Leg control mechanism of tendon-imitating driving robot

Abstract

A leg control mechanism of a tendon-imitating driving robot comprises at least one rotary driving device and at least one leg support structure, the rotary driving device is arranged at one end of the leg support structure, and an output wire coil structure is rotationally installed at the other end of the leg support structure and used for being connected with a driven control piece. A transmission wheel disc structure is arranged at the output end of the rotation driving device, a transmission line driving structure is arranged between the output wire coil structure and the transmission wheel disc structure in a sleeved mode, and the transmission line driving structure forms a tightened loop state between the output wire coil structure and the transmission wheel disc structure. The driving device has the advantages of extremely high flexibility and elaborate performance, high control stability and precision, large driving torque, capability of avoiding fatigue fracture, and prolonged service life.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and particularly relates to a leg control mechanism for a tendon-driven robot. Background Art

[0002] In the field of research and development and manufacturing of humanoid robots, the joint drive of robots has always been a key technology restricting the development of robots. The current mainstream solution is to form a joint drive by a motor and a reducer (planetary reducer, cycloidal reducer, and harmonic reducer), which is also called a joint module; then, joint modules of different sizes are serially connected as needed to form a robotic arm, a robot arm, or a legged robot leg, etc. The greatest advantage of this technical solution is modular design and convenient maintenance, but it cannot achieve remote drive, resulting in a large moment of inertia at the end.

[0003] There is a technology that realizes remote drive through bionic technology such as contraction. For example, a linear joint module, through the combination of a motor and a lead screw, and through a linkage mechanism to realize the swing of the joint, can reduce the moment of inertia. Currently, the best way to reduce the moment of inertia is to place the motor and the reducer at the base, and then drive to other rotating joints through a remote transmission solution. The remote transmission solutions include belt drive, synchronous belt drive, wire reel drive, and cable drive, etc. Due to the relatively large size of the belt and the transmission, the low transmission torque and insufficient transmission stiffness, etc., the transmission accuracy of the wire reel is low and the tensioning of the wire reel system is relatively complex, etc.

[0004] Cable-driven is similar to muscles, also known as tendon-driven, and has advantages such as high stiffness, less occupied space, and can achieve multi-stage coupled transmission. Moreover, the cable-driven system also has significant advantages in remote drive. For example, since the driving devices with large weight and volume are concentratedly installed in the base at the end of the manipulator or arm, etc., rather than being scattered on each moving joint, this greatly reduces the weight of each part of the moving joint, making the joint and the robotic arm itself more flexible and agile, and the driving energy consumption is lower.

[0005] In the prior art, a patent document with the publication number CN 113894840 A discloses a cable-driven flexible manipulator, which includes a plurality of connecting rods and cables that sequentially pass through the connecting rods and are circumferentially distributed. A universal joint is connected between adjacent connecting rods. One end of the cable passes through the connecting rod at the root and is connected to a driving structure, and the other end of the cable passes through and is fixed to the connecting rod at the free end; a plurality of circumferentially distributed return springs are also connected between adjacent connecting rods, and the elastic coefficients of different return springs gradually increase from the connecting rod at the free end to the connecting rod at the root. In the present invention, a return spring is connected between adjacent connecting rods, which can use the return spring to realize the reset of the manipulator and enhance the overall strength of the manipulator. At the same time, the elastic coefficient of the return spring gradually increases from the free end to the root, which can provide the elastic force and reset pulling force at different positions of the manipulator, ensuring the stability of the attitude adjustment of the manipulator.

[0006] The above technical solution realizes the control of the manipulator joints by pulling the cable and the return spring. Although it has the flexibility and delicacy of tendon drive, the cable suddenly generates a huge pulling force to drive the joint to move, resulting in problems such as cable fatigue and low service life. In addition, the return spring used will cause problems such as insufficient control stability, control accuracy, and driving torque, making it difficult to meet the motion control requirements of robots for doing delicate work and the legs of robots with excessive driving torque. Summary of the Invention

[0007] In order to make up for the deficiencies in the existing humanoid robot technology, the present invention proposes a leg control mechanism for a tendon-driven robot that has extremely high flexibility and delicacy, high control stability and accuracy, large driving torque, can avoid fatigue fracture, and extends the service life.

[0008] The specific technical solution is as follows: A leg control mechanism for a tendon-driven robot includes at least one rotary drive device and at least one leg support structure. The rotary drive device is provided at one end of the leg support structure, and an output wire reel structure is rotatably installed at the other end of the leg support structure for connecting a driven control member. A transmission wheel structure is provided at the output end of the rotary drive device, and a transmission wire drive structure is sleeved between the output wire reel structure and the transmission wheel structure, and the transmission wire drive structure forms a taut loop state between the output wire reel structure and the transmission wheel structure.

[0009] Preferably, the transmission wire drive structure includes an anti-bending chain drive structure or a flexible wire drive structure. The anti-bending chain drive structure or the flexible wire drive structure cooperates with the transmission wheel structure, and cable structures are respectively connected to both ends of the anti-bending chain drive structure or the flexible wire drive structure, and the cable structures cooperate with the output wire reel structure.

[0010] Preferably, the transmission wheel structure is a sprocket or a synchronous pulley, and the transmission line driving structure includes a chain or a synchronous belt and metal cables respectively connected to both ends of the chain or the synchronous belt. The chain or the synchronous belt is engaged with the sprocket or the synchronous pulley, and the other ends of the two metal cables are fastened to the output wire reel structure and / or the driven control member, and at least one metal cable is fastened and installed on the output wire reel structure and / or the driven control member through a tension adjustment structure.

[0011] Preferably, the rotary driving device is a motor module.

[0012] Preferably, the outer diameter of the transmission wheel structure ranges from 10 mm to 45 mm, the outer diameter of the output wire reel structure ranges from 40 mm to 200 mm, and the diameter of the metal cable is not greater than 5 mm.

[0013] Preferably, the tension adjustment structure includes an adjustment screw rod and a pressing adjustment nut structure. The pressing adjustment nut structure is sleeved on the adjustment screw rod, and the front end of the adjustment screw rod is connected to the metal cable. A cable end clamping seat is provided on the output wire reel structure and / or the driven control member, and the pressing adjustment nut structure is clamped on the cable end clamping seat.

[0014] Preferably, a limit pressing cap structure is further provided at the rear end of the adjustment screw rod, a through hole is provided in the central part of the adjustment screw rod, and the metal cable passes through the through hole and is pressed at the limit pressing cap structure.

[0015] Preferably, it includes two rotary driving devices, two leg support structures and two output wire reel structures, namely a first rotary driving device, a second rotary driving device, a thigh support, a calf support, a first output wire reel and a second output wire reel. The first rotary driving device and the second rotary driving device are both installed on the top of the thigh support. The first output wire reel and the top of the calf support are rotationally installed at the bottom of the thigh support through the same rotating shaft structure, and the first output wire reel is fixedly connected to the top of the calf support. The calf support serves as the first driven control member, and the second output wire reel is rotationally installed at the bottom of the calf support for connecting the second driven control member; A first transmission wheel and a second transmission wheel are respectively provided at the output ends of the first rotary driving device and the second rotary driving device. A first transmission line driving structure is sleeved between the first transmission wheel and the first output wire reel. A second transmission line driving structure is sleeved between the second transmission wheel and the second output wire reel. An idler wire reel is also rotationally installed at the bottom of the thigh support or the top of the calf support, and the second transmission line driving structure is tightly wound around the idler wire reel and then tightly wound around the second output wire reel.

[0016] Preferably, the first transmission wheel and the second transmission wheel are transmission sprockets, and the first transmission wheel and the second transmission wheel are arranged side by side independently. The second transmission line drive structure is composed of a chain structure, a first steel cable pulling structure, and a second steel cable pulling structure. One end of each of the first steel cable pulling structure and the second steel cable pulling structure is fixedly connected to both ends of the chain structure through a compression joint, and the chain structure meshes with the transmission sprocket. The first steel cable pulling structure and the second steel cable pulling structure are tightly wound around the idler wheel disc and then tightly wound around the second output line disc; and a pulling end is provided at the other end of the first steel cable pulling structure, and a pulling end clamping hole is provided on the side of the second output line disc, and the pulling end is clamped in the pulling end clamping hole. A tensioning adjustment structure is provided at the other end of the second steel cable pulling structure.

[0017] Preferably, the outer diameters of the second transmission wheel and the second output line disc are both smaller than the outer diameter of the idler wheel disc. The first steel cable pulling structure and the second steel cable pulling structure are cross-pulled and tightly wound between the idler wheel disc and the second output line disc.

[0018] The beneficial effects of the present invention are as follows: By forming a tightened loop state between the output line disc structure and the transmission wheel structure through the transmission line drive structure, the impact transmission torque during the motion control process is avoided, there is no vacuum distance of transmission looseness, and the slipping phenomenon of the steel cable pulling structure of the transmission line drive structure on the line disc is avoided, so that the control stability and accuracy are high, with extremely high flexibility and delicacy, fatigue fracture can be avoided, and the service life is extended; Then, by designing a section of the transmission line drive structure sleeved on the transmission wheel as an anti-bending chain drive structure such as a chain or a synchronous belt or a flexible line drive structure, and the transmission wheel structure adopts a structure such as a sprocket or a synchronous belt wheel that cooperates with it, the diameter of the transmission wheel structure can be designed to be smaller, so a larger reduction transmission ratio can be designed, the transmitted torque is larger, and it will not fatigue and break due to excessive bending at the transmission wheel. Therefore, while greatly improving the driving torque, the overall service life of the transmission line drive structure is greatly improved. Metal cables are connected to both ends of the anti-bending chain drive structure or flexible line drive structure such as a chain or a synchronous belt. This composite transmission line drive structure scheme is conducive to the transmission line drive structure being tightened and driven on both sides more simply, reducing the complexity of the installation of the rope drive system. A tensioning adjustment structure is also provided to facilitate the tightened drive of the transmission line drive structure and to adjust the tensioning force to adapt to the motion control of the robot, which is easy to maintain later. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic application diagram of the whole of the present invention.

[0020] Figure 2This is a schematic diagram of the installation structure of the first drive line drive structure and the second drive line drive structure in the present invention.

[0021] Figure 3 This is a schematic diagram of the transmission of the first drive line drive structure and the second drive line drive structure in the present invention.

[0022] Figure 4 This is a schematic diagram of the transmission of the second drive line drive structure in the present invention.

[0023] Figure 5 This is a schematic diagram of the transmission of the first drive line drive structure in the present invention.

[0024] Figure 6 This is a schematic diagram of the tension adjustment structure in the present invention.

[0025] Explanation of reference numerals: First rotary drive device 1; Second rotary drive device 2; Thigh bracket 3; Calf bracket 4; First output wire reel 5; Second output wire reel 6; First drive line drive structure 7; Second drive line drive structure 8; Tension adjustment structure 9; Idler wire reel 10; First transmission wheel disc 101; Second transmission wheel disc 201; Chain structure 81; First steel cable pulling structure 82; Second steel cable pulling structure 83; Adjusting screw 91; Tight pressing adjustment nut structure 92; Limit pressing cap structure 93. Detailed implementation manners

[0026] The following elaborates on the preferred embodiments of the present invention in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0028] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection or a connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. Embodiment

[0029] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown in, etc., a leg control mechanism of a tendon-like driven robot is provided with two rotary drive devices, two leg support structures, and two output spool structures, namely a first rotary drive device 1, a second rotary drive device 2, a thigh support 3, a calf support 4, a first output spool 5, and a second output spool 6. It is also possible to provide one or more rotary drive devices, leg support structures, and output spool structures, and the number thereof depends on the number of driving degrees of freedom required.

[0030] The above-mentioned first rotary drive device 1 and second rotary drive device 2 are both installed on the top of the thigh support 3, and the first rotary drive device 1 and second rotary drive device 2 are motor modules. The rotary drive device can also be other rotary drive devices such as a hydraulic motor or a pneumatic motor, but currently the rotary drive device being a motor module is the best. The top of the first output spool 5 and the calf support 4 are rotationally installed at the bottom of the thigh support 3 through the same shaft structure, and the first output spool 5 is fixedly connected to the top of the calf support 4. The calf support 4 is used as the first driven control member, and the second output spool 6 is rotationally installed at the bottom of the calf support 4 for connecting the second driven control member, and this second driven control member is generally a foot plate structure when used in the robot leg.

[0031] A first transmission wheel 101 and a second transmission wheel 201 are respectively arranged at the output ends of the first rotation driving device 1 and the second rotation driving device 2. A first transmission line driving structure 7 is sleeved between the first transmission wheel 101 and the first output wire reel 5. A second transmission line driving structure 8 is sleeved between the second transmission wheel 201 and the second output wire reel 6. An idler wire reel 10 is also rotatably installed at the bottom of the thigh bracket 3 or the top of the calf bracket 4. The idler wire reel 10 can be set independently, but preferably, the idler wire reel 10 and the first output wire reel 5 are rotatably installed between the bottom of the thigh bracket 3 or the top of the calf bracket 4 through the same rotating shaft structure. And after the second transmission line driving structure 8 is tightly wound around the idler wire reel 10, it is tightly wound and arranged with the second output wire reel 6. Similarly, the first transmission line driving structure 7 is tightly wound around the first transmission wheel 101 and forms a tightened loop state with the first output wire reel 5, that is, a closed loop is formed. This closed loop is not a physical transmission line driving structure that is a loop structure, but a closed loop structure on the transmission line driving structure in terms of transmission relationship, that is, it includes a complete loop structure of the transmission line driving structure, and also includes that both ends of the disconnected transmission line driving structure are connected to synchronously moving objects to form only a closed loop in transmission relationship. For example, both ends of the transmission line driving structure are fixed on other synchronously moving bodies such as the first transmission wire reel or the second transmission wire reel, and the above-mentioned transmission line driving structure is wound around the output wire reel structure, and it is not necessary to wind around one circle, because the more it is wound, the more serious the coupling interference of the transmission line driving structure on the output wire reel structure will be.

[0032] The above-mentioned first transmission wheel 101 and second transmission wheel 201 are transmission sprockets, and the first transmission wheel 101 and the second transmission wheel 201 are arranged side by side independently, that is, they are arranged side by side coaxially but rotate independently of each other without affecting each other. The second drive line drive structure 8 is composed of a chain structure 81, a first cable pulling structure 82 and a second cable pulling structure 83. The first cable pulling structure 82 and the second cable pulling structure 83 can be replaced by other metal cables or ropes with high bearing capacity; similarly, the chain structure 81 can be replaced by an anti-bending chain drive structure such as a synchronous belt or a flexible line drive structure, and the transmission wheel structure is provided with a synchronous pulley or the like that matches it. For example, as long as the pulley is designed not to slip, a pulley can also be used; one end of each of the first cable pulling structure 82 and the second cable pulling structure 83 is fixedly connected to both ends of the chain structure 81 through a compression joint 83, and the chain structure 81 meshes with the transmission sprocket. The first cable pulling structure 82 and the second cable pulling structure 83 are tightly wound around the idler pulley reel 10 and then tightly wound around the second output reel 6; and a cable end is provided at the other end of the first cable pulling structure 82, and a cable end clamping hole is provided on the side of the second output reel 6, and the cable end is clamped in the cable end clamping hole. The cable end can also be clamped and fixed or welded on the driven control member, etc., but it is easy to cause interference or breakage and is not easy to repair. A tension adjustment structure 9 is provided at the other end of the second cable pulling structure 83, and the second cable pulling structure 83 is fixedly installed on the output reel structure or the driven control member through the tension adjustment structure 9.

[0033] The above-mentioned tension adjustment structure 9 includes an adjustment screw 91 and a pressing adjustment nut structure 92. The pressing adjustment nut structure 92 is sleeved on the adjustment screw 91, and the front end of the adjustment screw 91 is connected to the cable pulling structure. A cable end seat is provided on the output reel structure and / or the driven control member, and the pressing adjustment nut structure 92 is clamped on the cable end seat. A limit pressing cap structure 93 is further provided at the rear end of the adjustment screw 91. A through hole is provided in the central part of the adjustment screw 91, and the cable pulling structure passes through the through hole to the limit pressing cap structure 93 and is pressed. That is, the limit pressing cap structure 93 serves as both a terminal limit and a compression joint. The cable pulling structure can also be directly welded to the front end of the adjustment screw 91, but its pulling force and fracture maintenance will be limited.

[0034] Similarly, the above-mentioned first drive line drive structure 7 and the second drive line drive structure 8 have the same structure. However, the first drive line drive structure 7 is a linear drive between the first transmission wheel disc 101 and the first output line disc 5, without passing through an idler line disc in the middle. That is, when the drive line drive structure involves a flexible change in the drive direction, an idler line disc needs to be set to assist in stably changing the direction. Multiple idler line discs can also be set when changing the drive direction multiple times. Of course, in a scenario where only linear drive force is required, there is no need for an idler line disc, and only the first drive line drive structure 7 can be set. Moreover, the second rotary drive device 2 can also be set to provide linear drive force simultaneously to drive different components or different degrees of freedom directions of the same component at the bottom of the thigh bracket 3.

[0035] The outer diameter range of the above-mentioned transmission sprockets is 10 mm - 45 mm, that is, the outer diameter ranges of the first transmission wheel disc 101 and the second transmission wheel disc 201 are 10 mm - 45 mm. The outer diameter range of the output line disc structure is 40 mm - 200 mm, that is, the outer diameter ranges of the first output line disc 5 and the second output line disc 6 are 40 mm - 200 mm. And the diameter of the cable pulling structure is less than or equal to 5 mm. Because the ratio of the diameter of the line disc to the wire diameter of the cable pulling structure directly affects the service life of the cable pulling structure, the diameter of the cable pulling structure is optimally selected according to the outer diameter of the output line disc and / or the idler line disc and the actual load-bearing requirements. Selecting a wire (pulling wire) with a diameter less than 5 mm can already meet the load-bearing requirements of general robots according to different tensile force requirements. For example, a wire with a diameter of 2.5 mm can withstand a tensile force of up to 3000 Newtons. On the contrary, the lower limit of the outer diameter range of the output line disc structure is indirectly determined according to the diameter of the cable pulling structure with the lowest load-bearing capacity, and the upper limit of the outer diameter range of the output line disc structure is determined according to the optimal appearance size range of the overall robot leg. Therefore, the outer diameter of the output line disc structure can be set relatively large compared to the transmission sprocket. Under the condition that the wire diameter load-bearing capacity of the cable pulling structure is sufficient, an output line disc structure with a larger outer diameter will not affect the service life of the cable pulling structure. However, if a relatively small outer diameter transmission wheel disc also directly uses a line disc and is sleeved with a cable pulling structure, it will greatly reduce the service life of the cable pulling structure.

[0036] Specifically, the power output end of a rotating drive device such as a general motor module is connected to a transmission pulley to provide the source power for remote transmission. The target joint serves as the output spool. The diameter ratio of the transmission pulley to the output spool is the reduction ratio. The larger the reduction ratio, the greater the torque that can drive the target joint. However, due to the limitation that the diameter of the robot's output spool cannot be too large and the diameter of the transmission pulley cannot be too small, the reduction ratio of the general tendon-driven cable transmission is within 5, and the service life is also insufficient. The reduction ratio of the above-mentioned composite drive cable structure scheme can reach up to 20 at most; the size of the output spool directly determines the shape and size of the rotating joint. Generally, in the application in the field of robotics, the length and width of the joint shape do not exceed 200 mm, so as to have enough space for manipulation and movement while avoiding the joint being bulky and unaesthetic.

[0037] In addition, the diameter of the transmission pulley is also limited by the service life of the steel wire rope. According to test and experimental data, the ratio of the spool diameter to the diameter of the steel wire rope should be greater than 25 to effectively ensure the service life of the steel wire rope. Of course, the larger the ratio, the more the service life of the steel wire rope can be guaranteed. The ratio of the spool diameter to the diameter of the pulling wire in the above scheme is at least 30; assuming a 2-mm steel wire rope is used, the spool should be at least 50 mm, and the transmission pulley diameter is 50 mm. According to the general maximum reduction ratio of 5, the output spool diameter is 250 mm. This is not conducive to the miniaturization and lightweight of the robot, nor is it conducive to improving the load-bearing capacity of the robot.

[0038] Therefore, the transmission pulley part uses a transmission sprocket or a synchronous belt pulley and the corresponding chain or synchronous belt. The transmission sprocket or synchronous belt pulley can be made small enough without fatigue fracture due to excessive bending at the transmission pulley. Thus, while greatly increasing the driving torque, the overall service life of the drive cable structure is greatly improved. And compared with single chain drive and synchronous belt drive, this composite drive cable structure scheme is conducive to the drive cable structure being easily tightened on both sides at the same time, so that the transmission is more accurate, avoiding the slipping phenomenon of the steel cable pulling wire structure on the spool, and also avoiding the impact-type transmission force, thereby improving the service life.

[0039] Among them, the outer diameters of the second transmission pulley 201 and the second output wire reel 6 are both smaller than the outer diameter of the idler wire reel 10. This facilitates increasing the transmission ratio and torque while enabling the end joint to be made more delicate and lightweight. The first steel cable pulling structure 82 and the second steel cable pulling structure 83 are arranged with crossed and tensioned winding between the idler wire reel 10 and the second output wire reel 6. Threading holes that cross and penetrate each other are also provided at both ends of the calf bracket 4 for the first steel cable pulling structure 82 and the second steel cable pulling structure 83 to cross through, making the whole more flexible and delicate, and capable of changing the direction of the wire reel transmission torque. Since the outer diameter of the second output wire reel 6 is smaller than the outer diameter of the idler wire reel 10, the normal wire pulling method will result in insufficient wrapping force on the second output wire reel 6, and it will be necessary to wind an extra circle of the wire on the output wire reel respectively. However, the extra winding will cause coupling interference during the control process. The crossed wire pulling of the first steel cable pulling structure 82 and the second steel cable pulling structure 83 has a stronger wrapping force on the second output wire reel 6, so that the wire does not need to be wound an extra circle on the second output wire reel 6, and normal wrapping and covering winding is sufficient.

[0040] Through the above solution, a tightened loop state is formed between the output wire reel structure and the transmission pulley structure by the transmission wire drive structure, avoiding the bearing of impact transmission torque during the motion control process, having no vacuum distance of transmission looseness, and avoiding the slipping phenomenon of the steel cable pulling structure of the transmission wire drive structure on the wire reel, making the control stability and accuracy high, having extremely high flexibility and delicacy, being able to avoid fatigue fracture, and extending the service life.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A leg control mechanism of a tendon-like driven robot, characterized in that: It includes at least one rotation driving device and at least one leg support structure, wherein the rotation driving device is arranged at one end of the leg support structure, and an output wire disc structure is rotatably installed at the other end of the leg support structure for connecting a driven control component, and a transmission wheel disc structure is arranged at the output end of the rotation driving device, and a transmission wire drive structure is sleeved between the output wire disc structure and the transmission wheel disc structure, and the transmission wire drive structure forms a taut loop state between the output wire disc structure and the transmission wheel disc structure.

2. The leg control mechanism of the tendon-like driven robot according to claim 1, characterized in that: The transmission line drive structure includes an anti-bending chain transmission structure or a flexible line drive structure, and the anti-bending chain transmission structure or the flexible line drive structure cooperates with the transmission wheel structure. Cable structures are respectively connected to both ends of the anti-bending chain transmission structure or the flexible line drive structure, and the cable structure cooperates with the output wire disc structure.

3. The leg control mechanism of the tendon-like driven robot according to claim 1 or 2, characterized in that: The transmission wheel disc structure is a sprocket or a synchronous pulley, and the transmission line drive structure includes a chain or a synchronous belt and metal cables connected to the two ends of the chain or the synchronous belt respectively, wherein the chain or the synchronous belt cooperates with the sprocket or the synchronous pulley, and the other ends of the two metal cables are fastened to the output cable disc structure and / or the driven control component, wherein at least one metal cable is fastened to the output cable disc structure and / or the driven control component through a tension adjustment structure (9).

4. The leg control mechanism of the tendon-like driven robot according to claim 3 is characterized in that: The rotation driving device is a motor module.

5. The leg control mechanism of the tendon-like driven robot according to claim 3, characterized in that: The outer diameter of the transmission wheel structure ranges from 10 mm to 45 mm, the outer diameter of the output wire drum structure ranges from 40 mm to 200 mm, and the diameter of the metal cable is not greater than 5 mm.

6. The leg control mechanism of the tendon-like driven robot according to claim 3, characterized in that: The tension adjustment structure (9) comprises an adjustment screw (91) and a compression adjustment nut structure (92); the compression adjustment nut structure (92) is sleeved on the adjustment screw (91), and the front end of the adjustment screw (91) is connected to a metal cable; a cable end holder is provided on the output cable drum structure and / or the driven control component, and the compression adjustment nut structure (92) is clamped on the cable end holder.

7. The leg control mechanism of the tendon-like driven robot according to claim 6, characterized in that: A limited position clamping cap structure (93) is also provided at the rear end of the adjusting screw (91), and a through hole is provided at the center of the adjusting screw (91), and the metal cable passes through the through hole to be clamped at the limited position clamping cap structure (93).

8. The leg control mechanism of the tendon-like driven robot according to any one of claims 1-2 or 4-7, characterized in that: The invention comprises two rotation drive devices, two leg support structures and two output cable drum structures, which are respectively a first rotation drive device (1), a second rotation drive device (2), a thigh support (3), a calf support (4), a first output cable drum (5) and a second output cable drum (6), wherein the first rotation drive device (1) and the second rotation drive device (2) are both mounted on the top of the thigh support (3), the first output cable drum (5) and the top of the calf support (4) are rotationally mounted on the bottom of the thigh support (3) via the same rotating shaft structure, and the first output cable drum (5) is fixedly connected to the top of the calf support (4), the calf support (4) serves as a first driven control element, and the second output cable drum (6) is rotationally mounted on the bottom of the calf support (4) and is used to connect to a second driven control element; A first transmission wheel (101) and a second transmission wheel (201) are respectively arranged at the output ends of the first rotation drive device (1) and the second rotation drive device (2); a first transmission wire drive structure (7) is sleeved between the first transmission wheel (101) and the first output wire drum (5); a second transmission wire drive structure (8) is sleeved between the second transmission wheel (201) and the second output wire drum (6); an idler wire drum (10) is rotatably mounted at the bottom of the thigh support (3) or the top of the calf support (4); and the second transmission wire drive structure (8) is tightly wound around the idler wire drum (10) and then tightly wound around the second output wire drum (6).

9. The leg control mechanism of the tendon-like driven robot according to claim 8, characterized in that: The first transmission wheel disc (101) and the second transmission wheel disc (201) are transmission sprockets, and the first transmission wheel disc (101) and the second transmission wheel disc (201) are independently arranged side by side, the second transmission line drive structure (8) is composed of a chain structure (81), a first steel cable pull wire structure (82) and a second steel cable pull wire structure (83), one end of the first steel cable pull wire structure (82) and the second steel cable pull wire structure (83) are fixedly connected to the two ends of the chain structure (81) through a crimping joint (83), and the The chain structure (81) is meshed with the transmission sprocket; the first steel cable pulling structure (82) and the second steel cable pulling structure (83) are respectively tightly wound around the idler wheel drum (10) and are then tightly wound around the second output drum (6); a pulling wire end is provided at the other end of the first steel cable pulling structure (82); a pulling wire end clamping hole is provided on the side of the second output drum (6); the pulling wire end is clamped in the pulling wire end clamping hole; and a tension adjustment structure (9) is provided at the other end of the second steel cable pulling structure (83).

10. The leg control mechanism of the tendon-like driven robot according to claim 9, characterized in that: The outer diameters of the second transmission wheel (201) and the second output wire drum (6) are both smaller than the outer diameter of the idler wire drum (10), and the first steel cable pulling structure (82) and the second steel cable pulling structure (83) are arranged to cross and pull wires between the idler wire drum (10) and the second output wire drum (6) and are tightly wound.

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