Biped humanoid robot leg joint controlled by tendon movement

Abstract

A leg joint of a humanoid biped robot for tendon movement control comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a movement control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the invention, excellent dynamic performance, naturalness and flexibility can be realized, far-end driving is realized, the joint load and rotational inertia are small, the joint structure stability is high, and the required initial driving force is small, so that the power consumption is lower.

Description

Technical Field

[0001] This invention relates to the technical field of humanoid robots, and more specifically to a leg joint of a bipedal humanoid robot controlled by tendon movement. Background Technology

[0002] In the field of humanoid robot research and manufacturing, the joint drive solution is a key factor in the stability, reliability, and cost-effectiveness of robots. Among existing technologies, direct drive or linkage drive technology of motor joint modules is the most mainstream technology solution. Whether it is Tesla's Optimus and Digit robots abroad, or Unitree Robotics' H1 / G1 and Zhiyuan's Expedition series robots in China, they all use motor joint module drive solutions. The joint motor technology relies on the combination of motor and reducer. Its advantages are simple structure and low cost of research and development training (because there are many technical teams using this solution and many existing supporting software solutions). However, it cannot achieve remote drive, resulting in large end-effector rotational inertia. In some scenarios, it lacks dynamic performance, has low naturalness and flexibility, and the joints are relatively large and have heavy loads, which puts great pressure on the load-bearing capacity and impact resistance of the initial end joints. The stability is poor and it is difficult to achieve low power consumption, so the robot's long-term endurance is insufficient. Summary of the Invention

[0003] To overcome the shortcomings of existing humanoid robot technology, this invention proposes a bipedal humanoid robot leg joint with tendon-controlled motion control that achieves excellent dynamic performance, naturalness, and flexibility, is remotely driven, has slender and delicate legs, low joint load and rotational inertia, high joint structural stability, requires less initial driving force, and can achieve greater load-bearing capacity and impact resistance. Therefore, it can achieve lower power consumption and enable the robot to walk for extended periods of time.

[0004] The specific technical solution is as follows: A tendon-controlled bipedal humanoid robot leg joint includes a lumbar joint support. A left leg structure and a right leg structure are respectively mounted on both sides of the lumbar joint support via lateral joint components. Each left and right leg structure includes a thigh structure, a lower leg structure, and a motion control component. The bottom of the thigh structure and the top of the lower leg structure are rotatably connected via a knee joint. A footplate structure is rotatably mounted on the bottom of the lower leg structure via an ankle joint. The motion control component is mounted on the top of the thigh structure and connected to a proto-tendon drive cable assembly. The proto-tendon drive cable assembly is used to control the connection between the thigh structure, lower leg structure, and / or footplate structure. The motion control component has a mounting housing with a lateral joint connection portion for connecting the lateral joint components.

[0005] Preferably, the waist joint support is provided with a left U-shaped support, a right U-shaped support and a middle waist joint module. The middle waist joint module is used to connect the robot's torso, and the left support and the right support are symmetrically arranged on both sides of the middle waist joint module. The lateral joint component is equipped with a lateral control motor, which is rotatably mounted on the left or right U-shaped support. The output end of the lateral control motor is connected to a ball screw, and a ball screw nut is rotatably mounted on the lateral joint connection. The ball screw and the ball screw nut cooperate with each other.

[0006] Preferably, the motion control component includes a first rotary drive device and a second rotary drive device, with a first transmission wheel and a second transmission wheel respectively provided at the output ends of the first rotary drive device and the second rotary drive device, and a first output cable reel and a second output cable reel provided in the knee joint structure and / or ankle joint structure. The tendon-like drive cable assembly is composed of a first drive cable structure and a second drive cable structure, with the first drive cable structure tautly sleeved between the first transmission wheel and the first output cable reel, and the second drive cable structure tautly sleeved between the second transmission wheel and the second output cable reel.

[0007] Preferably, the motion control component further includes a thigh drive device, with a thigh transmission wheel disk respectively provided at the output end of the thigh drive device. The first rotary drive device and the second rotary drive device are disposed opposite to each other on both sides of the thigh structure, and the thigh drive device is located on the rear side of the top of the thigh structure. The first rotary drive device and the second rotary drive device are respectively connected to both sides of the thigh drive device. The thigh transmission wheel disk is a bevel gear structure, and at least one bevel gear disk is provided on the top of the thigh structure, with the bevel gear structure cooperating with the bevel gear disk.

[0008] Preferably, the footplate structure has a narrow footplate body, which has a front footplate part, a rear heel plate part, and an arch part. The front footplate part and the rear heel plate part are respectively disposed on both sides of the arch part. The second output cable reel is fixedly installed on the arch part. Ground-contacting ends are provided at the two opposite ends of the front footplate part and the rear heel plate part. The lower side of the arch part is suspended. An arc-shaped mounting part is provided on the upper side of the arch part. The side of the second output cable reel is installed in the arc-shaped mounting part. An ankle joint pivot structure is provided at the center of the second output cable reel. The two ends of the ankle joint pivot structure are rotatably mounted on the bottom of the lower leg structure through bearing structures.

[0009] Preferably, the knee joint structure further includes a knee joint rotation support shaft, the two ends of which are rotatably mounted on the bottom of the thigh structure via bearing structures. An intermediate cable reel is also rotatably mounted on the knee joint rotation support shaft via bearing structures. The first output cable reel is fixedly mounted on the knee joint rotation support shaft, and the first output cable reel and the intermediate cable reel are arranged side by side. The side of the first output cable reel is fixedly connected to the top of the lower leg structure.

[0010] Preferably, the first and second transmission wheel are sprockets or synchronous belt pulleys, and the first and second drive cable structures are both composed of a chain or synchronous belt and metal cables connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley, and the other ends of the two metal cables are fastened to the output cable reel structure and / or the driven control component. At least one of the metal cables is fastened to the output cable reel structure and / or the driven control component by a tension adjustment structure.

[0011] Preferably, the tension adjustment structure includes an adjustment screw and a tightening adjustment nut structure. The tightening adjustment nut structure is sleeved on the adjustment screw, and the front end of the adjustment screw is connected to a metal cable. A cable end holder is provided on the output coil structure and / or the driven control component, and the tightening adjustment nut structure is clamped on the cable end holder.

[0012] Preferably, the first rotary drive device and the second rotary drive 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 rotary drive device and the second rotary drive device. The first output shaft structure and the second output shaft structure are coaxial and arranged opposite to each other. A coaxial stabilizing kit structure is also installed between the first output shaft structure and the second output shaft structure. The first transmission wheel and the second transmission wheel are respectively connected to the first rotary drive device and the second rotary drive device through the first output shaft structure and the second output shaft structure.

[0013] Preferably, the coaxial stabilizing kit structure includes a stabilizing bushing and a tightening screw structure. One end of the stabilizing bushing is connected to the side of the first transmission wheel, and the other end of the stabilizing bushing 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. A mounting through hole is provided at the center of the first output shaft structure, and a mounting threaded hole is provided at the center of the second output shaft structure. The pull screw structure passes through the mounting through hole and engages with the mounting threaded hole. A thrust bearing structure is provided between the nut of the pull screw structure and the side wall of the first output shaft structure.

[0014] The beneficial effects of this invention are as follows: by setting a ball screw to control the lateral extension of the left and right leg structures, the movement of the entire left or right leg structure can be controlled by a lower power joint motor, making the control more precise, and enhancing the robot's load-bearing capacity and impact resistance, thereby increasing the robot's stability, safety, and endurance. The motion control components are located at the distal end and driven by a tendon-like drive line structure. This eliminates the heavy load on joint module motors and reduction mechanisms at the joints, allowing the leg to be slender and compact with low rotational inertia. Furthermore, a tightly wound output coil at the distal end ensures a smooth transmission without any transmission play or impact loads. This drive line structure can drive various small joint components, resulting in excellent dynamic performance, naturalness, and flexibility. A coaxial stabilization kit, along with stable knee and ankle joint structures, ensures high stability of the overall joint movement. The composite drive line structure allows for a larger reduction and torque ratio, requiring less initial driving force and thus lower power consumption, enabling the robot's legged walking to have extended walking range. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the entire invention.

[0016] Figure 2 This is a schematic diagram of the mounting structure of the lateral joint component in this invention.

[0017] Figure 3 This is a three-dimensional structural diagram of the left leg structure or the right leg structure in this invention.

[0018] Figure 4 This is a schematic diagram of the installation structure of the thigh structure and the calf structure in this invention.

[0019] Figure 5 This is an exploded structural diagram of the motion control component in this invention.

[0020] Figure 6 This is a cross-sectional structural diagram of the motion control component in this invention.

[0021] Figure 7 for Figure 4 A magnified view of a portion of point A in the middle.

[0022] Figure 8 This is a schematic diagram of the cross-sectional structure of the knee joint in this invention.

[0023] Figure 9 This is a schematic diagram of the installation structure of the foot plate structure in this invention.

[0024] Figure 10This is a schematic diagram of the cross-sectional structure of the ankle joint in this invention.

[0025] Figure 11 This is a schematic diagram of the tension adjustment structure in this invention.

[0026] Explanation of reference numerals in the attached diagram: 1. Lumbar joint support; 2. Lateral joint component; 3. Left leg structure; 4. Right leg structure; 5. Tension adjustment structure; 6. Coaxial stabilizing kit structure; Left U-shaped support 11; Right U-shaped support 12; Middle waist joint module 13; Lateral control motor 21; Ball screw 22; Ball screw nut 23; Thigh structure 31; Lower leg structure 32; Motion control component 33; Tendon-like drive cable assembly 34; Foot plate structure 35; Knee joint structure 36; Ankle joint structure 37; Adjusting screw 51; Tightening adjusting nut structure 52; Limiting clamping cap structure 53 Stabilizing bushing 61; bearing mounting cavity 62; rotating bearing structure 63; pull screw structure 64; thrust bearing structure 65; Thigh drive device 331; first rotary drive device 332; second rotary drive device 333; thigh transmission wheel 334; first transmission wheel 335; second transmission wheel 336; first drive cable structure 341; second drive cable structure 342; First output cable reel 361; knee joint rotation support shaft 362; intermediate cable reel 363; second output cable reel 371; ankle joint rotation structure 372; Narrow foot plate body 351; front foot plate 352; rear heel plate 353; arch of foot 354; ground contact end 355; arc-shaped mounting part 356; mounting outer shell 337; lateral joint connecting part 338. Detailed Implementation

[0027] The preferred embodiments of the present invention will now be described in detail with reference to 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 providing a clearer and more explicit definition of the scope of protection of the present invention. Example

[0028] like Figures 1 to 11As shown: A leg joint of a bipedal humanoid robot with tendon motion control is provided, which is provided with a waist joint support 1. A left leg structure 3 and a right leg structure 4 are respectively installed on both sides of the waist joint support 1 via lateral joint components 2. The left leg structure 3 and the right leg structure 4 include a thigh structure 31, a lower leg structure 32 and a motion control component 33. The bottom of the thigh structure 31 and the top of the lower leg structure 32 are rotatably connected by a knee joint structure 36. The bottom of the lower leg structure 32 is rotatably installed with a foot plate structure 35 via an ankle joint structure 37. The motion control component 33 is rotatably installed on the top of the thigh structure 31. The motion control component 33 has a mounting shell 337. A lateral joint connecting part 338 is provided on the mounting shell 331 for connecting the lateral joint component 2.

[0029] The aforementioned waist joint support 1 is provided with a left U-shaped support 11, a right U-shaped support 12, and a middle waist joint module 13. The middle waist joint module 13 is used to connect the robot's torso, and the left support 11 and the right support 12 are symmetrically arranged on both sides of the middle waist joint module 13. The middle waist joint module 13 is a joint motor module, which is used to directly drive the left U-shaped support 11 and the right U-shaped support 12 to rotate relative to each other, thereby realizing the robot's walking and turning. The middle waist joint module 13 may also include a bending joint structure, but for structural stability, the rotation control between the motion control component 33 and the top of the thigh structure 31 can be used to replace the bending action.

[0030] The aforementioned lateral joint component 2 is equipped with a lateral control motor 21, which is rotatably mounted on the left U-shaped support 11 or the right U-shaped support 12. The output end of the lateral control motor 21 is connected to a ball screw 22. A ball screw nut 23 is rotatably mounted on the lateral joint connection part 338, and the ball screw 22 cooperates with the ball screw nut 23. The aforementioned lateral joint connection part 338 is provided with two mounting holes, one inside and one outside the mounting housing 331, respectively. The inner and outer sides of the housing 331 are specifically defined as follows: the side closer to the left leg structure 3 and the side farther away from the right leg structure 4 is the inner side, and the side closer to the right leg structure 4 is the outer side. A lateral rotating shaft structure is installed in the mounting hole on the inner side, and a short rotating shaft is installed in the mounting hole on the outer side. The ball screw nut 23 is installed thereon. The lateral extension of the left leg structure 3 and the right leg structure 4 is controlled by the ball screw. The movement of the entire left leg structure 3 or right leg structure 4 can be controlled by a lower power joint motor, which makes the control more precise and avoids the influence of rotational inertia on the lateral joint control.

[0031] A tendon-like drive cable assembly 34 is connected to the output end of the motion control component 33. The tendon-like drive cable assembly 34 is used to control the connection of the thigh structure 31, the lower leg structure 32 and / or the foot plate structure 35. In the field of quadruped robots such as robot dogs, the foot plate structure 35 can be replaced by a ball head and is a non-essential component. However, the foot plate structure 35 is an essential component in the field of bipedal humanoid robots. Although the foot plate structure 5 can rotate freely within a certain range and achieve a similar stepping effect, it cannot meet the requirements of precise leg control. Controlling the rotation of the foot plate structure 35 through the tendon-like drive cable assembly 34 is more conducive to controlling and maintaining the motion balance of the robot's legs and the robot as a whole.

[0032] The aforementioned tendon-like drive cable assembly 34 consists of a first drive cable structure 341 and a second drive cable structure 342. More drive cable structures can also be provided. One component of the three components can be controlled by one drive cable structure, or two or three components of the three components or different degrees of freedom of the same component can be controlled by two or three drive cable structures.

[0033] The aforementioned motion control component 33 includes a thigh drive device 331, a first rotation drive device 332, and a second rotation drive device 333. The aforementioned mounting housing 331 includes a first drive module mounting portion, a second drive module mounting portion, and a thigh drive module mounting portion. The thigh drive device 331, the first rotation drive device 332, and the second rotation drive device 333 are respectively mounted in the thigh drive module mounting portion, the first drive module mounting portion, and the second drive module mounting portion. The first rotation drive device 332 and the second rotation drive device 333 are arranged opposite each other on both sides of the thigh structure 31. Furthermore, the first rotary drive device 332 and the second rotary drive device 333 are respectively connected to both sides of the thigh drive device 331, that is, the first drive module mounting part and the second drive module mounting part are respectively connected to both sides of the thigh drive module mounting part, thereby realizing the connection relationship between the rotary drive devices. The thigh drive device 331 is located on the top rear side of the thigh structure 31 and can be used as a decoration for the robot's buttocks to avoid visual disharmony. Moreover, the rotation of the thigh structure 31 under the drive control of the thigh drive device 331 is the rotation of the thigh structure 31 relative to the mounting shell 331, which swings the legs forward and backward.

[0034] A first transmission wheel 335 and a second transmission wheel 336 are respectively provided at the output ends of the first rotary drive device 332 and the second rotary drive device 333. A first output cable reel 361 and a second output cable reel 371 are provided in the knee joint structure 36 and / or the ankle joint structure 37. That is, the first output cable reel 361 and the second output cable reel 371 can be respectively provided in the knee joint structure 36 and the ankle joint structure 37, or both the first output cable reel 361 and the second output cable reel 371 can be provided in the knee joint structure 36 or the ankle joint structure 37. The tendon-like drive cable assembly 34 is composed of a first drive cable structure 341 and a second drive cable structure 342. The first drive cable structure 341 is tautly sleeved between the first transmission wheel 335 and the first output cable reel 361 to form a closed loop structure; the second drive cable structure 342 is tautly sleeved between the second transmission wheel 336 and the second output cable reel 371 to form a closed loop structure.

[0035] While the thigh drive device 331 can also be driven by the tendon-like drive cable assembly 34, since it is located at the top of the thigh structure 31, direct drive would be preferable. However, to adjust the installation and output shaft positions of each drive device, the thigh drive device 331 is positioned at the rear of the thigh structure 31 and connected via a bevel gear or slanted bevel gear structure. This not only makes the spatial arrangement more reasonable but also further reduces speed and increases the transmission torque. The motor module used in the thigh drive device 331 can use a lower power compared to a completely direct drive. Specifically, a thigh transmission wheel 334 is provided at the output end of the thigh drive device 331. The thigh transmission wheel 334 is a bevel gear structure. One or two bevel gear disks are provided at the top of the thigh structure 31. The bevel gear structure cooperates with the bevel gear disk, or the two sides of the bevel gear structure cooperate with the two bevel gear disks simultaneously. Although this transmission may be more stable, it increases the counterweight and complicates the structural layout, so it is generally not used.

[0036] The foot structure 35 has a narrow foot body 351, with a width of 10 mm to 50 mm and a length of 100 mm to 500 mm being optimal. The narrow foot body 351 has a front foot plate portion 352, a rear heel plate portion 353, and a sole portion 354. The front foot plate portion 352 and the rear heel plate portion 353 are respectively located on both sides of the sole portion 354. The second output cable reel 371 is fixedly installed on the sole portion 354. Ground contact ends 355 are provided at the two opposite ends of the front foot plate portion 352 and the rear heel plate portion 353. The lower side of the sole portion 354 is suspended and generally does not contact the ground. That is, the front foot plate portion 352 and the rear heel plate portion 353 protrude downward relative to the sole portion 354. This structure resembles a hollow human foot. Although only the two end caps 355 at both ends generally contact the ground, resulting in a small contact area, the end caps 355 are more likely to make complete contact with the ground, resulting in a large actual contact area. This is not limited or significantly affected by the ground environment, making it easier to meet the expected stability of the robot's programming control. The suspended foot portion 354 provides a certain degree of elasticity, thus absorbing larger impact loads and enhancing durability. Unlike a flat foot plate structure, which may appear to have a large contact area with the ground, the actual contact area will be greatly reduced if the ground is uneven or has protrusions. Furthermore, a contact surface that does not match the preset design can affect the stability of the robot's walking and standing. Furthermore, an arc-shaped mounting part 356 is provided on the upper side of the sole 354, and the second output cable reel 371 is mounted on the side of the arc-shaped mounting part 356. An ankle joint pivot structure 372 is provided at the center of the second output cable reel 371. The two ends of the ankle joint pivot structure 372 are rotatably mounted on the bottom of the lower leg structure 32 through bearing structures. The second output cable reel 371 and the ankle joint pivot structure 372 form the ankle joint structure 37.

[0037] The ankle joint structure 37 may further include a first support plate and a second support plate, which are spaced apart from each other and fixedly mounted at the bottom of the lower leg structure 32. A first mounting hole and a second mounting hole are coaxially formed on the first and second support plate. A first half-shaft structure and a second half-shaft structure are rotatably mounted in the first and second mounting holes via bearings. The first half-shaft structure and the second half-shaft structure form the ankle joint pivot structure 372. Corresponding coaxial bolt holes are evenly arranged around the first and second half-shaft structures. Bolts are installed in the bolt holes to press the first and second half-shaft structures tightly against the two end faces of the center of the second output coil 371. An encoder is also mounted on the first or second support plate. The encoder facilitates monitoring and feedback of the joint rotation angle, and the encoder is an absolute encoder used in conjunction with a radial magnet mounted on the half-shaft structure.

[0038] The first and second half-shaft structures are pressed tightly against the two ends of the center of the second output coil 371, which facilitates the disassembly and assembly of the rotating joint of the second output coil. The installed second output coil 371 is more stable and less prone to shaking during rotation relative to the ankle joint housing. Other direct shaft mounting methods are not only difficult to disassemble, but also prone to joint shaking due to poor assembly technology and material quality.

[0039] The knee joint structure 36 also includes a knee joint rotation support shaft 362. Both ends of the knee joint rotation support shaft 362 are rotatably mounted on the bottom of the thigh structure 31 via bearing structures. An intermediate cable reel 363 is also rotatably mounted on the knee joint rotation support shaft 362 via bearing structures. A first output cable reel 361 is fixedly mounted on the knee joint rotation support shaft 362, and the first output cable reel 361 and the intermediate cable reel 363 are arranged side-by-side. The side of the first output cable reel 361 is fixedly connected to the top of the lower leg structure 32. An encoder aligned with the knee joint rotation support shaft 362 is also installed at the bottom of the thigh structure 31 to facilitate feedback on the knee joint's movement status. One end of the knee joint rotation support shaft 362 is fixedly installed on the top of the lower leg structure 32, i.e., a support plate is provided on one side of the top of the lower leg structure 32 for fixing the knee joint rotation support shaft 362. The other end of the knee joint rotation support shaft 362 is supported on the other side of the top of the lower leg structure 32 through the first output cable reel 361, i.e., the first output cable reel 361 is fixedly installed on the other side of the top of the lower leg structure 32. Two joint plate frames are respectively provided on both sides of the bottom of the thigh structure 31. The knee joint rotation support shaft 362 is rotatably engaged with the two joint plate frames through bearings. The two joint plate frames are respectively located close to the support plate frame and the side of the first output cable reel 361. This not only facilitates installation, disassembly and subsequent maintenance, but also ensures smooth operation of the knee joint rotation and the intermediate cable reel. It enhances the support stability of the knee joint rotation support shaft 362 and avoids problems such as shaking and inaccurate control positioning during control, which is beneficial to the overall balance and coordinated control of the robot.

[0040] The first transmission wheel 35 and the second transmission wheel 36 are sprockets or synchronous belt pulleys. The first drive cable structure 341 and the second drive cable structure 342 are both composed of a chain or synchronous belt and metal cables connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley. The other ends of the two metal cables are fastened to the output cable reel structure and / or the driven control component. One of the metal cables is fastened to the output cable reel structure and / or the driven control component through the tension adjustment structure 5, thereby forming a tensioned circuit. The structure avoids bearing impact transmission torque during motion control and eliminates the vacuum distance caused by transmission loosening, resulting in high control stability and precision. It also boasts exceptional flexibility and sophistication. The composite structure of metal cables and chains or synchronous belts not only facilitates achieving a taut state but also prevents fatigue fracture due to an excessively small transmission wheel diameter when increasing torque by increasing the reduction ratio. This extends the overall service life of the tendon-like drive cable structure 34. The output cable structure is either the first transmission wheel 335 or the second transmission wheel 336, and the driven control component is either the lower leg structure 32 or the foot plate structure 35. If the thigh structure 31 uses tendon control, the driven control component can also be the thigh structure 31. The output cable structure and the driven control component are represented identically below.

[0041] The aforementioned tension adjustment structure 5 includes an adjustment screw 51 and a clamping adjustment nut structure 52. The clamping adjustment nut structure 52 is sleeved on the adjustment screw 51, and the front end of the adjustment screw 51 is connected to a metal cable. A cable end holder is provided on the output coil structure and / or the driven control component, and the clamping adjustment nut structure 52 is clamped on the cable end holder. A limit clamping cap structure 53 is also provided at the rear end of the adjustment screw 51. A through hole is provided in the center of the adjustment screw 51. The metal cable passes through the through hole to the limit clamping cap structure 53 and is clamped. That is, the limit clamping cap structure 53 serves as both an end limit and a pressure joint. The steel cable cable structure can also be directly welded to the front end of the adjustment screw 51, but its tension and breakage prevention will be limited.

[0042] The first rotary drive device 332 and the second rotary drive device 333 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 rotary drive device 332 and the second rotary drive device 333. The first output shaft structure and the second output shaft structure are coaxial and arranged opposite to each other. A coaxial stabilizing kit structure 6 is also installed between the first output shaft structure and the second output shaft structure. The first transmission wheel 335 and the second transmission wheel 336 are respectively connected to the first rotary drive device 332 and the second rotary drive device 333 through the first output shaft structure and the second output shaft structure respectively.

[0043] The aforementioned coaxial stabilizing kit structure 6 includes a stabilizing bushing 61 and a tightening screw structure 64. One end of the stabilizing bushing 61 is connected to the side of the first transmission wheel 35, and the other end of the stabilizing bushing 61 is provided with a bearing mounting cavity 62. A rotating bearing structure 63 is installed in the bearing mounting cavity 62, and the rotating bearing structure 63 is sleeved on the end of the second output shaft structure.

[0044] A mounting through hole is provided at the center of the first output shaft structure, and a mounting threaded hole is provided at the center of the second output shaft structure. The pull screw structure 64 passes through the mounting through hole and engages with the mounting threaded hole. A thrust bearing structure 65 is provided between the nut of the pull screw structure 64 and the side wall of the first output shaft structure.

[0045] The stabilizing bushing 61 and the pull screw structure 64 are used to stabilize the opposite ends of the two output shafts. The stabilizing bushing is located outside the first and second output shaft structures and rotates with the second output shaft structure to achieve a stable connection, allowing them to work independently without interference and preventing vibration of the suspended opposite ends during operation. One end of the pull screw structure 64 is fixedly connected to the second output shaft structure, while the other end rotates with the first output shaft structure, further enhancing the stability of the output shaft structure's movement. The stabilizing bushing 61 and the pull screw structure 64 rotate with different output shafts, resulting in a more balanced torque and better performance. The stabilizing bushing 61 and the pull screw structure 64 can also be used individually, but the combined use of the stabilizing bushing 61 and the pull screw structure 64 provides better performance and a longer service life.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

Claims

1. A leg joint for a bipedal humanoid robot controlled by tendon movement, characterized in that: The system includes a lumbar joint support (1), on which a left leg structure (3) and a right leg structure (4) are respectively installed on both sides via lateral joint components (2). Each of the left leg structure (3) and the right leg structure (4) includes a thigh structure (31), a calf structure (32), and a motion control component (33). The bottom of the thigh structure (31) and the top of the calf structure (32) are rotatably connected via a knee joint structure (36). The bottom of the calf structure (32) is rotatably mounted with a foot plate structure via an ankle joint structure (37). (35) The motion control component (33) is mounted on the top of the thigh structure (31). The motion control component (33) is connected to a tendon-like drive cable assembly (34). The tendon-like drive cable assembly (34) is used to control the connection between the thigh structure (31), the calf structure (32) and / or the foot structure (35). The motion control component (33) has a mounting housing (337). A lateral joint connection part (338) is provided on the mounting housing (331) for connecting the lateral joint component (2).

2. The tendon-controlled bipedal humanoid robot leg joint according to claim 1, characterized in that: The waist joint support (1) is provided with a left U-shaped support (11), a right U-shaped support (12) and a middle waist joint module (13). The middle waist joint module (13) is used to connect the robot torso, and the left support (11) and the right support (12) are respectively symmetrically arranged on both sides of the middle waist joint module (13). The lateral joint component (2) is provided with a lateral control motor (21), which is rotatably mounted on the left U-shaped support (11) or the right U-shaped support (12). The output end of the lateral control motor (21) is connected to a ball screw (22). A ball screw nut (23) is rotatably mounted on the lateral joint connection part (338). The ball screw (22) cooperates with the ball screw nut (23).

3. The tendon-controlled bipedal humanoid robot leg joint according to claim 1, characterized in that: The motion control component (33) includes a first rotary drive device (332) and a second rotary drive device (333). A first transmission wheel (335) and a second transmission wheel (336) are respectively provided at the output ends of the first rotary drive device (332) and the second rotary drive device (333). A first output cable reel (361) and a second output cable reel (371) are provided in the knee joint structure (36) and / or the ankle joint structure (37). The tendon-like drive cable assembly (34) is composed of a first drive cable structure (341) and a second drive cable structure (342). The first drive cable structure (341) is tautly sleeved between the first transmission wheel (335) and the first output cable reel (361). The second drive cable structure (342) is tautly sleeved between the second transmission wheel (336) and the second output cable reel (371).

4. The tendon-controlled bipedal humanoid robot leg joint according to claim 3, characterized in that: The motion control component (33) further includes a thigh drive device (331). A thigh transmission wheel (334) is provided at the output end of the thigh drive device (331). The first rotary drive device (332) and the second rotary drive device (333) are arranged opposite to each other on both sides of the thigh structure (31). The thigh drive device (331) is located on the rear side of the top of the thigh structure (31). The first rotary drive device (332) and the second rotary drive device (333) are respectively connected to both sides of the thigh drive device (331). The thigh transmission wheel (334) is a bevel gear structure. At least one bevel gear disk is provided on the top of the thigh structure (31). The bevel gear structure cooperates with the bevel gear disk.

5. The tendon-controlled bipedal humanoid robot leg joint according to claim 3 or 4, characterized in that: The footplate structure (35) has a narrow footplate body (351), which has a front footplate part (352), a rear heel plate part (353), and a sole part (354). The front footplate part (352) and the rear heel plate part (353) are respectively disposed on both sides of the sole part (354). The second output cable reel (371) is fixedly installed on the sole part (354). The end is provided with a ground contact end (355), the lower side of the foot part (354) is suspended, and an arc-shaped mounting part (356) is provided on the upper side of the foot part (354). The side of the second output cable reel (371) is installed in the arc-shaped mounting part (356). An ankle joint pivot structure (372) is provided at the center of the second output cable reel (371). The two ends of the ankle joint pivot structure (372) are rotatably mounted on the bottom of the lower leg structure (32) through bearing structures.

6. The tendon-controlled bipedal humanoid robot leg joint according to claim 5, characterized in that: The knee joint structure (36) also includes a knee joint rotation support shaft (362). The two ends of the knee joint rotation support shaft (362) are rotatably mounted on the bottom of the thigh structure (31) through a bearing structure. An intermediate cable reel (363) is also rotatably mounted on the knee joint rotation support shaft (362) through a bearing structure. The first output cable reel (361) is fixedly mounted on the knee joint rotation support shaft (362), and the first output cable reel (361) and the intermediate cable reel (363) are arranged side by side. The side of the first output cable reel (361) is fixedly connected to the top of the lower leg structure (32).

7. The tendon-controlled bipedal humanoid robot leg joint according to claim 6, characterized in that: The first transmission wheel (35) and the second transmission wheel (36) are sprockets or synchronous belt pulleys. The first drive cable structure (341) and the second drive cable structure (342) are both composed of a chain or synchronous belt and metal cables connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley. The other ends of the two metal cables are fastened to the output cable reel structure and / or the driven control component. At least one of the metal cables is fastened to the output cable reel structure and / or the driven control component by a tension adjustment structure (5).

8. The tendon-controlled bipedal humanoid robot leg joint according to claim 7, characterized in that: The tension adjustment structure (5) includes an adjustment screw (51) and a clamping adjustment nut structure (52). The clamping adjustment nut structure (52) is sleeved on the adjustment screw (51), and the front end of the adjustment screw (51) is connected to a metal cable. A cable end holder is provided on the output coil structure and / or the driven control component, and the clamping adjustment nut structure (52) is clamped on the cable end holder.

9. The tendon-controlled bipedal humanoid robot leg joint according to any one of claims 3, 4, 6, 7 or 8, characterized in that: The first rotary drive device (332) and the second rotary drive device (333) 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 rotary drive device (332) and the second rotary drive device (333). The first output shaft structure and the second output shaft structure are coaxial and arranged opposite to each other. A coaxial stabilizing kit structure (6) is also installed between the first output shaft structure and the second output shaft structure. The first transmission wheel (335) and the second transmission wheel (336) are respectively connected to the first rotary drive device (332) and the second rotary drive device (333) through the first output shaft structure and the second output shaft structure respectively.

10. The tendon-controlled bipedal humanoid robot leg joint according to claim 9, characterized in that: The coaxial stabilizing kit structure (6) includes a stabilizing bushing (61) and a tightening screw structure (64). One end of the stabilizing bushing (61) is connected to the side of the first transmission wheel (35), and the other end of the stabilizing bushing (61) is provided with a bearing mounting cavity (62). A rotating bearing structure (63) is installed in the bearing mounting cavity (62), and the rotating bearing structure (63) is sleeved on the end of the second output shaft structure. A mounting through hole is provided at the center of the first output shaft structure, and a mounting threaded hole is provided at the center of the second output shaft structure. The pull screw structure (64) passes through the mounting through hole and engages with the mounting threaded hole. A thrust bearing structure (65) is provided between the nut of the pull screw structure (64) and the side wall of the first output shaft structure.

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