Robot leg based on tendon-imitating motion control

Abstract

A robot leg based on tendon-imitating motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one imitated tendon driving pull wire assembly, and the imitated tendon driving pull wire assembly is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, far-end driving can be achieved, the whole legs can be slender and exquisite, the joint load is small, so that the rotational inertia is small, the joint structure stability is high, the needed initial driving force is small, the power consumption is lower, and the robot has the long-time endurance walking capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot leg based on tendon-like motion control. Background Art

[0002] In the field of robot R & D and manufacturing, the joint drive scheme is a key factor for the stability, reliability, economy and efficiency of robots. In the prior art, the direct drive of the motor joint module or the link drive technology is the most mainstream technical solution. Whether it is the foreign Tesla Optimus and Digit robots, or the domestic Unitree Technology's H1 / G1 and the Zhiyuan's Expedition series robots, they all adopt the motor joint module drive scheme. The joint motor technology relies on the combination of the motor and the reducer. The advantages are simple structure and low cost, but it cannot achieve remote drive, resulting in a large moment of inertia at the end, lack of dynamic performance in some scenarios, low naturalness and flexibility, thick joints, heavy load, great test on the bearing capacity of the initial joint, poor stability, and it is difficult to achieve low power consumption. Therefore, the long-term endurance ability of the robot is insufficient. Summary of the Invention

[0003] In order to make up for the deficiencies in the existing robot technology, the present invention proposes a robot leg based on tendon-like motion control, which can achieve excellent dynamic performance, naturalness and flexibility, can perform remote drive, the overall leg can be slender and delicate, the joint load is small, so the moment of inertia is small, and the joint structure has high stability, and the required initial driving force is small, so it can achieve lower power consumption, and the robot has the ability to walk with long-term endurance.

[0004] The specific technical solution is as follows: A robot leg based on tendon-like motion control, comprising a thigh structure, a calf structure and a motion control component part. The bottom of the thigh structure is rotatably connected to the top of the calf structure through a knee joint structure. The bottom of the calf structure is rotatably installed with a foot plate structure through an ankle joint structure. The motion control component part is arranged at the top or above the thigh structure, and the motion control component part is connected with a tendon-like drive cable component, and the tendon-like drive cable component is used to control and connect the calf structure and / or the foot plate structure; The motion control component part includes a first rotation drive device and a second rotation drive device. A first transmission wheel and a second transmission wheel are respectively arranged at the output ends of the first rotation drive device and the second rotation drive device. A first output wire wheel and a second output wire wheel are arranged in the knee joint structure and / or the ankle joint structure. The tendon-like drive cable component is composed of a first drive cable structure and a second drive cable structure. The first drive cable structure is tensioned and sleeved between the first transmission wheel and the first output wire wheel, and the second drive cable structure is tensioned and sleeved between the second transmission wheel and the second output wire wheel.

[0005] Preferably, the motion control component part further includes a thigh driving device. Thigh transmission pulleys are respectively arranged at the output end of the thigh driving device. The first rotary driving device and the second rotary driving device are oppositely arranged on both sides of the thigh structure. The thigh driving device is arranged at the rear side of the top of the thigh structure. The first rotary driving device and the second rotary driving device are respectively connected to both sides of the thigh driving device. The thigh transmission pulley is a bevel gear structure. At least one bevel gear disk is arranged at the top of the thigh structure. The bevel gear structure is matched with the bevel gear disk.

[0006] Preferably, the foot plate structure has a narrow foot plate body. The narrow foot plate body has a front foot plate part, a rear heel plate part and a foot heart part. The front foot plate part and the rear heel plate part are respectively arranged on both sides of the foot heart part. The second output wire disk is fixedly installed on the foot heart part. Touching ground end heads are arranged at two opposite ends of the front foot plate part and the rear heel plate part. The lower side of the foot heart part is suspended. An arc-shaped installation part is arranged on the upper side of the foot heart part. The side surface of the second output wire disk is installed in the arc-shaped installation part.

[0007] Preferably, the ankle joint structure includes a first support plate shell and a second support plate shell. The first support plate shell and the second support plate shell are oppositely arranged at intervals. The first support plate shell and the second support plate shell are fixedly arranged at the bottom of the calf structure. A coaxial first installation hole and a second installation hole are formed in the first support plate shell and the second support plate shell. A first half shaft structure and a second half shaft structure are rotationally installed in the first installation hole and the second installation hole through bearings. Corresponding coaxial bolt holes are evenly formed around the first half shaft structure and the second half shaft structure. By installing bolts in the bolt holes, the first half shaft structure and the second half shaft structure are tightly pressed on both end faces of the center part of the second output wire disk. An encoder is also installed on the first support plate shell or the second support plate shell.

[0008] Preferably, the knee joint structure includes a knee joint rotation support shaft. The knee joint rotation support shaft is rotationally installed at the bottom of the thigh structure. An intermediate wire disk is also rotationally installed on the knee joint rotation support shaft. The first output wire disk is fixedly installed on the knee joint rotation support shaft. The first output wire disk and the intermediate wire disk are arranged side by side. The first output wire disk is fixedly connected to the top of the calf structure.

[0009] Preferably: the first transmission wheel and the second transmission wheel are sprockets or synchronous pulleys, the first drive wire structure and the second drive wire structure are both composed of a chain or a synchronous belt and metal cables connected to the two ends of the chain or synchronous belt, the chain or synchronous belt cooperates with the sprocket or synchronous pulley, the other ends of the two metal cables are fastened to the output cable drum structure and / or the driven control part, and at least one metal cable is fastened to the output cable drum structure and / or the driven control part through a tensioning adjustment structure.

[0010] Preferably, the tension adjustment structure includes an adjusting screw and a tightening adjustment nut structure, the tightening adjustment nut structure is sleeved on the adjusting screw, and the front end of the adjusting screw is connected to a metal cable, a wire end holder is provided on the output reel structure and / or the driven control component, and the tightening adjustment nut structure is clamped on the wire end holder.

[0011] Preferably: the first rotation driving device and the second rotation driving device are arranged opposite to each other, and a first output shaft structure and a second output shaft structure are respectively installed at the output ends of the first rotation driving device and the second rotation driving device, the first output shaft structure and the second output shaft structure are coaxial and opposite to each other, a coaxial stabilization kit structure is also installed between the first output shaft structure and the second output shaft structure, and the first transmission wheel disc and the second transmission wheel disc are respectively connected to the first rotation driving device and the second rotation driving device through the first output shaft structure and the second output shaft structure.

[0012] Preferably, the coaxial stabilization kit structure includes a stabilization sleeve, one end of which is connected to the side of the first transmission wheel, and the other end of the stabilization sleeve is provided with a bearing mounting cavity, a rotating bearing structure is installed in the bearing mounting cavity, and the rotating bearing structure is sleeved on the end of the second output shaft structure.

[0013] Preferably, a mounting through hole is provided in the central portion of the first output shaft structure, a mounting threaded hole is provided in the central portion of the second output shaft structure, the coaxial stabilization kit structure also includes a tensioning screw structure, the tensioning screw structure passes through the mounting through hole and cooperates with the mounting threaded hole, and a thrust bearing structure is provided between the nut of the tensioning screw structure and the side wall of the first output shaft structure.

[0014] The beneficial effects of the present invention are as follows: The motion control component part is arranged at the distal end and driven through the tendon-like drive wire structure, so that there is no large load of the joint module motor and the deceleration mechanism at the joint. Therefore, the overall leg can be slender and delicate, and the rotational inertia of the drive is small. And an output wire reel is arranged at the distal end for tight sleeved transmission, without transmission play and impact load during transmission. The drive wire structure can drive various small joint components, so the dynamic performance, naturalness and flexibility are all excellent. A coaxial stability kit structure, a stable knee joint structure and an ankle joint structure are provided, making the overall joint structure highly stable during movement. The drive wire structure adopts a composite structure, which can achieve a larger reduction and torque increase transmission ratio. Therefore, the required initial driving force is smaller, and thus the power consumption can be lower, enabling the robot leg to have the ability to walk with long endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. is a three-dimensional structure schematic diagram of the whole of the present invention.

[0016] Figure 2 FIG. is an installation structure schematic diagram of the thigh structure and the calf structure in the present invention.

[0017] Figure 3 FIG. is an exploded structure schematic diagram of the motion control component part in the present invention.

[0018] Figure 4 FIG. is a cross-sectional structure schematic diagram of the motion control component part in the present invention.

[0019] Figure 5 is Figure 4 a partial enlarged schematic diagram of part A in

[0020] Figure 6 FIG. is a cross-sectional structure schematic diagram of the knee joint structure in the present invention.

[0021] Figure 7 FIG. is an installation structure schematic diagram of the foot plate structure in the present invention.

[0022] Figure 8 FIG. is a cross-sectional structure schematic diagram of the ankle joint structure in the present invention.

[0023] Figure 9 FIG. is a structure schematic diagram of the tightness adjustment structure in the present invention.

[0024] Description of the reference numerals: thigh structure 1; calf structure 2; motion control component part 3; tendon-like drive wire structure 4; foot plate structure 5; knee joint structure 6; ankle joint structure 7; coaxial stability kit structure 8; tightness adjustment structure 9; motion control component support shell 10; thigh bracket 11; upper thigh joint connection part 12; lower thigh joint connection part 13; Lower leg bracket 21; Upper joint connecting part 22 of the lower leg; Lower joint connecting part 23 of the lower leg; Thigh driving device 31; First rotary driving device 32; Second rotary driving device 33; Thigh transmission wheel disc 34; First transmission wheel disc 35; Second transmission wheel disc 36; First output shaft structure 321; Second output shaft structure 331; Mounting through hole 322; Mounting threaded hole 332; First driving cable structure 41; Second driving cable structure 42; Narrow foot plate body 51; Front foot plate part 52; Rear heel plate part 53; Arch part 54; Ground contact end 55; Arc-shaped mounting part 56; First output wire reel 61; Knee joint rotation support shaft 62; Intermediate wire reel 64; Second output wire reel 71; Second support plate housing 72; First mounting hole 73; Second mounting hole 74; First half shaft structure 75; Second half shaft structure 76; First support plate housing 77; Stabilizing bushing 81; Bearing mounting cavity 82; Rotating bearing structure 83; Tightening screw structure 84; Thrust bearing structure 85; Adjusting screw 91; Tight pressing adjusting nut structure 92; Limit pressing cap structure 93. Detailed implementation mode

[0025] 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 the protection scope of the present invention more clearly defined. Embodiment

[0026] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 shown: A robot leg based on tendon-like motion control is provided with a thigh structure 1, a lower leg structure 2 and a motion control component part 3. The bottom of the thigh structure 1 is rotatably connected to the top of the lower leg structure 2 through a knee joint structure 6. The bottom of the lower leg structure 2 is rotatably installed with a foot plate structure 5 through an ankle joint structure 7. The lower leg structure 2 can be replaced by a ball head in the field of quadruped robots such as robot dogs, which is a non-essential component. And the foot plate structure 5 is a non-essential controlled component of the robot leg. The foot plate structure 5 can rotate directly freely or achieve a similar stepping effect. However, controlling the rotation of the foot plate structure 5 through the tendon-like drive wire structure 4 is more conducive to controlling and maintaining the motion balance of the robot leg and the overall robot.

[0027] The above-mentioned motion control component part 3 is arranged at the top or above the thigh structure 1, and the motion control component part 3 is connected with a tendon-like driving cable component 4. The tendon-like driving cable component 4 is used to control the connection of the thigh structure 1, the calf structure 2 and / or the foot plate structure 5. The tendon-like driving cable component 4 is composed of a first driving cable structure 41 and a second driving cable structure 42. More driving cable structures can also be set. One of the three components can be controlled by one driving cable structure, or two or three of the three components can be controlled by two or three driving cable structures.

[0028] The thigh structure 1 includes a thigh bracket 11, an upper thigh joint connecting part 12 and a lower thigh joint connecting part 13. The upper thigh joint connecting part 12 and the lower thigh joint connecting part 13 are respectively arranged at both ends of the thigh bracket 11. A motion control component support shell 10 is also rotatably connected to the upper thigh joint connecting part 12. The lower thigh joint connecting part 13 is rotatably connected to the top of the calf structure 2.

[0029] The calf structure 2 includes a calf bracket 21, an upper calf joint connecting part 22 and a lower calf joint connecting part 23. The upper calf joint connecting part 22 and the lower calf joint connecting part 23 are respectively arranged at both ends of the calf bracket 21. The lower thigh joint connecting part 13 is rotatably connected to the upper calf joint connecting part 22, thus forming a knee joint; the foot plate structure 5 is rotatably connected to the lower calf joint connecting part 23, thus forming an ankle joint.

[0030] The motion control component part 3 is provided with a thigh driving device 31, a first rotation driving device 32 and a second rotation driving device 33. The first rotation driving device 32 and the second rotation driving device 33 are oppositely arranged on both sides of the thigh structure 1. The first rotation driving device 32 and the second rotation driving device 33 are respectively a calf control motor module and a foot plate control motor module, and the relevant parameters such as their positions can be exchanged without affecting the function realization. The motion control component support shell 10 is provided with a first driving module installation part, a second driving module installation part and a thigh driving module installation part. The thigh driving device 31, the first rotation driving device 32 and the second rotation driving device 33 are respectively installed in the thigh driving module installation part, the first driving module installation part and the second driving module installation part. The thigh driving device 31 is arranged at the rear side of the top of the thigh structure 1, that is, at the rear side of the upper thigh joint connecting part 12. The thigh driving device 31 can also be arranged at the front side of the upper thigh joint connecting part 12, but generally it is arranged at the rear side of the upper thigh joint connecting part 12, and can be used as a decoration for the robot's hip to avoid disharmony in appearance. And the first rotation driving device 32 and the second rotation driving device 33 are respectively connected to both sides of the thigh driving device 31, that is, the first driving module installation part and the second driving module installation part are respectively connected to both sides of the thigh driving module installation part, so as to establish the connection relationship between the rotation driving devices. And the rotation of the thigh structure 1 driven and controlled by the thigh driving device 31 is the rotation of the thigh structure 1 relative to the motion control component support shell 10 for swinging the leg forward and backward. A lateral rotation connecting part is also arranged on the motion control component support shell 10, and this lateral rotation connecting part is used to connect with the lateral joint of the robot's waist, so as to realize the movement of the motion control component support shell 10 driving the whole leg to swing the hip laterally and spread the legs.

[0031] A thigh transmission pulley 34, a first transmission pulley 35 and a second transmission pulley 36 are respectively arranged at the output ends of the thigh driving device 31, the first rotation driving device 32 and the second rotation driving device 33. A first output wire reel 61 and a second output wire reel 71 are respectively arranged in the knee joint structure 6 and / or the ankle joint structure 7, that is, the first output wire reel 61 and the second output wire reel 71 can be respectively arranged in the knee joint structure 6 and the ankle joint structure 7. The first output wire reel 61 and the second output wire reel 71 can both be arranged in the knee joint structure 6, or both be arranged in the ankle joint structure 7. The first driving cable structure 41 is tensioned and sleeved between the first transmission pulley 35 and the first output wire reel 61 to form a closed-loop structure. The second driving cable structure 42 is tensioned and sleeved between the second transmission pulley 36 and the second output wire reel 71 to form a closed-loop structure.

[0032] Among them, although the thigh drive device 31 can also be transmitted through the imitation tendon drive pull wire assembly 4, since the thigh drive device 31 is arranged on the thigh upper joint connection part 12 of the thigh structure 1, it is better to adopt direct drive. However, in order to adjust the installation and output shaft position of each drive device, the thigh drive device 31 is arranged on the rear side of the thigh structure 1 and is connected through a bevel gear structure or a helical bevel gear structure. This not only makes the spatial arrangement more reasonable, but also further reduces the speed and increases the transmission torque. The motor module used in the thigh drive device 31 can adopt a smaller power relative to the full direct drive. Specifically: the thigh transmission pulley 34 is a bevel gear structure, and one or two bevel gear discs are arranged on the top of the thigh structure 1. The bevel gear structure cooperates with the bevel gear disc, or the two sides of the bevel gear structure cooperate with the two bevel gear discs at the same time. Although the transmission may be more stable in this way, the counterweight is increased and the complexity of the structural layout is increased, so it is generally not adopted.

[0033] The foot plate structure 5 has a narrow foot plate body 51, the width of the narrow foot plate body 51 is 10 mm-50 mm, and the length of the narrow foot plate body 51 is preferably 100 mm-500 mm. The narrow foot plate body 51 has a front foot plate portion 52, a rear heel plate portion 53 and a sole portion 54. The front foot plate portion 52 and the rear heel plate portion 53 are respectively arranged on both sides of the sole portion 54. The second output cable drum 71 is fixedly installed on the sole portion 54. The ground contacting terminals 55 are arranged at the opposite ends of the front foot plate portion 52 and the rear heel plate portion 53. The lower side of the sole portion 54 is suspended and generally does not contact the ground, that is, the front foot plate portion 52 and the rear heel plate portion 53 protrude downward relative to the sole portion 54. Such a structure is shaped like a hollow foot of a human being, although generally only two sole portions are provided. The end of the ground contact terminal 55 is in contact with the ground, and the ground contact area is small, but the ground contact terminal 55 is easier to fully contact with the ground, and the actual contact area is large. It will not be restricted by the ground environment or greatly affect its actual contact area, and it is more convenient to meet the expectations of the stability of robot programming control. The center of the foot 54 is suspended, so that it has a certain elastic space, so it can absorb a large impact load, and the durability is more enhanced; it is not like a flat structure of the sole of the foot, which seems to have a large contact with the ground, but as long as the ground is uneven or there are protrusions, the actual contact area will be greatly reduced, and the contact surface does not match the preset and also affects the stability of the robot walking and standing. In addition, the narrow foot plate body 51 can be in an arch shape, and the narrow foot plate body 51 can be a circular arc arch shape or an oblique arch shape. Various smooth arches are available. An arc-shaped mounting portion 56 is provided on the upper side of the center of the foot 54, and the second output cable drum 71 is installed in the arc-shaped mounting portion 56 on the side.

[0034] The ankle joint structure 7 includes a first support plate shell 77 and a second support plate shell 72. The first support plate shell 77 and the second support plate shell 72 are arranged at a relative interval, and the first support plate shell 77 and the second support plate shell 72 are fixedly arranged at the bottom of the calf structure 2. A coaxial first mounting hole 73 and a second mounting hole 74 are provided on the first support plate shell 77 and the second support plate shell 72. A first half shaft structure 75 and a second half shaft structure 76 are rotatably mounted in the first mounting hole 73 and the second mounting hole 74 through bearings. Corresponding coaxial bolt holes are evenly formed around the first half shaft structure 75 and the second half shaft structure 76. By installing bolts in the bolt holes, the first half shaft structure 75 and the second half shaft structure 76 are pressed against both end faces of the center part of the second output wire reel 71. An encoder is further installed on the first support plate shell 77 or the second support plate shell 72. The encoder is convenient for monitoring and feedback of the joint rotation angle, and the encoder is an absolute encoder and is used in cooperation with a radial magnet installed on the half shaft structure.

[0035] By pressing the first half shaft structure 75 and the second half shaft structure 76 against both end faces of the center part of the second output wire reel 71, it is convenient to disassemble and assemble the rotating joint of the second output wire reel 71. Moreover, the installed second output wire reel 71 is more stable during the rotation relative to the ankle joint housing and is not easy to shake. In the direct installation method of other integral shafts, it is not only not easy to fall off during disassembly, but also the joint is prone to shaking in machines with poor assembly technology and material quality.

[0036] The knee joint structure 6 includes a knee joint rotation support shaft 62. The knee joint rotation support shaft 62 is rotationally installed at the bottom of the thigh structure 1. A middle wire reel 64 is also rotationally installed on the knee joint rotation support shaft 62 for sleeving the tendon-like drive wire assembly 4 to achieve intermediate turning. The first output wire reel 61 is fixedly installed on the knee joint rotation support shaft 62, and the first output wire reel 61 is arranged side by side with the middle wire reel 64. The first output wire reel 61 is fixedly connected to the top of the calf structure 2. An encoder aligned with the knee joint rotation support shaft 62 is also installed at the bottom of the thigh structure 1 to facilitate feedback on the motion state of the knee joint. Among them, one end of the knee joint rotation support shaft 62 is fixedly installed at the top of the calf structure 2, that is, a support plate frame is provided on one side of the upper calf joint connection part 22 for fixedly installing the knee joint rotation support shaft 62. The other end of the knee joint rotation support shaft 62 is supported on the other side of the top of the calf structure 2 through the first output wire reel 61, that is, the first output wire reel 61 is fixedly installed on the other side of the upper calf joint connection part 22. Two joint plate frames are respectively arranged on both sides of the lower thigh joint connection part 13. The knee joint rotation support shaft 62 is rotationally matched with the two joint plate frames through bearings, and the two joint plate frames are respectively arranged close to the side of the support plate frame and the first output wire reel 61. This not only facilitates installation, disassembly, and subsequent maintenance, but also enables the knee joint to rotate and the middle wire reel to operate smoothly, enhancing the support stability of the knee joint rotation support shaft 62, avoiding problems such as shaking and inaccurate control positioning during the control process, and being beneficial to the overall balance and coordination control of the robot.

[0037] The first transmission wheel disc 35 and the second transmission wheel disc 36 are sprockets or synchronous belt wheels. The first drive wire structure 41 and the second drive wire structure 42 are both composed of 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 matched with the sprocket or the synchronous belt wheel. The other ends of the two metal cables are fastened to the output wire reel structure and / or the driven control member. At least one metal cable is fixedly installed on the output wire reel structure and / or the driven control member through the tension adjustment structure 9, thereby forming a tightened loop structure, avoiding the bearing of impact transmission torque during the motion control process, having no vacuum distance of transmission looseness, making the control stability and accuracy high, having extremely high flexibility and delicacy. Adopting the structure of compounding metal cables with a chain or a synchronous belt not only makes it easier to achieve a tightened state, but also replacing the complete cable with a chain or a synchronous belt can avoid the problem that when increasing the reduction transmission ratio and increasing the torque, the diameter of the transmission wheel disc is too small, resulting in easy fatigue fracture due to the ratio of the cable diameter, thereby extending the overall service life of the tendon-like drive wire structure 4. Among them, the output wire reel structure is the first transmission wheel disc 35 or the second transmission wheel disc 36, and the driven control member is the calf structure 2 or the foot plate structure 5. If the thigh structure 1 adopts tendon control, the driven control member can also be the thigh structure 1. The following output wire reel structure and driven control member have the same meaning.

[0038] The above-mentioned tension adjustment structure 9 includes an adjusting screw 91 and a tightening adjustment nut structure 92. The tightening adjustment nut structure 92 is sleeved on the adjusting screw 91, and the front end of the adjusting screw 91 is connected to the metal cable. A wire end clamp is provided on the output reel structure and / or the driven control component. The tightening adjustment nut structure 92 is clamped on the wire end clamp, and a limited clamping cap structure 93 is also provided at the rear end of the adjusting screw 91. A through hole is provided in the center of the adjusting screw 91, and the metal cable passes through the through hole to be clamped at the limiting clamping cap structure 93, that is, the limiting clamping cap structure 93 serves as both an end limit and a crimping joint. The steel cable pulling structure can also be directly welded to the front end of the adjusting screw 91, but its tensioning force and breakage protection will be limited.

[0039] The above-mentioned first rotation driving device 32 and the second rotation driving device 33 are arranged opposite to each other, and the first output shaft structure 321 and the second output shaft structure 331 are respectively installed at the output ends of the first rotation driving device 32 and the second rotation driving device 33, the first output shaft structure 321 and the second output shaft structure 331 are coaxial and opposite to each other, and a coaxial stabilization kit structure 8 is also installed between the first output shaft structure 321 and the second output shaft structure 331, and the first transmission wheel 35 and the second transmission wheel 36 are respectively connected to the first rotation driving device 32 and the second rotation driving device 33 through the first output shaft structure 321 and the second output shaft structure 331.

[0040] The above-mentioned coaxial stabilization kit structure 8 includes a stabilization sleeve 81, one end of which is connected to the side of the first transmission wheel 35, and the other end of the stabilization sleeve 81 is provided with a bearing mounting cavity 82, and a rotating bearing structure 83 is installed in the bearing mounting cavity 82, and the rotating bearing structure 83 is sleeved on the end of the second output shaft structure 331.

[0041] A mounting through hole 322 is provided at the center of the first output shaft structure 321, and a mounting threaded hole 332 is provided at the center of the second output shaft structure 331. The coaxial stabilization kit structure 6 also includes a tensioning screw structure 84, which passes through the mounting through hole 322 and cooperates with the mounting threaded hole 332, and a thrust bearing structure 85 is provided between the nut of the tensioning screw structure 84 and the side wall of the first output shaft structure 321.

[0042] Through the stabilizing bushing 81 and the tension screw structure 84, the stabilizing bushing is arranged outside the first output shaft structure 321 and the second output shaft structure 331, and is rotationally matched with the second output shaft structure 331 to achieve stable fitting connection of the opposite ends of the two output shafts, so that they can work independently without interference, and vibration of the suspended opposite ends during operation is also avoided; one end of the tension screw structure 84 is fixedly connected to the second output shaft structure 331, and the other end of the tension screw structure 84 is rotationally matched with the first output shaft structure 321, thereby further enhancing the stability of the movement of the output shaft structure, and the fact that the stabilizing bushing 81 and the tension screw structure 84 are rotationally matched with different output shafts respectively makes the acting torque more balanced and the effect better; the stabilizing bushing 81 and the tension screw structure 84 can also be used alone, but the effect is better and the service life is longer when the stabilizing bushing 81 and the tension screw structure 84 are used in combination.

[0043] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A robot leg based on tendon-like motion control, characterized in that: The invention comprises a thigh structure (1), a calf structure (2) and a motion control component part (3), wherein the bottom of the thigh structure (1) is rotatably connected to the top of the calf structure (2) via a knee joint structure (6), and a foot plate structure (5) is rotatably mounted on the bottom of the calf structure (2) via an ankle joint structure (7), and the motion control component part (3) is arranged on the top or above the thigh structure (1), and the motion control component part (3) is connected to a tendon-like driving wire assembly (4), and the tendon-like driving wire assembly (4) is used to control the connection between the calf structure (2) and / or the foot plate structure (5); The motion control component (3) comprises a first rotation drive device (32) and a second rotation drive device (33), and a first transmission wheel (35) and a second transmission wheel (36) are respectively arranged at the output ends of the first rotation drive device (32) and the second rotation drive device (33), and a first output wire disk (61) and a second output wire disk (71) are arranged in the knee joint structure (6) and / or the ankle joint structure (7). The tendon-like drive wire assembly (4) consists of a first drive wire structure (41) and a second drive wire structure (42), wherein the first drive wire structure (41) is tautly sleeved between the first transmission wheel (35) and the first output wire disk (61), and the second drive wire structure (42) is tautly sleeved between the second transmission wheel (36) and the second output wire disk (71).

2. The robot leg based on tendon-like motion control according to claim 1, characterized in that: The motion control component (3) also includes a thigh drive device (31), and thigh transmission wheels (34) are respectively arranged at the output ends of the thigh drive device (31). The first rotation drive device (32) and the second rotation drive device (33) are arranged on both sides of the thigh structure (1) opposite to each other, and the thigh drive device (31) is arranged on the top rear side of the thigh structure (1), and the first rotation drive device (32) and the second rotation drive device (33) are respectively connected to both sides of the thigh drive device (31), and the thigh transmission wheel (34) is a bevel gear structure, and at least one bevel gear disk is arranged on the top of the thigh structure (1), and the bevel gear structure cooperates with the bevel gear disk.

3. The robot leg based on tendon-like motion control according to claim 1 or 2, characterized in that: The foot plate structure (5) comprises a narrow foot plate body (51), the narrow foot plate body (51) comprising a front foot plate portion (52), a rear heel plate portion (53) and a sole portion (54), the front foot plate portion (52) and the rear heel plate portion (53) being respectively arranged on both sides of the sole portion (54), the second output cable drum (71) being fixedly mounted on the sole portion (54), and ground contacting terminals (55) being arranged at opposite ends of the front foot plate portion (52) and the rear heel plate portion (53), the sole portion (54) being suspended at the lower side, and an arc-shaped mounting portion (56) being arranged at the upper side of the sole portion (54), and the second output cable drum (71) being laterally mounted in the arc-shaped mounting portion (56).

4. The robot leg based on tendon-like motion control according to claim 3, characterized in that: The ankle joint structure (7) comprises a first support plate shell (77) and a second support plate shell (72); the first support plate shell (77) and the second support plate shell (72) are arranged with a relative spacing, and the first support plate shell (77) and the second support plate shell (72) are fixedly arranged at the bottom of the calf structure (2); a coaxial first mounting hole (73) and a second mounting hole (74) are provided on the first support plate shell (77) and the second support plate shell (72); a first semi-axis structure (75) and a second semi-axis structure (76) are rotatably mounted in the first mounting hole (73) and the second mounting hole (74) via a bearing; corresponding coaxial bolt holes are evenly arranged on the first semi-axis structure (75) and the second semi-axis structure (76); bolts are installed in the bolt holes so that the first semi-axis structure (75) and the second semi-axis structure (76) are pressed tightly against the two end surfaces of the central part of the second output cable drum (71); an encoder is also installed on the first support plate shell (77) or the second support plate shell (72).

5. The robot leg based on tendon-like motion control according to any one of claims 1, 2 or 4, characterized in that: The knee joint structure (6) comprises a knee joint rotation support shaft (62), the knee joint rotation support shaft (62) is rotatably mounted on the bottom of the thigh structure (1), an intermediate wire drum (64) is also rotatably mounted on the knee joint rotation support shaft (62), the first output wire drum (61) is fixedly mounted on the knee joint rotation support shaft (62), the first output wire drum (61) and the intermediate wire drum (64) are arranged side by side, and the first output wire drum (61) is fixedly connected to the top of the calf structure (2).

6. The robot leg based on tendon-like motion control according to claim 5, characterized in that: The first transmission wheel (35) and the second transmission wheel (36) are sprockets or synchronous pulleys, and the first drive cable structure (41) and the second drive cable structure (42) are both composed of a chain or a synchronous belt and metal cables connected to both 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 drum structure and / or the driven control component, wherein at least one metal cable is fastened to the output cable drum structure and / or the driven control component via a tension adjustment structure (9).

7. The robot leg based on tendon-like motion control according to claim 6, 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.

8. The robot leg based on tendon-like motion control according to any one of claims 1, 2, 4, 6 or 7, characterized in that: The first rotation drive device (32) and the second rotation drive device (33) are arranged opposite to each other, and a first output shaft structure (321) and a second output shaft structure (331) are respectively installed at the output ends of the first rotation drive device (32) and the second rotation drive device (33), the first output shaft structure (321) and the second output shaft structure (331) are coaxial and opposite to each other, a coaxial stabilizing kit structure (8) is also installed between the first output shaft structure (321) and the second output shaft structure (331), and the first transmission wheel disc (35) and the second transmission wheel disc (36) are respectively connected to the first rotation drive device (32) and the second rotation drive device (33) through the first output shaft structure (321) and the second output shaft structure (331).

9. The robot leg based on tendon-like motion control according to claim 8, characterized in that: The coaxial stabilizing sleeve structure (8) comprises a stabilizing sleeve (81), one end of the stabilizing sleeve (81) being connected to the side of the first transmission wheel (35), the other end of the stabilizing sleeve (81) being provided with a bearing installation cavity (82), a rotating bearing structure (83) being installed in the bearing installation cavity (82), and the rotating bearing structure (83) being sleeved on the end of the second output shaft structure (331).

10. The robot leg based on tendon-like motion control according to claim 9, characterized in that: A mounting through hole (322) is provided at the center of the first output shaft structure (321), and a mounting threaded hole (332) is provided at the center of the second output shaft structure (331). The coaxial stabilization kit structure (6) further includes a tensioning screw structure (84), the tensioning screw structure (84) passes through the mounting through hole (322) and cooperates with the mounting threaded hole (332), and a thrust bearing structure (85) is provided between a nut of the tensioning screw structure (84) and a side wall of the first output shaft structure (321).

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