A creep-resistant, high fatigue-resistant metal composite tendon for dexterous hands and a preparation method and application thereof

Abstract

The application discloses a kind of anti-creep, high fatigue resistance metal composite tendon for dexterous hand and its preparation method and application, belong to tendon technical field.Composite tendon includes center layer, buffer layer and shell layer from inside to outside in turn;Center layer is twisted by metal tungsten wire;Shell layer is wound by ultra-high molecular weight polyethylene UHMWPE fiber bundle;Between center layer and shell layer, polydopamine elastic buffer layer with thickness of 10-50 μm is arranged;Buffer layer forms fiber-PDA-NiP chemical bond with shell layer and center layer.The application not only can make composite tendon have better anti-creep performance, but also has excellent fatigue resistance performance.Make the performance of robot dexterous hand tendon product reach a new height, realize tendon fatigue limit life under R1.5mm bending radius is ≥600 million times, and creep rate is ≤0.003%.

Description

Technical Field

[0001] This invention belongs to the field of tendon rope technology, specifically relating to a creep-resistant, high-fatigue-resistant metal composite tendon rope for dexterity hands, its preparation method, and its application. Background Technology

[0002] Tungsten wires possess characteristics such as extremely high fatigue resistance, low creep rate, high temperature resistance, corrosion resistance, radiation resistance, and dimensional stability, which can effectively meet the needs of high-frequency and high-precision motion control. They are particularly suitable for the drive systems of dexterous hands in high-end humanoid robots such as Tesla Optimus and Huawei "Qiankun".

[0003] Existing non-metallic tendons made of high molecular weight polyethylene fiber, aramid, AP, PET, etc., will significantly elongate in length under continuous tensile loads, causing the robot's dexterous hand to gradually lose its precise maneuverability. Therefore, multiple adjustments are required during the use of the dexterous hand, which greatly reduces the customer experience.

[0004] Existing stainless steel tendon cords have low specific strength. In order to achieve the target tensile load, the overall diameter of the stainless steel tendon cord is large, which cannot cope with the limited installation space of the dexterity hand. Furthermore, the bending fatigue limit is very low at a small bending radius, which shortens the replacement cycle of key components of the dexterity hand and increases costs.

[0005] Existing tungsten wire tendon ropes possess advantages such as high strength and durability, but their core drawback lies in their relatively limited flexibility, making them prone to fatigue damage under frequent bending conditions. This defect stems from the material's inherent high rigidity. While this ensures tensile strength and dimensional stability, it also causes internal stress concentration in the tungsten wire during repeated bending at small radii, making effective stress release difficult and accelerating metal fatigue, thus affecting its lifespan. Furthermore, its high density (approximately 19.3 g / cm³) further contributes to this problem. 3 This results in its weight being far greater than that of ultra-high molecular weight polyethylene fiber (UHMWPE, only 0.93-0.98 g / cm³). 3 The weight of steel wire is about 2.5 times that of steel wire and 20 times that of UHMWPE for the same volume, which significantly increases the load on the robot's end effector and affects the overall motion efficiency and energy consumption.

[0006] Patent CN202411928396.6 discloses a method for producing a composite core of a steel wire rope, wherein a fiber mesh layer is provided between the composite core wire and the outer steel wire layer 6; and both the composite core wire and the fiber mesh layer 9 are impregnated with lubricating grease.

[0007] Patent CN202411415405.1 discloses potassium-doped tungsten rods for high-flexibility tungsten wire ropes and their manufacturing method. Compared with the prior art, this invention uses specially made high-activity, narrow-particle-range potassium-doped tungsten powder to produce tungsten rods, and finally obtains fine tungsten wires, thereby obtaining high creep resistance and strength of tungsten wire ropes under high-temperature conditions.

[0008] Patent CN202511784544.6 discloses a method for preparing a high-tensile, low-relaxation tungsten tendon rope for dexterity hands. This invention uses lanthanum oxide-doped tungsten wire to solve the inherent low-temperature brittleness and high recrystallization brittleness of pure tungsten wire, which makes it very easy to break during processing and rope making. As a result, the finished rope has poor toughness, high relaxation rate, and unsatisfactory bending fatigue life.

[0009] Existing technologies also disclose the formation of "composite metal tendons" by combining tungsten wire with polymer materials, which retains the high strength and low creep characteristics of metal while improving flexibility and bending performance, but still suffers from problems such as premature failure.

[0010] In summary, existing tendon ligaments have the following problems: (1) Existing non-metallic tendons have poor creep resistance. For example, ultra-high molecular weight polyethylene (UHMWPE), aramid, nylon and other materials have inherent creep properties. Under continuous tensile load, the material will undergo slow and irreversible plastic deformation, which will cause the tendon to elongate slightly. This creep phenomenon is fatal in robot dexterity hand applications that require maintaining a precise posture or outputting stable force for a long time. It will cause the robot joint positioning accuracy to gradually be lost, resulting in "position drift", which seriously affects the accuracy and reliability of robot dexterity hand work.

[0011] (2) Existing metal tendon ropes have poor fatigue resistance; such as stainless steel tendon ropes and high carbon steel tendon ropes, although they have good dimensional stability during tensile stress, i.e., creep resistance, their high density and high rigidity make them prone to metal fatigue fracture under frequent small curvature radius bending, which reduces the service life of robot dexterity hand.

[0012] (3) In the process of bearing load, the metal tendon rope of the existing composite tendon rope bears the load first, and the stress concentration effect is obvious, which leads to premature failure. It is impossible to achieve both good creep resistance and high fatigue performance at the same time. Summary of the Invention

[0013] The present invention aims to design a creep-resistant and fatigue-resistant metal composite tendon rope for dexterous hands, which solves the problem of poor creep resistance of non-metallic tendon ropes and improves the problem of insufficient fatigue performance of metal tendon ropes. This will bring the performance of tendon rope products for robot dexterous hands to a new level, achieving a fatigue limit life of ≥6 million cycles and a creep rate of ≤0.003% at a bending radius of R1.5mm.

[0014] Meanwhile, this invention provides a method for preparing a creep-resistant and fatigue-resistant metal composite tendon rope for dexterous hands.

[0015] Meanwhile, this invention provides an application of a dexterous hand-like anti-creep, highly fatigue-resistant metal composite tendon rope.

[0016] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The composite tendon cord of this invention (i.e., a creep-resistant, highly fatigue-resistant metal composite tendon cord for dexterity hands) has a multi-layered composite structure, which can be divided into three layers: Core layer: The core layer is made of twisted tungsten wire to ensure the good creep resistance of the composite metal tendon rope of the present invention; The core layer is made of twisted tungsten wire with a diameter of φ0.03-φ0.08mm. It is a high-purity tungsten wire with rare earth (lanthanum oxide / yttrium oxide) doping and a purity of over 99.95%. Pure tungsten has poor plasticity, making it difficult to achieve multi-pass cold deformation processing. Therefore, traditional tungsten wire drawing is all hot drawing, which is extremely costly. Moreover, the work hardening ability of the single wire is reduced during hot processing, resulting in a smaller increase in strength. The tungsten wire material used in this invention improves the plasticity of the tungsten wire by doping it with trace amounts of rare earth (lanthanum oxide / yttrium oxide), thereby improving the processing capability of the tungsten wire and increasing the strength of the single wire after drawing. In addition, when the (lanthanum oxide / yttrium oxide) content in the tungsten wire is higher than 0.05%, the improvement in the plasticity of the tungsten wire is limited. Furthermore, excessive lanthanum oxide / yttrium oxide not only increases the cost but also destroys the uniformity of the tungsten wire, leading to weakened grain boundaries, which is not conducive to drawing and strength improvement.

[0017] Furthermore, the surface of the tungsten wire is reinforced with a nano-coating called "Ni-P". Ni-P coating: A uniform and dense Ni-P alloy layer is formed on the surface of tungsten wire through a chemical plating process. When the phosphorus content is controlled at 8%-9%, an amorphous structure can be obtained, providing excellent corrosion resistance and strong adhesion to the substrate, which can significantly improve the wear resistance, hardness and service life of tungsten wire.

[0018] The Ni-P plating process is as follows: Wire laying → Tungsten wire degreasing → Water washing → Roughening and micro-etching → Water washing → Sensitization treatment → Water washing → Electroless Ni-P plating → Water washing → Post-treatment → Wire winding.

[0019] Ultrasonic degreasing (removal of surface oil and wire-drawing lubricant): Formula: Sodium hydroxide 30-40 g / L + Sodium carbonate 20-30 g / L + Trisodium phosphate 20 g / L; Temperature: 50-60 ℃; Time: 40-60 s; Wash with water: Rinse with running deionized water for 30-60 seconds to thoroughly remove any alkaline residue; Tungsten wire surface roughening micro-etching: Formula: 5% hydrofluoric acid + 10% nitric acid (volume ratio, diluted in deionized water); Temperature: room temperature; Time: 30-60 s; (Note: Strictly control the time to avoid over-corrosion and thinning of the tungsten wire; ensure ventilation and protective measures during operation). Water wash: Rinse thoroughly with deionized water; Sensitization treatment: Formula: 10-15 g / L stannous chloride (SnCl2•2H2O) + 20-30 mL / L hydrochloric acid, temperature: room temperature, time: 20-40 s; Water wash: Quick and gentle wash to prevent Sn. 2+ Hydrolysis precipitation; Chemical Ni-P plating: The plating solution composition is as follows: Nickel sulfate (NiSO4•6H2O): 25-30 g / L (nickel source); Sodium hypophosphite (NaH2PO2•H2O): 28-32 g / L (reducing agent, phosphorus source, determines phosphorus content); Trisodium citrate: 15-20 g / L (complexing agent, to prevent nickel precipitation and ensure uniform coating); Sodium acetate: 8-12 g / L (buffer, stabilizes pH); Lactic acid: 5-8 mL / L (to aid in complexation and refine crystal grains); Stabilizer (sodium thiosulfate / lead salt trace): 0.5-1 mg / L (to prevent self-decomposition of plating solution); Deionized water: Prepare to 1 L The plating process is as follows: pH: 4.6-4.8; Temperature: 88-92 ℃; Stirring: Stir gently with air or oscillate the tungsten wire at a constant speed to ensure a uniform coating; Plating time: 60-80 s (plating thickness 10-30 nanometers); Key points for phosphorus content control: sodium hypophosphite / nickel sulfate mass ratio = 1.0-1.1, pH stable at 4.6-4.8, temperature 88-92℃; Post-treatment: Wash with hot deionized water at 50 degrees Celsius and dry at 80-95 degrees Celsius.

[0020] Furthermore, the twisted structure can be 1+6+12+18, or 7×7, with a 7×7 structure being preferred. The tungsten wire core serves as the core strand and the core support material of the composite tendon rope of this invention. Compared to traditional non-metallic fiber tendon ropes, it can significantly improve the overall creep resistance of the tendon rope.

[0021] The outermost layer (shell) is made of ultra-high molecular weight polyethylene (UHMWPE) fiber bundles, which improves the transmission accuracy of the tendon rope and the fatigue performance of the tendon rope.

[0022] In this invention, the outermost fiber bundle of the tendon chord is in direct contact with the friction pair / bending guide wheel. The movement of the robot's dexterous hand driven by the tendon chord relies on the rotation of the friction pair, and there must be no tendency to slip. Therefore, a certain amount of friction is required between the outer surface of the tendon chord and the friction pair. Furthermore, the ultra-high molecular weight polyethylene (UHMWPE) fibers in the shell layer of the composite tendon chord have undergone plasma surface grafting modification (grafting with fluorine-containing monomers). The modified fibers are more firmly embedded in the resin matrix within the composite tendon chord, reducing microslippage.

[0023] Furthermore, the outermost layer of the composite metal tendon cord of this invention is made of ultra-high molecular weight polyethylene fiber. Although the overall diameter of the tendon cord is comparable to that of conventional metal or non-metal tendon cords, the core tungsten wire unit determines the minimum bending radius. Therefore, compared to traditional metal tendon cords, this invention can meet the requirements for use in friction pairs or guide wheels with smaller bending radii.

[0024] The UHMWPE fiber grafting modification process is as follows: 1. Pretreatment: Vacuum dry the UHMWPE fibers at 60℃ for 2 hours to remove surface adsorbed moisture.

[0025] 2. Plasma activation: Argon gas is introduced into a low-pressure reaction chamber of 15-35 Pa to treat the fiber surface with plasma (power 100-200 W, time 5-10 min) to generate a large number of free radical sites.

[0026] 3. Grafting reaction: Vaporized fluorinated monomers (such as hexafluoropropylene) are introduced into the reaction chamber at a rate of 50-200 mL / min. Under the continuous action of plasma, grafting polymerization occurs with free radicals on the fiber surface. The reaction temperature is controlled at 40-60℃ and the reaction time is 30-60 min.

[0027] 4. Post-processing: After the reaction is complete, the fibers are washed with acetone to remove the homopolymer, and then dried to obtain the modified fibers.

[0028] Buffer Layer: A 10-50 μm thick polydopamine (PDA) elastic buffer layer is provided between the central layer and the shell layer. In addition to the functions of a conventional buffer layer, the buffer layer in this invention also bonds the outermost (shell layer) ultra-high molecular weight polyethylene (UHMWPE) fiber to the nano-Ni-P coating on the surface of the central layer tungsten wire, forming a stable "fiber-PDA-NiP" chemical bond. The presence of this chemical bond can integrate the outermost fiber and the central layer tungsten wire tendon rope into one, improve the uniformity of the overall tendon rope stress, and prevent the central metal component from stress concentration and premature breakage during load-bearing.

[0029] The preparation process of the polydopamine (PDA) buffer layer is as follows: Laying out → Online pretreatment (degreasing → washing and drying) → Continuous immersion deposition tank (PDA polymerization) → Purge and deliquescence → Online curing and drying → Shell layer UHMWPE fiber winding (0.1mm diameter) → Winding up.

[0030] Online pretreatment: Alkaline degreasing agent ultrasonic spray / immersion at 50-60℃, with a wire dwell time of 20-40 seconds, to remove rolling oil / twisting oil and dust; multi-stage deionized water spray rinsing, hot air drying at 100-120℃, leaving no water stains on the surface, and then directly entering the PDA deposition tank.

[0031] Alkaline degreasing agent formula: sodium hydroxide 30-40 g / L + sodium carbonate 20-30 g / L + trisodium phosphate 20 g / L; The ultrasonic spraying process is as follows: spraying pressure: 0.2-0.5 MPa, ultrasonic frequency: 20-28 kHz; The ultrasonic immersion process involves an ultrasonic power density of 0.3-0.5 W / cm³. 2 ; Continuous immersion deposition tank: Effective immersion length of the deposition tank is 2.0-4.0 m. Preparation of a 10-25 μm buffer layer: Dopamine 6 g / L, 30 ℃, wire feed speed 0.20-0.35 m / min, wire rope residence time in the liquid 6-20 min; Preparation of a 25-50 μm buffer layer: Dopamine 9-12 g / L, 32-35 ℃, wire feed speed 0.08-0.20 m / min, residence time in the liquid 10-40 min.

[0032] The sedimentation solution formulation in the sedimentation tank is as follows: Tris-HCl buffer: 15-20 mM, pH adjusted to 8.6±0.2 with NaOH; Dopamine: 6-12 g / L; Compressed air is continuously introduced throughout the process to ensure sufficient dissolved oxygen; the sediment is circulated and stirred to ensure uniform concentration. Temperature control: 30-35 ℃; Purge and remove liquid: After exiting the deposition tank, use an air knife to purge excess free droplets from the surface to avoid uneven coating and sagging; then enter the 80-100 ℃ hot air pre-curing zone for 2-5 min to allow the surface PDA to quickly cross-link and solidify, preventing subsequent adhesion.

[0033] Air knife purging process: The purging gas is dry and clean compressed air, free of water and pollutant particles, with an air particle filtration accuracy of ≤5μm; air knife inlet pressure: 0.12-0.20 MPa, preferably 0.15 MPa.

[0034] The formation process of the "fiber-PDA-NiP" chemical bond in this invention is as follows (referred to as weak alkali temperature-controlled treatment): In a temperature-controlled oven, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled between 8 and 10. The temperature inside the oven is controlled between 45 and 55 degrees Celsius. First stage: The composite tendon rope is placed in the oven for 2-4 hours. Second stage: The alkaline solution in the oven is removed, and the oven temperature is set to 70-80 degrees Celsius for 4-6 hours. Third stage: The heating is turned off, and silica gel desiccant is placed in the oven, then the rope is cooled to room temperature with the oven.

[0035] In the first stage, under a slightly alkaline environment at a certain temperature (instead of soaking), the Ni-P coating on the surface of the central tungsten filament, polydopamine (PDA), and polyethylene (UHMWPE) fibers in this invention can form a "fiber-PDA-NiP" chemical bond. The heating treatment in the second stage ensures further bonding of the fiber-PDA-NiP and removes the moisture that has entered the shell fibers under the effect of moisture absorption in the first stage. The third stage further enhances the bonding ability of the fiber-PDA-NiP and further removes the moisture that has entered the shell fibers under the effect of moisture absorption in the first stage.

[0036] The reaction principle of "fiber-PDA-NiP" is as follows: 1. The bond between PDA and fiber PDA is rich in catechol hydroxyl groups, quinone groups, amino groups, and imino groups, and its main function with fibers (such as UHMWPE and other polymer fibers) is as follows: Hydrogen bonding: PDA hydroxyl and amino groups form hydrogen bonds with trace oxygen-containing groups (-OH, C=O) on the fiber surface; Van der Waals forces + hydrophobic interactions: PDA aromatic rings and fiber polymer chains generate hydrophobic adsorption; After slight activation (plasma / alkali etching), the surface free radicals of the fiber undergo weak covalent grafting with PDA, which enhances the bonding strength.

[0037] 2. Interface bonding between PDA and Ni-P coating (tungsten wire rope) Ni-P amorphous nickel-phosphorus alloy coating, surface containing: Ni 0 Ni 2+ P 0 Trace amounts of oxides / hydroxides (Ni(OH)2, PO) x In an alkaline environment, PDA undergoes multiple strong interactions with Ni-P: a. Metallic coordinate bonds (strongest function): After the catechol hydroxyl group of PDA is deprotonated, the phenolic oxide anion reacts with the Ni on the coating surface. 2+ It forms stable chelate coordination bonds, similar to polyphenol-metal complexes, with extremely high bond strength.

[0038] b. Schiff base / covalent bond: The quinone group of PDA reacts with the hydroxyl and amino sites on the Ni-P surface, or with trace amounts of metal hydroxide in the coating, to form a Schiff base reaction, forming a C=N covalent bond.

[0039] c. Hydrogen bonding and electrostatic interactions: Under alkaline conditions, the Ni-P surface is negatively charged (hydroxide), and the PDA amino group is protonated and positively charged, resulting in electrostatic attraction; at the same time, hydroxyl-hydroxide forms hydrogen bonds.

[0040] d. Interaction with phosphorus sites The P atoms / phosphorus oxides in the coating can form PN and POH hydrogen bonds with the amino and hydroxyl groups of PDA, further strengthening the interface.

[0041] 3. The overall mechanism for the formation of the complete "fiber-PDA-Ni-P" interface: First, PDA adheres firmly to the fiber through hydrogen bonds, van der Waals forces, and a small amount of covalent bonds; second, the catechol, quinone groups, and amino groups exposed in the PDA interact with the Ni in the Ni-P coating. 2+ Coordination and chelation occur, supplemented by electrostatic, hydrogen bonding, and Schiff base covalent bonds; ultimately forming a continuous gradient interface of fiber-PDA (bonding transition layer)-Ni-P coated tungsten wire rope.

[0042] If the buffer layer is too thin (<10μm): it is difficult to form a sufficiently deep “fiber-PDA-NiP” chemical bond, and the uniformity of force distribution is unclear; if the buffer layer is too thick (>50μm): excessive elastic material will reduce the overall structural stiffness, causing lag in force transmission and slow rebound response, affecting transmission accuracy, and the thicker the layer, the greater the manufacturing difficulty.

[0043] The present invention provides a dexterity hand anti-creep and high fatigue-resistant metal composite tendon rope, which includes a central layer, a buffer layer and a shell layer from the inside out.

[0044] The core layer is made of twisted tungsten wire with a diameter of φ0.03-φ0.08mm. The tungsten wire consists of rare earth elements (lanthanum oxide / yttrium oxide) with a mass percentage of ≤0.05% and the balance being tungsten. The tungsten wire is high-purity tungsten wire with a purity of 99.95% or higher. The surface of the tungsten wire is coated with a Ni-P coating.

[0045] Shell: Composed of bundles of ultra-high molecular weight polyethylene (UHMWPE) fibers.

[0046] Buffer layer: A polydopamine (PDA) elastic buffer layer with a thickness of 10-50 μm is provided between the core layer and the shell layer.

[0047] The buffer layer forms fibrous-PDA-NiP chemical bonds with the shell and the central layer.

[0048] This invention provides a dexterous hand-use anti-creep and high fatigue-resistant metal composite tendon rope with a fatigue limit life of ≥6 million cycles and a creep rate of ≤0.003% at a bending radius of R1.5mm.

[0049] This invention provides a dexterous hand-use anti-creep and highly fatigue-resistant metal composite tendon rope with a breaking force retention rate of 95-99%.

[0050] This invention provides the application of a creep-resistant, high-fatigue-resistant metal composite tendon rope for dexterous hands in the dexterous hands of humanoid robots.

[0051] A humanoid robot dexterous hand drive system is prepared from a dexterous hand anti-creep and high fatigue resistant metal composite tendon rope of the present invention.

[0052] The present invention has the following beneficial effects: By adopting a "metal wire-polymer fiber hybrid coaxial braiding" structure, the core layer is made of high-purity tungsten wire with a diameter of φ0.03-φ0.08mm, composite doped with rare earth (lanthanum oxide / yttrium oxide) and a purity of over 99.95% (the surface of the tungsten wire is reinforced with a nano-coating "Ni-P"). The shell layer is made of ultra-high molecular weight polyethylene (UHMWPE) fiber bundles that have been plasma surface grafted and modified (grafted with fluorine-containing monomers). A polydopamine (PDA) buffer layer with a thickness of 10-50μm is provided between the core layer and the shell layer. The Ni-P coating on the surface of the tungsten wire, the polydopamine (PDA) and the polyethylene (UHMWPE) fibers can form "fiber-PDA-NiP" chemical bonds under the technical conditions of this invention, which improves the uniformity of the overall tendon rope stress and avoids stress concentration and premature breakage of the central metal component during the load-bearing process.

[0053] Traditional non-metallic tendon ropes have poor creep resistance but good fatigue performance, allowing for smaller bending / working radii and strong anti-slip capability between the tendon rope and friction pairs / guide wheels. Traditional metallic tendon ropes have good creep resistance but poor fatigue performance, making it difficult to achieve smaller bending / working radii. This invention, a composite metallic tendon rope, combines the advantages of both traditional metallic and non-metallic materials. By incorporating a buffer layer structure, a "fiber-PDA-NiP" structure is formed between the central tungsten wire, the buffer layer, and the outer fiber layer, improving the uniformity of stress distribution on the overall tendon rope. This not only gives the composite tendon rope better creep resistance but also excellent fatigue resistance. This elevates the performance of tendon rope products for robot dexterity hands to a new level, achieving a fatigue life of ≥6 million cycles and a creep rate of ≤0.003% at a bending radius of R1.5mm. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the composite tendon rope of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the composite tendon rope of Embodiment 4 of the present invention; Where 1 represents the central layer, 2 represents the buffer layer, and 3 represents the shell layer; Figure 3 This is a comparison chart of the stretching curves; Figure 4 This is a schematic diagram of a fatigue test. Figure 5 This is a schematic diagram of the composite tendon rope of Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the composite tendon rope of Embodiment 3 of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only for explaining the invention and are not intended to limit the invention. Example 1

[0056] like Figure 1 As shown, a multi-layered composite tendon cord with a (1+6+12+18)+10 structure is described. The core layer of the tendon cord has a 1+6+12+18 structure, and each metal wire is a high-purity tungsten wire doped with trace amounts of lanthanum oxide, with a tungsten content greater than 99.95% and a diameter of 0.03 mm. It is produced through multiple heat treatment processes to reach the final product diameter, and then reinforced with a surface nano-coating, "Ni-P". The specific coating process is as follows: Wire laying → Tungsten wire degreasing (formula: sodium hydroxide 35 g / L + sodium carbonate 25 g / L + trisodium phosphate 20 g / L; temperature: 55 ℃; time: 50 s) → water washing (rinsing with flowing deionized water for 50 s) → roughening and micro-etching (formula: hydrofluoric acid 5% + nitric acid 10% (volume ratio, diluted in deionized water), room temperature; time: 30 s) → water washing → sensitization treatment (stannous chloride (SnCl2•2H2O) 15 g / L + hydrochloric acid 25 mL / L, room temperature, time: 20 s) → water washing → electroless Ni-P plating [nickel sulfate (NiSO4•6H2O): 25 g / L (nickel source); sodium hypophosphite (NaH2PO2•H2O): 30 g / L; trisodium citrate: 18 g / L; sodium acetate: 10 g / L; lactic acid: 6.5] mL / L; Stabilizer (sodium thiosulfate / lead salt trace): 0.8 mg / L; Deionized water: prepared to 1 L; Plating process as follows: pH: 4.7, temperature: 90 ℃, stirring: gentle air stirring or uniform oscillation of tungsten wire to ensure uniform coating, plating time: 70 s, key points for phosphorus content control: sodium hypophosphite / nickel sulfate mass ratio = 1.0, pH stable at 4.7, temperature 90℃] → water washing → post-treatment (washing with hot deionized water at 50 degrees Celsius and drying at 85 degrees Celsius) → wire collection.

[0057] Tungsten monofilaments are twisted to obtain a central metal core with a 1+6+12+18 structure, and then carefully wound up. Subsequently, a buffer layer (PDA) and a shell layer are wound. The specific process is as follows: Laying out the wire → Pre-treatment before laying out the wire (sodium hydroxide 35 g / L + sodium carbonate 25 g / L + trisodium phosphate 20 g / L; temperature: 55 ℃, ultrasonic soaking in alkaline degreasing agent, ultrasonic density 0.4 W / cm³). 2 Temperature 55 ℃, wire dwell time 30s; multi-stage deionized water spray rinsing, hot air 110 ℃ rapid drying, no water stains remaining on the surface, directly enters the PDA deposition tank. ) → Continuous immersion in the deposition tank (effective immersion length of the deposition tank is 3.0 m. Dopamine 6 g / L, Tris-HCl buffer: 18 mM, NaOH to adjust pH=8.6, wire speed 0.3 m / min, tungsten wire rope stays in the liquid for 10 min; prepare a 25μm thick buffer layer. Continuous aeration with compressed air throughout the process, sufficient dissolved oxygen; the deposition liquid is circulated and stirred to ensure uniform concentration; constant temperature control: 30 ℃) → Purge and remove liquid (after exiting the deposition tank, an air knife is used to purge excess free droplets from the surface) → Online curing and drying (entering a 90℃ hot air duct, pre-curing for 3 min) → Shell UHMWPE fiber winding → (the twisting machine directly winds the shell fiber bundle around the central metal rope core of the cured PDA buffer layer) winding.

[0058] The UHMWPE fiber grafting modification process is as follows: 1. Pretreatment: Vacuum dry the UHMWPE fibers at 60℃ for 2 hours to remove surface adsorbed moisture.

[0059] 2. Plasma activation: Argon gas is introduced into a 30Pa low-pressure reaction chamber to perform plasma treatment on the fiber surface (power 150 W, time 8 min) to generate a large number of free radical sites.

[0060] 3. Grafting reaction: Vaporized fluorinated monomers (such as hexafluoropropylene) are introduced into the reaction chamber at a rate of 100 mL / min. Under the continuous action of plasma, grafting polymerization occurs with free radicals on the fiber surface. The reaction temperature is controlled at 50℃ and the reaction time is 45 min.

[0061] 4. Post-processing: After the reaction is complete, the fibers are washed with acetone to remove the homopolymer, and then dried to obtain the modified fibers.

[0062] The weak alkali temperature control process is as follows: In a temperature-controlled oven, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 9. The temperature inside the oven is controlled at 50 degrees Celsius. First stage: The composite tendon rope is placed in the oven for 2 hours. Second stage: The alkaline solution in the oven is removed, and the oven temperature is set to 75 degrees Celsius for 4 hours. Third stage: The heating is turned off, and silica gel desiccant is placed inside the oven, then the rope is cooled to room temperature with the oven.

[0063] This embodiment describes the application of a creep-resistant, high-fatigue-resistant metal composite tendon rope for a dexterous hand in a humanoid robot dexterous hand.

[0064] A humanoid robot dexterous hand drive system is prepared from a dexterous hand anti-creep and high fatigue resistant metal composite tendon rope of this embodiment. Example 2

[0065] like Figure 5 As shown, a multi-layered composite tendon cord with a (1+6+12+18)+14 structure is described. The core layer of the tendon cord has a 1+6+12+18 structure, and each metal wire is a high-purity tungsten wire doped with 0.05% lanthanum oxide, resulting in a tungsten content of 99.95% and a diameter of 0.05 mm. It is produced through multiple heat treatment processes to reach the final product diameter, followed by surface reinforcement with a Ni-P nano-coating. The specific coating process is as follows: Wire laying → Tungsten wire degreasing (formula: sodium hydroxide 30 g / L + sodium carbonate 20 g / L + trisodium phosphate 20 g / L; temperature: 50 ℃; time: 40 s) → water washing (rinsing with flowing deionized water for 30 s) → roughening and micro-etching (formula: hydrofluoric acid 5% + nitric acid 10% (volume ratio, diluted in deionized water), room temperature; time: 60 s) → water washing → sensitization treatment (stannous chloride (SnCl2•2H2O) 10 g / L + hydrochloric acid 20 mL / L, room temperature, time: 40 s) → water washing → electroless Ni-P plating [nickel sulfate (NiSO4•6H2O): 30 g / L (nickel source); sodium hypophosphite (NaH2PO2•H2O): 28 g / L; trisodium citrate: 15 g / L; sodium acetate: 8 g / L; lactic acid: 5 mL / L; stabilizer (sodium thiosulfate): 0.5] mg / L; Deionized water: prepared to 1 L; Plating process as follows: pH: 4.6, temperature: 88 ℃, stirring: gentle air stirring or uniform oscillation of tungsten wire to ensure uniform coating, plating time: 60 s, key points for phosphorus content control: sodium hypophosphite / nickel sulfate mass ratio = 1.1] → water washing → post-treatment (washing with hot deionized water at 50 degrees Celsius and drying at 80 degrees Celsius) → wire take-up.

[0066] Tungsten monofilaments are twisted to obtain a central metal core with a 1+6+12+18 structure, and then carefully wound up. Subsequently, a buffer layer (PDA) and a shell layer are wound. The specific process is as follows: Laying out the wire → Pre-treatment before laying out the wire (sodium hydroxide 30 g / L + sodium carbonate 20 g / L + trisodium phosphate 20 g / L; temperature: 50 ℃, ultrasonic soaking in alkaline degreasing agent, ultrasonic density 0.3 W / cm³). 2 Temperature 50℃, wire dwell time 20 s; multi-stage deionized water spray rinsing, hot air 100℃ rapid drying, no water stains remaining on the surface, directly enters the PDA deposition tank. ) → Continuous immersion in the deposition tank (effective immersion length of the deposition tank is 2.0 m. Dopamine 6 g / L, Tris-HCl buffer: 15mM, NaOH to adjust pH=8.4, wire speed 0.35 m / min, tungsten wire rope stays in the liquid for 6 min; prepare a 10μm thick buffer layer. Continuous aeration with compressed air throughout the process, sufficient dissolved oxygen; the deposition liquid is circulated and stirred to ensure uniform concentration; constant temperature control: 30℃) → Purge and remove liquid (after exiting the deposition tank, an air knife is used to purge excess free droplets from the surface) → Online curing and drying (entering an 80℃ hot air duct, pre-curing for 2 min) → Shell UHMWPE fiber winding → (the twisting machine directly winds the shell fiber bundle around the central metal rope core of the cured PDA buffer layer) winding.

[0067] The UHMWPE fiber grafting modification process is as follows: 1. Pretreatment: Vacuum dry the UHMWPE fibers at 60℃ for 2 hours to remove surface adsorbed moisture.

[0068] 2. Plasma activation: Argon gas is introduced into a low-pressure reaction chamber of 15 Pa to treat the fiber surface with plasma (power 100 W, time 5 min) to generate a large number of free radical sites.

[0069] 3. Grafting reaction: Vaporized fluorinated monomers (such as hexafluoropropylene) are introduced into the reaction chamber at a rate of 50 mL / min. Under the continuous action of plasma, grafting polymerization occurs with free radicals on the fiber surface. The reaction temperature is controlled at 40℃ and the reaction time is 30 min.

[0070] 4. Post-processing: After the reaction is complete, the fibers are washed with acetone to remove the homopolymer, and then dried to obtain the modified fibers.

[0071] The weak alkali temperature control process is as follows: In a temperature-controlled oven, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 8. The temperature inside the oven is controlled at 45 degrees Celsius. First stage: The composite tendon rope is placed in the oven for 3 hours. Second stage: The alkaline solution in the oven is removed, and the oven temperature is set to 70 degrees Celsius for 5 hours. Third stage: The heating is turned off, and silica gel desiccant is placed in the oven, then the rope is cooled to room temperature with the oven.

[0072] This embodiment describes the application of a creep-resistant, high-fatigue-resistant metal composite tendon rope for a dexterous hand in a humanoid robot dexterous hand.

[0073] A humanoid robot dexterous hand drive system is prepared from a dexterous hand anti-creep and high fatigue resistant metal composite tendon rope of this embodiment. Example 3

[0074] like Figure 6 As shown, a multi-layered composite tendon cord with a (1+6+12+18)+21 structure is described. The core layer of the tendon cord has a 1+6+12+18 structure, and each metal wire is a high-purity tungsten wire doped with 0.04% lanthanum oxide, with a tungsten content of 99.96% and a diameter of 0.08 mm. It is produced through multiple heat treatment processes to reach the final product diameter, and then reinforced with a Ni-P nano-coating. The specific coating process is as follows: Wire laying → Tungsten wire degreasing (formula: sodium hydroxide 40 g / L + sodium carbonate 30 g / L + trisodium phosphate 20 g / L; temperature: 60 ℃; time: 60 s) → water washing (rinsing with flowing deionized water for 60 s) → roughening and micro-etching (formula: hydrofluoric acid 5% + nitric acid 10% (volume ratio, diluted in deionized water), room temperature; time: 60 s) → water washing → sensitization treatment (stannous chloride (SnCl2•2H2O) 15 g / L + hydrochloric acid 30 mL / L, room temperature, time: 40 s) → water washing → electroless Ni-P plating [nickel sulfate (NiSO4•6H2O): 30 g / L (nickel source); sodium hypophosphite (NaH2PO2•H2O): 32 g / L; trisodium citrate: 20 g / L; sodium acetate: 12 g / L; lactic acid: 8 mL / L; stabilizer (sodium thiosulfate): 1] mg / L; Deionized water: prepared to 1 L; Plating process as follows: pH: 4.8, temperature: 92 ℃, stirring: gentle air stirring or uniform oscillation of tungsten wire to ensure uniform coating, plating time: 80 s, key points for phosphorus content control: sodium hypophosphite / nickel sulfate mass ratio = 1.1] → water washing → post-treatment (washing with hot deionized water at 50 degrees Celsius and drying at 95 degrees Celsius) → wire take-up.

[0075] Tungsten monofilaments are twisted to obtain a central metal core with a 1+6+12+18 structure, and then carefully wound up. Subsequently, a buffer layer (PDA) and a shell layer are wound. The specific process is as follows: Laying out the wire → Pre-treatment before laying out the wire (sodium hydroxide 40 g / L + sodium carbonate 30 g / L + trisodium phosphate 20 g / L; temperature: 60 ℃, ultrasonic soaking in alkaline degreasing agent, ultrasonic density 0.5 W / cm³). 2 The temperature is 60℃, the wire holding time is 40 s; multi-stage deionized water spray rinsing, hot air 120℃ rapid drying, no water stains remain on the surface, and it directly enters the PDA deposition tank. → Continuous immersion in the deposition tank (effective immersion length of the deposition tank: 4.0 m. Dopamine 12 g / L, Tris-HCl buffer: 20 mM, pH adjusted to 8.8 with NaOH, wire speed 0.08 m / min (low wire speed achieved by increasing the length of the deposition tank or repeated wire running in a single tank), tungsten wire rope stays in the liquid for 40 min; prepare a buffer layer with a thickness of 50 μm. Continuous aeration with compressed air throughout the process to ensure sufficient dissolved oxygen; circulating and stirring the deposition liquid to ensure uniform concentration; constant temperature control: 35 ℃) → Purge and remove liquid (after exiting the deposition tank, use an air knife to purge excess free droplets from the surface) → Online curing and drying (enter a 100 ℃ hot air duct for pre-curing for 5 min) → Shell UHMWPE fiber winding → (the twisting machine directly winds the shell fiber bundle around the central metal rope core of the cured PDA buffer layer) winding.

[0076] The UHMWPE fiber grafting modification process is as follows: 1. Pretreatment: Vacuum dry the UHMWPE fibers at 60℃ for 2 hours to remove surface adsorbed moisture.

[0077] 2. Plasma activation: Argon gas is introduced into a low-pressure reaction chamber of 35 Pa to treat the fiber surface with plasma (power 200 W, time 10 min) to generate a large number of free radical sites.

[0078] 3. Grafting Reaction: Vaporized fluorinated monomers (such as hexafluoropropylene) are introduced into the reaction chamber at a rate of 200 mL / min. Under continuous plasma action, grafting polymerization occurs with free radicals on the fiber surface. The reaction temperature is controlled at 60℃, and the reaction time is... 60 min.

[0079] 4. Post-processing: After the reaction is complete, the fibers are washed with acetone to remove the homopolymer, and then dried to obtain the modified fibers.

[0080] The weak alkali temperature control process is as follows: In a temperature-controlled oven, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 10. The temperature inside the oven is controlled at 55 degrees Celsius. First stage: The composite tendon rope is placed in the oven for 4 hours. Second stage: The alkaline solution in the oven is removed, and the oven temperature is set to 80 degrees Celsius for 6 hours. Third stage: The heating is turned off, and silica gel desiccant is placed in the oven, then the rope is cooled to room temperature with the oven.

[0081] This embodiment describes the application of a creep-resistant, high-fatigue-resistant metal composite tendon rope for a dexterous hand in a humanoid robot dexterous hand.

[0082] A humanoid robot dexterous hand drive system is prepared from a dexterous hand anti-creep and high fatigue resistant metal composite tendon rope of this embodiment. Example 4

[0083] The only difference between this embodiment and Embodiment 1 is that: Figure 2 As shown, the twisted structure is a 7×7 structure. Example 5

[0084] The only difference between this embodiment and embodiment 3 is that: Preparation of a 25 μm buffer layer: 9 g / L dopamine, 32 ℃, wire speed 0.20 m / min, residence time in liquid for 10 min. Example 6

[0085] The only difference between this embodiment and Embodiment 2 is that: Preparation of a 25 μm buffer layer: Dopamine 6 g / L, 30 ℃, wire feeding speed 0.20 m / min, and the wire rope was kept in the liquid for 20 min.

[0086] Comparative Example 1

[0087] The only difference between this comparative example and Example 1 is that: The weak alkali temperature control process is as follows: In a temperature-controlled blower box, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 9. The temperature inside the blower box is controlled at 50 degrees Celsius. First stage: The composite tendon rope is placed in the blower box for 2 hours; the heating is turned off and silica gel desiccant is placed in the oven, and then the rope is cooled to room temperature with the oven.

[0088] Comparative Example 2

[0089] The only difference between this comparative example and Example 1 is that: The weak alkali temperature control process is as follows: In a temperature-controlled oven, the twisted composite tendon rope is placed inside, the oven temperature is set to 75 degrees Celsius, and left for 4 hours; the heating is then turned off and silica gel desiccant is placed inside the oven, and then the oven is allowed to cool to room temperature.

[0090] Comparative Example 3

[0091] The only difference between this comparative example and Example 1 is that: The weak alkali temperature-controlled treatment process is as follows: In a temperature-controlled blower box, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 9. The temperature inside the blower box is controlled at 50 degrees Celsius. First stage: The composite tendon rope is placed in the blower box for 1 hour. Second stage: The alkaline solution in the blower box is removed, and the oven temperature is set to 75 degrees Celsius for 3 hours. Third stage: The heating is turned off, and silica gel desiccant is placed in the oven, and then the rope is cooled to room temperature with the oven.

[0092] The composite tendon obtained in this comparative example has a fatigue life of 5.25 million cycles at a bending radius of R1.5mm.

[0093] Comparative Example 4

[0094] The only difference between this comparative example and Example 1 is that: The weak alkali temperature-controlled treatment process is as follows: In a temperature-controlled blower box, the twisted composite tendon rope is laid flat on a stainless steel mesh / frame. An open alkaline solution, such as NaOH, is placed under the stainless steel mesh / frame, with the pH controlled at 9. The temperature inside the blower box is controlled at 50 degrees Celsius. First stage: The composite tendon rope is placed in the blower box for 5 hours. Second stage: The alkaline solution in the blower box is removed, and the oven temperature is set to 75 degrees Celsius for 7 hours. Third stage: The heating is turned off, and silica gel desiccant is placed in the oven, then the rope is cooled to room temperature with the oven.

[0095] The composite tendon ligament obtained in this comparative example has a fatigue life of 5 million cycles at a bending radius of R1.5mm.

[0096] In this embodiment, the shell layer 3 is a bundle of 10 ultra-high molecular weight ethylene (UHMWPE) fibers with a diameter of 0.1 mm. A buffer layer 2 is provided between the central layer 1 and the shell layer 3. The buffer layer is made of PDA. The basic properties of the tendon rope in this embodiment are shown in Table 1 below.

[0097] Table 1 Basic Properties of Composite Tendon Rosette

[0098] The stretching curves of Example 1 and Comparative Example 2 are as follows: Figure 3 As shown, Figure 3 Curve 5 represents Example 1, and curve 6 represents Comparative Example 2. Under the same load, Example 1 of the present invention exhibits smaller elongation. The "fiber-PDA-NiP" chemical bond formed between the shell fiber and the central layer under the action of the PDA buffer layer makes the inner and outer layers more synergistic in terms of force.

[0099] Table 2 is a comparative data table of chordae tendon fatigue tests, such as... Figure 4 As shown, during the test, the tested tendon rope 4 was fixed at both ends 6A and 6B under a certain load. With the repeated rotation of the bending test element 5, the tested tendon rope 4 was repeatedly bent on the test element 5. After reaching a certain preset number of fatigue cycles, the sample was removed, and the change in distance L between 6A and 6B was measured. The table shows that the multi-layer composite structure tendon rope of this invention has improved fatigue performance and better controlled creep performance compared to existing tendon ropes.

[0100] Table 2 Fatigue Performance Test Results

[0101] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A dexterous hand-use anti-creep, highly fatigue-resistant metal composite tendon rope, characterized in that, From the inside out, it consists of a central layer, a buffer layer, and a shell layer; The core layer is made of twisted tungsten wire; The shell is made of bundles of ultra-high molecular weight polyethylene (UHMWPE) fibers. A polydopamine elastic buffer layer with a thickness of 10-50 μm is provided between the core layer and the shell layer; The buffer layer forms fibrous-PDA-NiP chemical bonds with the shell and the central layer.

2. The dexterity hand anti-creep, high fatigue-resistant metal composite tendon rope according to claim 1, characterized in that, The diameter of the tungsten wire is φ0.03-φ0.08mm. The composition of the tungsten wire includes: rare earth with a mass percentage of ≤0.05% and the balance of tungsten. The tungsten wire is a high-purity tungsten wire with a purity of 99.95% or higher. The surface of the tungsten wire is coated with a Ni-P coating.

3. The dexterity hand anti-creep, high fatigue-resistant metal composite tendon rope according to claim 1, characterized in that, The ultra-high molecular weight polyethylene (UHMWPE) fiber is a modified UHMWPE fiber, and its modification process is as follows: Pretreatment: Remove surface-adsorbed moisture from ultra-high molecular weight polyethylene (UHMWPE) fibers; Plasma activation: Argon gas is introduced into a low-pressure reaction chamber of 15-35 Pa to treat the fiber surface with plasma at a power of 100-200 W for 5-10 min, generating a large number of free radical sites. Grafting reaction: Vaporized fluorinated monomers are introduced into the reaction chamber at a rate of 50-200 mL / min and grafted onto the fiber surface free radicals under the continuous action of plasma. The reaction temperature is controlled at 40-60℃ and the reaction time is 30-60 min. Post-processing: After the reaction is complete, the fibers are washed to remove the homopolymer and then dried to obtain modified ultra-high molecular weight polyethylene (UHMWPE) fibers.

4. The dexterity hand anti-creep, high fatigue-resistant metal composite tendon rope according to claim 3, characterized in that, Fluorinated monomers include hexafluoropropylene.

5. The dexterity hand anti-creep, high fatigue-resistant metal composite tendon rope according to claim 1, characterized in that, The fatigue limit life is ≥6 million cycles at a bending radius of R1.5mm, the creep rate is ≤0.003%, and the breaking force retention rate is 95-99%.

6. A method for preparing a creep-resistant, high-fatigue-resistant metal composite tendon rope for dexterity hands according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: The tungsten wire is twisted to obtain the core layer; Step 2, Preparation of the buffer layer: Line laying → Online pretreatment → Continuous immersion in deposition tank → Purge and deliquescence → Online curing and drying; Online pretreatment: Alkaline degreasing agent ultrasonic spray or soaking at 50-60℃, with a wire dwell time of 20-40 seconds to remove rolling oil or twisting oil and dust; multi-stage deionized water spray rinsing, hot air drying at 100-120℃, leaving no water stains on the surface, and then directly entering the deposition tank. Alkaline degreasing agent formula: sodium hydroxide 30-40 g / L + sodium carbonate 20-30 g / L + trisodium phosphate 20 g / L; The ultrasonic spraying process is as follows: spraying pressure: 0.2-0.5 MPa, ultrasonic frequency: 20-28 kHz; The ultrasonic immersion process involves an ultrasonic power density of 0.3-0.5 W / cm³. 2 ; Continuous wetting sedimentation tank: effective wetting length of sedimentation tank is 2.0-4.0 m; Preparation of 10-25 μm buffer layer: dopamine 6 g / L, 30 ℃, wire speed 0.20-0.35 m / min, middle layer stays in liquid for 6-20 min; Preparation of 25-50 μm buffer layer: dopamine 9-12 g / L, 32-35 ℃, wire speed 0.08-0.20 m / min, residence time in liquid 10-40 min; The sedimentation solution formulation in the sedimentation tank is as follows: Tris-HCl buffer: 15-20 mM, pH adjusted to 8.6±0.2 with NaOH; Dopamine: 6-12 g / L; Compressed air is continuously supplied throughout the entire process; The sediment solution is circulated and stirred. Purge and remove liquid: After exiting the deposition tank, use an air knife to purge excess free droplets from the surface; then enter the 80-100 ℃ hot air pre-curing zone for 2-5 min to allow the surface PDA to quickly cross-link and solidify; Step 3, shell winding: The twisting machine directly winds the shell fiber bundles onto the central layer of the cured buffer layer; Step 4: Rewind to obtain the composite tendon rope; Step 5, weak alkaline temperature control treatment: Spread the composite tendon rope flat on the stainless steel mesh / frame inside the blower box, place an open alkaline solution under the stainless steel mesh / frame, and control the temperature inside the blower box at 45-55 degrees Celsius. First stage: Place the composite tendon rope in the blower box for 2-4 hours. In the second stage, the alkaline solution in the blower box is removed, and the temperature of the blower box is set to 70-80 degrees Celsius and left for 4-6 hours. In the third stage, the heating is turned off and a desiccant is placed in the oven, and then the oven is cooled to room temperature.

7. The preparation method according to claim 6, characterized in that, In step five, the alkaline solution includes NaOH, and the pH is controlled between 8 and 10.

8. The preparation method according to claim 6, characterized in that, In step two, the air knife purging process is as follows: the purging gas is dry and clean compressed air; the air knife inlet pressure is 0.12-0.20 MPa.

9. The application of the anti-creep, high-fatigue-resistant metal composite tendon rope for dexterous hands according to any one of claims 1-5 in the dexterous hands of humanoid robots.

10. A humanoid robot dexterous hand drive system, made from a dexterous hand anti-creep, high fatigue-resistant metal composite tendon rope as described in any one of claims 1-5.

Images