balancing tribological performance and weight reduction, high-strength, low-density lightweight alloys and polymers with relatively good tribological properties have become key areas of focus. For high-strength, low-density lightweight alloys, such as magnesium, aluminum, or titanium alloys, their density is relatively low compared to common metals, and their strength meets requirements, but their tribological performance is relatively poor, requiring further surface modification. Furthermore, their cost is relatively high, while further reducing density would be more beneficial for weight reduction. For polymers with relatively good tribological properties, such as PEEK, their tribological performance is relatively good, and their density is significantly lower than titanium alloys, which is very beneficial for weight reduction, but their strength is relatively low. Therefore, considering strength, weight reduction, and tribological performance, existing humanoid robot friction components made of a single material each have their own problems and cannot meet practical needs, requiring further solutions.

[0004] Therefore, there is a need to develop a new type of friction component material that can be used in the joints of humanoid robots, so that it can meet multiple performance requirements such as good strength, tribological properties and weight reduction, thus making the application scenarios of humanoid robots wider. Summary of the Invention

[0005] The purpose of this invention is to provide a multilayer material and processing method for friction components of humanoid robots. The multilayer material is obtained by stacking titanium alloy thin plates and PEEK thin plates. The outer surface of the end of the multilayer material is used as the friction surface. On this basis, the texture structure is conveniently introduced by utilizing the edge shape processing of the thin plates and the height difference between adjacent thin plates, so as to further improve the tribological properties. Thus, the multilayer material can obtain low density, high strength and good tribological properties.

[0006] This invention discloses a multilayer material for a friction component of a humanoid robot, employing the following technical solution: It comprises TC4 titanium alloy sheets and PEEK sheets, which are alternately arranged to form a multilayer material, with an epoxy resin adhesive between adjacent sheets; the outer surface of the multilayer material's ends serves as the friction surface of the humanoid robot's friction component, with TC4 titanium alloy sheets and PEEK sheets alternately arranged on the friction surface. The ratio of TC4 titanium alloy sheets to PEEK sheets, calculated by thickness, is 1:9 to 1:1; the thickness of a single TC4 titanium alloy sheet is 0.05-0.5 mm, and the thickness of a single PEEK sheet is 0.05-0.5 mm.

[0007] Furthermore, the outer surface of the multilayer material also includes a groove texture, which is formed by adjusting the position of the upper end face of the TC4 titanium alloy sheet or PEEK sheet downwards. Furthermore, the depth of the groove texture is 0.5-1 mm, and the width of the groove texture is 0.1-0.5 mm.

[0008] Furthermore, as another preferred embodiment, the outer surface of the end of the multilayer material also includes a recessed texture, which is formed by pre-processing the upper edge of a TC4 titanium alloy sheet or a PEEK sheet into a recessed shape.

[0009] Furthermore, when the outer surface of the end is flat, the shape of any recess texture is the same in any cross section in the depth direction; rectangular recess textures can be formed by machining the edge of a single TC4 titanium alloy sheet or a single PEEK sheet; non-rectangular recess textures, including circular, rhomboid, or triangular shapes, need to be formed by pre-decomposing the recess shape from the upper edge of multiple TC4 titanium alloy sheets or PEEK sheets and then combining them.

[0010] Furthermore, the multilayer material also includes PTFE sheets to further achieve lubrication. The PTFE sheets are located between the TC4 titanium alloy sheets and the PEEK sheets and are evenly distributed. Calculated by thickness, the PTFE sheets account for 10%-30% of the multilayer material. When the multilayer material has a textured structure, the PTFE sheets do not participate in building the texture. The upper surface of the PTFE sheets is not lower than the adjacent TC4 titanium alloy sheets and PEEK sheets, ensuring that the upper surface of the PTFE sheets is always on the friction surface and directly participates in the friction process.

[0011] The present invention discloses a method for processing multilayer materials for friction components of humanoid robots, comprising the following steps: Step 1: Determine the shape of the friction surface of the friction component, and perform virtual slicing decomposition based on the friction surface shape to obtain the end outer surface shape of the required multi-layer material at different locations; Step 2: Based on the end surface shape of the multilayer materials in the previous step, select the thickness, quantity, and arrangement of the TC4 titanium alloy sheet and the PEEK sheet, and determine the corresponding upper end face shape of the TC4 titanium alloy sheet and the PEEK sheet at different positions; determine the thickness, quantity, and upper end face shape of the PTFE sheet according to the proportion and position. Step 3: Pre-process the corresponding upper end face edges of the TC4 titanium alloy sheet and PEEK sheet according to the shape of the previous step; according to the tribological performance requirements of the friction component, introduce groove texture or pit texture in the outer surface of the end of the multilayer material; pre-process the upper end face edges of the TC4 titanium alloy sheet or PEEK sheet used to construct the texture; after bonding and fixing with epoxy resin adhesive, form a multilayer material with a corresponding textured structure on the outer surface of the end; pre-process the corresponding upper end face edges of the PTFE sheet according to the shape of the previous step as needed; Step 4: Place the TC4 titanium alloy sheet and PEEK sheet with the upper edge processed according to the set position. Place the PTFE sheet as needed and bond them with epoxy resin adhesive. After the bonded multilayer material is pressed and cured on both sides, the desired multilayer material is obtained.

[0012] This invention discloses a multilayer material and processing method for friction components of humanoid robots. Compared with existing technologies, its technical solution has the following advantages: First, this invention uses a multilayer material formed by stacking TC4 titanium alloy sheets and PEEK sheets, with the outer surfaces of the ends serving as the friction surface. This balances the strength and density required for a friction component in a humanoid robot. Typically, the friction surface of a sample is a complete surface, where only a single material surface participates in the friction. However, this invention uses the outer surfaces of the ends of the multilayer material as the friction surface, composed of alternating edges of TC4 titanium alloy and PEEK. This allows both the TC4 titanium alloy and PEEK sheets to fully participate in the friction process, achieving a complementary balance in their tribological properties and strength. Simultaneously, the lower density of PEEK reduces the overall density of the multilayer material, thus reducing the weight of the humanoid robot.

[0013] Secondly, this invention employs a completely different method from existing technologies to prepare textures. Utilizing the edge shapes and height differences of the thin plates at the ends of multi-layer materials, different textures are cleverly introduced into the friction surfaces of the outer surfaces at the ends of the multi-layer materials, further improving their tribological properties. Surface texturing is one of the effective means to improve the tribological properties of friction components. For humanoid robots, the friction and wear of friction components at joints are directly related to their movement position and flexibility; therefore, improving their tribological properties is crucial. Existing technologies mainly use laser post-processing or mechanical extrusion to prepare textures. However, laser post-processing can cause material splashing on the surface of the friction components, and mechanical extrusion may lead to surface cracks due to excessive stress. Both methods have significant adverse effects on texture formation and the surface of the friction components. This invention cleverly utilizes the height differences between adjacent thin plates that make up the multi-layer material to obtain controllable groove textures. By processing the edge shapes of the thin plates as needed and combining them accordingly, various shapes of pit textures, including rectangular and circular, can be obtained. Furthermore, the textures are used to further improve the tribological properties of the friction surface of the multi-layer material.

[0014] Finally, the processing method for multilayer materials of this invention has excellent applicability and convenience. By employing relatively simple shape processing, the construction of multilayer material friction surfaces can be achieved as needed. The process is simple, low-cost, and has great potential for widespread application. The multilayer material of this invention, as the surface of the friction component, directly bears friction and wear. Furthermore, by using a substrate structure of a corresponding shape at the bottom or outside of the multilayer material, it is possible to match the multilayer material with friction components of different shapes in practical applications, demonstrating excellent practicality. Attached Figure Description

[0015] Figure 1 Schematic diagram of the multilayer material integral structure of the present invention Figure 2 A schematic diagram of the cross-sectional structure of one embodiment of the multilayer material of the present invention. Figure 3 A schematic diagram of the cross-sectional structure of another embodiment of the multilayer material of the present invention. Figure 4 A schematic diagram of the groove texture structure of one embodiment of the multilayer material of the present invention. Figure 5 A schematic diagram of the rectangular recess texture structure on the outer end surface of another embodiment of the multilayer material of the present invention. Figure 6 This invention Figure 5 Schematic diagram of the AA cross-sectional structure of the rectangular recessed texture in the embodiment. Figure 7 This invention Figure 5 Schematic diagram of the structure of a single thin plate with rectangular recessed texture in the embodiment. Figure 8Schematic diagram of the circular recess texture structure on the outer end surface of another embodiment of the multilayer material of the present invention. Figure 9 This invention Figure 8 Schematic diagram of the circular recessed textured thin plate structure in the embodiment Figure 10 This invention Figure 8 A schematic diagram of the circular recessed textured edge thin plate structure of the embodiment. Detailed Implementation

[0016] Reference Figures 1-3 This invention discloses a multilayer material for friction components of a humanoid robot, comprising a TC4 titanium alloy sheet 1 and a PEEK sheet 2, wherein the TC4 titanium alloy sheet 1 and the PEEK sheet 2 are arranged alternately to form a multilayer material; an epoxy resin adhesive (not shown in the figure) is provided between adjacent sheets to bond adjacent TC4 titanium alloy sheets and PEEK sheets together. It should be noted that the interior of the TC4 titanium alloy sheet 1 and the PEEK sheet 2 can be composed of a single sheet or multiple sheets of a corresponding thickness. In the case of multiple sheets, any two adjacent sheets are bonded together.

[0017] Unlike conventional material surfaces (outer surfaces composed of length and width directions) used as friction surfaces, this invention uses the outer surface of the ends of multilayer materials as the friction surface of the friction component. The outer surface of the ends refers to the outer surface composed of the thickness and width directions of the thin plate's end. The friction surface of this invention can be set according to the actual shape requirements of the friction component. Figures 2-4 These are schematic cross-sectional views of different embodiments of the multilayer material along its height and perpendicular to the thin plate. The corresponding outer surface of the end can be plane 3 (see Figure 3). Figure 2 The upper surface), or it can be a curved surface 4 (see Figure 3 The upper surface), after pre-processing the edge shapes of TC4 titanium alloy sheets and PEEK sheets, can be stacked in corresponding positions. For Figure 2 When the outer surface of the end is horizontal, it is parallel to its horizontal cross-section. TC4 titanium alloy sheets and PEEK sheets are alternately arranged on the friction surface, allowing both materials to fully participate in the friction process, thus achieving complementarity in their tribological properties and strength. At the same time, the lower density of the higher proportion of PEEK enables further weight reduction for the humanoid robot.

[0018] Based on thickness, the ratio of TC4 titanium alloy sheet to PEEK sheet is 1:9 to 1:1, preferably 1:9, 1:4, or 1:1. The thickness of a single TC4 titanium alloy sheet is 0.05-0.5 mm, preferably 0.05 mm, 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, or 0.5 mm; the thickness of a single PEEK sheet is also 0.05-0.5 mm, preferably 0.05 mm, 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, or 0.5 mm. The design of the ratio of different material sheets must balance strength and density, while the individual sheet thicknesses are relatively thin. This is to allow for application to smaller friction components and to achieve the superposition of different material sheets on a smaller scale to form complementary performance units, thereby exhibiting uniform and excellent performance on a larger scale. Taking a 40mm thick multilayer material as an example, with a 1:1 ratio of TC4 titanium alloy sheet and PEEK sheet, and using 0.2mm thick TC4 titanium alloy sheet and 0.2mm thick PEEK sheet as raw materials, the following options can be selected: Option 1 is to repeat "single 0.2mm thick TC4 titanium alloy sheet / single 0.2mm thick PEEK sheet" 100 times; Option 2 is to repeat "single 0.2mm thick TC4 titanium alloy sheet / single 0.2mm thick TC4 titanium alloy sheet / single 0.2mm thick PEEK sheet / single 0.2mm thick PEEK sheet" 50 times; and more combinations can be adopted based on actual needs. Furthermore, when the strength requirement is lower and the cost needs to be further reduced, the TC4 titanium alloy sheet in this invention can also be replaced by low-density light alloys such as aluminum alloy or magnesium alloy. The adhesive thickness between the thin plates does not exceed 10 micrometers, and its influence is generally not considered in actual thickness design. However, for actual workpieces with strict dimensional constraints, the influence of the adhesive on the thickness can be balanced by fine-tuning methods such as reducing the number of thin plates. This invention further introduces texture to improve the tribological properties of multilayer materials, and the fabrication of the texture is completely different from existing technologies. Based on the thin plates constituting the multilayer material, different textures can be cleverly introduced into the friction surface of the outer surface of the multilayer material ends by correspondingly processing the shape of their end edges and utilizing the height difference between adjacent thin plates. See also Figure 4The outer surface of the multilayer material also includes a groove texture 10, which is formed by adjusting the upper end face of the PEEK sheet 2 downwards. In practice, it can also be achieved by adjusting the TC4 titanium alloy sheet downwards. The parameters of the groove texture can be designed as needed. The depth of the groove texture is 0.5-1 mm, preferably 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, or 1 mm; the width of the groove texture is 0.1-0.5 mm, preferably 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, or 0.5 mm. This design of the groove texture depth and width makes the preparation of the groove texture of the friction component more convenient and controllable, and the texture can have sufficient chip storage space, thereby effectively improving the tribological properties of the friction surface.

[0019] See Figures 5-10 The outer surface of the multilayer material also includes a pit texture. The pits can be rectangular, circular, triangular, or other shapes. The pit texture is formed by pre-processing different pit shapes on the upper edge of a TC4 titanium alloy sheet or a PEEK sheet. Unlike common laser post-processing or mechanical extrusion methods, the texture of this invention has shape consistency in depth. The shape of any pit texture on the edge of the sheet is the same in any cross-section in the depth direction.

[0020] See Figures 5-7 The rectangular recess texture 5 is the simplest to process. It is formed by processing the edges of the thin plate unit 6 into the corresponding rectangular notch shape and then assembling them. The thin plate unit 6 can be a TC4 titanium alloy thin plate or a PEEK thin plate. During the assembly process, dissimilar materials such as a single TC4 titanium alloy thin plate and a single PEEK thin plate can be used alternately, or multiple TC4 titanium alloy thin plates or multiple PEEK thin plates of the same material can be used for assembly. Non-rectangular recess textures, including circular, rhomboid, or triangular shapes, need to be formed by pre-decomposing the recess shape of the upper end face edge of multiple TC4 titanium alloy thin plates or PEEK thin plates and then assembling them. The shape of the thin plate end face edge may vary at different positions.

[0021] See Figures 8-10 This embodiment features a small-diameter circular recess texture 7 composed of three thin plates, which can be obtained by correspondingly processing the edges of the middle thin plate 9 and the two side edge thin plates 8. Since the middle thin plate 9 is located in the center of the circular recess texture 7, therefore... Figure 9 The edges of the middle thin plate 9 need to be machined into approximately rectangular notches 72 with a relatively large diameter, while the edge notches of the two side thin plates 8 need to be machined into arc-shaped notches 71, so that after being combined with the middle thin plate 9, a corresponding circular recess texture 7 can be obtained. For cases where the diameter of the circular recess texture is large, more thin plate units are required, and the machining shape of the thin plate edges at different locations needs to be designed accordingly.

[0022] Preferably, to further improve tribological properties, a solid lubricant component is introduced, and the multilayer material also includes PTFE sheets (not shown in the figure). The thickness of a single PTFE sheet is 0.1-0.5 mm, preferably 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, or 0.5 mm. The PTFE sheets are located between the TC4 titanium alloy sheets and the PEEK sheets and are uniformly distributed. Calculated by thickness, the PTFE sheets account for 10%-30% of the multilayer material, preferably 10%, 15%, 20%, 25%, or 30%. When the outer surface of the multilayer material end has a textured structure, the PTFE sheets do not participate in constructing the texture. The upper surface of the PTFE sheet is not lower than the upper surface of the adjacent TC4 titanium alloy sheets and PEEK sheets. The upper surface of the PTFE sheet is flush with the outer surface of the multilayer material end, so that PTFE always participates in friction during the friction process. Utilizing the excellent lubricating properties of PTFE itself, friction reduction is achieved through adhesion and transfer on the friction surface.

[0023] A method for processing multilayer materials for friction components of humanoid robots according to the present invention includes the following steps: Step 1: Determine the shape of the friction surface of the friction component. In drawing software such as SolidWorks, perform virtual slicing and decomposition based on the shape of the friction surface to obtain the end outer surface shape of the required multi-layer material at different locations. Step 2: Based on the end surface shape of the multilayer materials in the previous step, select the thickness, quantity, and arrangement of the TC4 titanium alloy sheet and the PEEK sheet, and determine the corresponding upper end face shape of the TC4 titanium alloy sheet and the PEEK sheet at different positions; determine the thickness, quantity, and upper end face shape of the PTFE sheet according to the proportion and position. Step 3: Pre-process the corresponding upper edge edges of the TC4 titanium alloy sheet and PEEK sheet according to the shape of the previous step; according to the tribological performance requirements of the friction component, introduce groove texture or pit texture in the outer surface of the end of the multilayer material. Pre-process the upper edge edges of the TC4 titanium alloy sheet or PEEK sheet used to construct the texture. After bonding and fixing with epoxy resin adhesive, a multilayer material with a corresponding texture structure on the outer surface of the end is formed; pre-process the corresponding upper edge edges of the PTFE sheet according to the shape of the previous step as needed; for groove texture, simply adjust the upper edge positions of adjacent sheets according to the texture parameters to form a height difference; for rectangular pit texture, each sheet can be processed with a simple rectangular notch on its edge, while for circular pit texture, all sheets involved in the construction of the pit texture on the friction surface need to be processed with notches of corresponding shapes on their edges, and then stacked and combined according to the set positions to obtain the required pit texture in the later stage; Step 4: Place the TC4 titanium alloy sheet, PEEK sheet, and PTFE sheet with their upper edge processed according to the set positions, and bond them together using epoxy resin adhesive. During the bonding process, control the amount of epoxy resin used so that its thickness does not exceed 10 micrometers. Preferably, during the epoxy resin application process, the distance between the epoxy resin and the upper surface of the sheet end is not less than 5 mm. After stacking and pressing, ensure that the epoxy resin does not stick to the friction surface. Finally, after pressing and curing the bonded multilayer material on both sides, the desired multilayer material is obtained. Furthermore, depending on actual needs, a polymer film can be used to further bond and wrap the outer surface of the multilayer material friction component to enhance the bonding effect.

[0024] This invention discloses a multilayer material for friction components in humanoid robots. Through a specific structural design, it achieves multiple performance requirements, including excellent strength, tribological properties, and weight reduction. The preparation method of this multilayer material requires no complex processes, offering excellent applicability and convenience. It allows for the construction of a specific friction surface—the outer surface of the multilayer material's end—as needed. Furthermore, it can be matched with the planar or irregularly shaped substrate of different friction components, using the outer surface of the multilayer material's end as the friction surface. This enables its application in friction components of various shapes, potentially expanding the application scenarios for humanoid robots.

Claims

1. A multilayer material for friction components of humanoid robots, characterized in that, The multilayer material includes TC4 titanium alloy sheets and PEEK sheets, which are arranged alternately to form the multilayer material. An epoxy resin adhesive is used between adjacent sheets. The outer surface of the ends of the multilayer material serves as the friction surface of the friction component. The ratio of TC4 titanium alloy sheets to PEEK sheets is 1:9 to 1:1 based on the thickness. The thickness of a single TC4 titanium alloy sheet is 0.05-0.5 mm, and the thickness of a single PEEK sheet is 0.05-0.5 mm.

2. The multilayer material according to claim 1, characterized in that, The outer surface of the end of the multilayer material also includes a groove texture, which is formed by adjusting the position of the upper end face of the TC4 titanium alloy sheet or PEEK sheet downward.

3. The multilayer material according to claim 1, characterized in that, The outer surface of the end of the multilayer material also includes a pit texture, which is formed by pre-processing the upper edge of the TC4 titanium alloy sheet or PEEK sheet into a pit shape.

4. The multilayer material according to claim 2, characterized in that, The depth of the groove texture is 0.5-1 mm, and the width of the groove texture is 0.1-0.5 mm.

5. The multilayer material according to claim 3, characterized in that, When the outer surface of the end is flat, the shape of any pit texture is the same in any cross section in the depth direction.

6. The multilayer material according to claim 1, characterized in that, Multilayer materials also include PTFE sheets, which account for 10%-30% of multilayer materials based on thickness.

7. The multilayer material according to claim 6, characterized in that, When the outer surface of the end of a multilayer material has a textured structure, the PTFE sheet does not participate in the construction of the texture.

8. A method for processing multilayer materials for friction components of humanoid robots according to any one of claims 1-7, characterized in that, Includes the following steps: Step 1: Determine the shape of the friction surface of the friction component, and decompose it into slices based on the shape of the friction surface to obtain the end outer surface shape of the required multi-layer material at different locations; Step 2: Based on the shape of the outer surface of the end of the multilayer material in the previous step, select the thickness, quantity and arrangement of the TC4 titanium alloy sheet and the PEEK sheet, and at the same time determine the corresponding upper end face shape of the TC4 titanium alloy sheet and the PEEK sheet at different positions. Step 3: Pre-process the corresponding upper edge edges of the TC4 titanium alloy sheet and the PEEK sheet according to the shape of the previous step; Step 4: Place the TC4 titanium alloy sheet and PEEK sheet with the upper edge processed according to the set position, and bond them with epoxy resin adhesive. After the bonded multilayer material is pressed and cured on both sides, the desired multilayer material is obtained.

9. The processing method according to claim 8, characterized in that, In step 3, according to the tribological performance requirements of the friction components, groove textures or pit textures are introduced into the outer surface of the end of the multilayer material. The upper edge of the TC4 titanium alloy sheet or PEEK sheet used to construct the texture is pre-processed, and after being bonded and fixed with epoxy resin adhesive, the multilayer material with the corresponding texture structure is formed.

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