PEEK 摆线减速器是一种以聚醚醚酮（PEEK）复合材料为核心传动部件的摆线针轮减速装置，结合了摆线传动的高承载能力与 PEEK 材料的轻质化特性，以下从结构原理、材料优势、性能参数及应用场景进行详细介绍：
一、结构原理
采用单级摆线针轮传动结构：由偏心输入轴、两个相位差 180° 的 PEEK 摆线轮、钢制针齿壳及输出机构组成。当输入轴旋转时，通过偏心套驱动摆线轮做行星运动，摆线轮齿廓与针齿壳上的针齿啮合，将运动和动力通过输出轴传递。核心创新点在于摆线轮采用 40% 碳纤维增强 PEEK 注塑成型，针齿销采用 PEEK - 金属复合结构（外层为 PEEK 耐磨层，内层为钢制芯轴），实现传动部件的轻量化与自润滑。
二、材料优势
轻量化设计：PEEK 摆线减速器密度仅 1.45g/cm³，较钢制摆线轮减重 50%-60%，整机重量降低 35% 以上，特别适用于对负载敏感的机器人关节；
耐磨损特性：PEEK 材料表面硬度达洛氏硬度 R120，配合碳纤维增强，齿面磨损率仅为钢制的 1/5，在无润滑条件下仍可保持长效运行；
温度适应性：可在 - 50℃~200℃宽温范围内稳定工作，热变形温度高达 343℃，满足高温工业环境需求。
三、核心性能参数
减速比：8:1~100:1（单级），支持两级串联实现更高减速比
额定扭矩：10~200N・m（对应型号 BX-25~BX-100）
传动精度：回程间隙≤3 弧分，传动效率＞95%（额定工况下）
寿命指标：额定负载下疲劳寿命＞8000 小时，冲击负载承受能力为额定扭矩的 3 倍
四、典型应用场景
人形机器人关节：可适配 50W 至 5kW 电机，借助内外轴复合结构能减重 33%，扭矩密度提升 50%，契合手指、膝关节等需兼顾力量与灵活度的复杂动作场景。
工业机器人辅助部件：工业机器人轻负载腕部关节或需频繁启停、灵活转向的附加执行模块等，用 PEEK摆线减速器，能减轻非核心传动部位重量，并借其耐疲劳性减少停机维护时间。
五、关键部件的材料应用
摆线轮：摆线轮是PEEK摆线针轮减速器的核心传动部件。使用 PEEK 或碳纤维增强 PEEK 制作摆线轮，在维持传动精度前提下，可大幅减轻重量。据公开内容显示，科盟创新推出的 PEEK 轻量化摆线减速机的摆线轮通过材料创新，让减速器在 1.62kg 的重量下抗冲击能力提升 200%，适配人形机器人的高负载需求。同时，PEEK 的耐疲劳性有助于延长摆线轮在高频、交变载荷工况下的使用寿命。
针齿：针齿与摆线轮齿面直接接触，要求具备良好的耐磨性。采用 PEEK 基复合材料针齿或 PEEK 涂层的金属针齿，能利用 PEEK 低摩擦系数特点，减少齿面摩擦与磨损，可能降低对润滑的依赖或允许使用更简易的润滑方案。此外，其弹性特质能在一定程度上缓冲啮合冲击，减小运行噪音。
支撑与密封部件：减速器的端盖、支撑环等结构件用 PEEK 材料，可减轻非传动核心部分重量，达成整体轻量化。PEEK 制作的密封件，能凭借其耐高温、耐化学腐蚀等优势，防止减速器内部润滑油泄漏，并抵御外部恶劣环境侵蚀，适合水下、高温等特殊场景机器人应用。
对比传统PEEK摆线针轮减速器的优势
轻量化表现突出：PEEK 密度约 1.32g/cm³，远低于常用的金属材料，用其制造部分零件能让减速器重量显著减轻，降低机器人关节负载，提升运动灵活性与能量利用效率，对追求高自由度和长续航的人形机器人等意义重大。
优化的噪音控制：因 PEEK 材料具一定弹性与自润滑性，可有效缓冲摆线轮和针轮啮合产生的振动，进而减少噪音，利于机器人在如实验室、医疗环境等对噪音敏感的场景使用。
强化的环境适应性：PEEK 拥有出色的耐化学性与宽温域使用性能，在高温、有化学腐蚀风险等传统金属减速器易失效的复杂场景中，基于 PEEK 部件的减速器能稳定运行更久。
主要应用场景
人形机器人关节：PEEK摆线针轮减速器单级减速比可达 87，双级甚至能超过 3000，有高负载、高精度等特点，PEEK 轻量化版本适合人形机器人的腰髋、下肢等既要力量又对重量敏感的关节。国信证券研究表明，下肢关节采用对应减速器可减轻 18% 重量，控制精度提升 3 倍左右。
特种机器人：用于航空探测、深海科考等特种机器人时，其轻量化可降低运输与动力成本，优异环境耐受性可保障减速器在复杂温湿度、存在化学侵蚀物等状况下可靠运作。
The PEEK cycloidal reducer is a cycloidal pinwheel reduction device with a PEEK composite material as its core transmission component. It combines the high load-bearing capacity of cycloidal transmission with the lightweight characteristics of PEEK material. The following details are provided in terms of structural principle, material advantages, performance parameters, and application scenarios:
1. Structural Principle
PEEK cycloidal reducer adopts a single-stage cycloidal pinwheel transmission structure: consisting of an eccentric input shaft, two PEEK cycloidal wheels with a phase difference of 180°, a steel pin gear housing, and an output mechanism. When the input shaft rotates, the eccentric sleeve drives the cycloidal wheel to perform planetary motion. The cycloidal wheel tooth profile meshes with the pin teeth on the pin gear housing, transmitting motion and power through the output shaft. The core innovation lies in the use of 40% carbon fiber reinforced PEEK injection molding for the cycloidal wheel and the PEEK-metal composite structure for the pin gear pin, achieving lightweight and self-lubrication of the transmission components.
2. Material Advantages
Lightweight Design: The density of the PEEK cycloidal reducer is only 1.45g/cm³, reducing the weight by 50%-60% compared to steel cycloidal wheels, and reducing the overall weight by more than 35%, especially suitable for robot joints with sensitive load requirements;
Toughness: The surface hardness of PEEK material reaches Rockwell hardness R120, combined with carbon fiber reinforcement, the tooth surface wear rate is only 1/5 of that of steel. It can still maintain long-term operation without lubrication under high-temperature conditions;
Temperature Adaptability: PEEK cycloidal reducer can work stably within a wide temperature range of -50℃ to 200℃, with a heat deformation temperature of up to 343℃, meeting the requirements of high-temperature industrial environments.
3. Core Performance Parameters
Reduction Ratio: 8:1 to 100:1 (single stage), supporting two-stage series connection to achieve higher reduction ratios
Rated Torque: 10 to 200N・m (corresponding models BX-25 to BX-100)
Transmission Accuracy: Return clearance ≤ 3 arc minutes, transmission efficiency > 95% (under rated conditions)
Life Index: Fatigue life under rated load > 8000 hours, impact load-bearing capacity is 3 times the rated torque
4. Typical Application Scenarios
Humanoid robot joints: Can be adapted to 50W to 5kW motors. With the internal and external shaft composite structure, it can reduce weight by 33%, torque density increases by 50%, suitable for complex motion scenarios such as fingers and knee joints that require both strength and flexibility.
Industrial robot auxiliary components: For light-load wrist joints of industrial robots or additional execution modules that need frequent start-stop and flexible turning, using PEEK cycloidal reducers can reduce the weight of non-core transmission parts and reduce maintenance downtime due to its fatigue resistance.
V. Application of Materials for Key Components
Spiral Bevel Gear: The spiral bevel gear is the core transmission component of the PEEK spiral bevel gear reducer. Using PEEK or carbon fiber reinforced PEEK to manufacture the spiral bevel gear can significantly reduce the weight while maintaining the transmission accuracy. According to public information, the PEEK lightweight spiral bevel reducer introduced by Komei Innovation has a spiral bevel gear that, through material innovation, increases the impact resistance of the reducer by 200% at a weight of 1.62 kg, meeting the high-load requirements of humanoid robots. At the same time, the fatigue resistance of PEEK helps extend the service life of the spiral bevel gear under high-frequency and alternating load conditions.
Pin Teeth: The pin teeth directly contact the tooth surface of the spiral bevel gear and require good wear resistance. Using PEEK-based composite material pin teeth or PEEK-coated metal pin teeth can take advantage of the low friction coefficient of PEEK to reduce the friction and wear on the tooth surface, possibly reducing the reliance on lubrication or allowing for simpler lubrication schemes. Additionally, its elastic property can buffer the impact of meshing, reducing operating noise.
Support and Sealing Components: The end cover, support ring, and other structural components of the reducer are made of PEEK material, which can reduce the weight of non-transmission core parts and achieve overall lightweighting. The PEEK-made seals can, with their advantages of high-temperature resistance and chemical corrosion resistance, prevent the leakage of lubricating oil inside the reducer and resist the erosion of harsh external environments, suitable for underwater, high-temperature, and other special scenarios for robot applications.
Advantages compared to traditional PEEK spiral bevel gear reducers
Outstanding lightweight performance: The density of PEEK is approximately 1.32 g/cm³, much lower than commonly used metal materials. Using PEEK to manufacture some parts can significantly reduce the weight of the reducer, lower the load on robot joints, improve motion flexibility and energy utilization efficiency, which is of great significance for humanoid robots that pursue high degrees of freedom and long battery life.
Optimized noise control: Due to the certain elasticity and self-lubrication property of PEEK, PEEK cycloidal reducer can effectively buffer the vibration generated by the meshing of the spiral bevel gear and pin wheel, thereby reducing noise and facilitating the use of robots in scenarios such as laboratories and medical environments that are sensitive to noise.
Enhanced environmental adaptability: PEEK has excellent chemical resistance and wide temperature range usage performance. In complex scenarios where traditional metal reducers are prone to failure due to high temperatures and chemical corrosion risks, reducers based on PEEK components can operate stably for a longer time.
Main application scenarios
Humanoid Robot Joints: The single-stage reduction ratio of the PEEK spiral bevel gear reducer can reach 87, and the double-stage can even exceed 3000. PEEK cycloidal reducer has high-load, high-precision characteristics. The lightweight PEEK version is suitable for joints such as the waist and hips, and lower limbs of humanoid robots that require both strength and weight sensitivity. According to research by Guoxin Securities, using the corresponding reducer for the lower limb joints can reduce the weight by 18% and improve control accuracy by about 3 times.
Special Robots: When used in special robots such as aerospace exploration and deep-sea research, the lightweight feature can reduce transportation and power costs, and the excellent environmental tolerance can ensure the reliable operation of the reducer in complex temperature and humidity conditions and the presence of chemical corrosive substances.
