Robot leg structure imitating tendon motion control

Abstract

A robot leg structure imitating tendon 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 tendon-imitating driving stay wire structure, and the tendon-imitating driving stay wire structure 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, the joint load is small, the whole leg can be slender and exquisite, the stability of the joint structure is high, the needed initial driving force is small, therefore, the power consumption can be lower, and the robot has the long-time endurance walking capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a robot leg structure with tendon-like motion control. Background Art

[0002] In the field of robot research and development and manufacturing, the joint drive scheme is a key factor for robots to be stable, reliable, economical and efficient. 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 depends on the combination of the motor and the reducer. Its advantages are simple structure and low cost, but it cannot achieve remote drive, resulting in a large moment of inertia at the end, lacking dynamic performance in some scenarios, low naturalness and flexibility, and relatively thick joints with heavy loads, which greatly tests the bearing capacity of the initial joints, poor stability, and it is also difficult to achieve low power consumption. Therefore, the long-term endurance ability of the robot is insufficient.

[0003] In the prior art, the patent document with the publication number CN 209535273 U discloses a humanoid robot leg structure. The leg structure includes a leg structure unit, and the leg structure unit includes: a first servo motor, a second servo motor and a third servo motor. The first servo motor is connected to the second servo motor through a first connecting member to form a first set of walking mechanisms; the second servo motor is connected to the third servo motor through a second connecting member to form a second set of walking mechanisms. The bottom of the third servo motor is connected to the foot structure of the robot. Among them, the first servo motor drives the swing of the leg structure on the horizontal plane to simulate the hip structure of humans. The first set of walking mechanisms provides the forward and backward movement of the leg structure to simulate the thigh part of humans, and the second set of walking mechanisms provides the left and right swing of the leg structure to simulate the calf part of humans. The above scheme uses a servo link for driving, which is a typical robot with not only thick and complex transmission joint components, poor dynamic performance, poor stability, insufficient transmission torque, but also difficult to achieve long-term endurance. Summary of the Invention

[0004] The utility model aims to make up for the deficiencies in the prior art, and proposes a robot leg structure with tendon-like motion control that can achieve excellent dynamic performance, naturalness and flexibility, can achieve 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. Therefore, it can achieve lower power consumption, and the robot has the ability to walk with long-term endurance.

[0005] The specific technical solutions are as follows:

[0006] A robot leg structure imitating tendon movement control, comprising a thigh structure, a calf structure and a movement 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 movement control component part is arranged at the top or above the thigh structure, and the movement control component part is connected with a tendon-imitating driving cable component, and the tendon-imitating driving cable component is used to control the connection of the thigh structure, the calf structure and / or the foot plate structure.

[0007] Preferably: The movement control component part is provided with a thigh driving device, a first rotation driving device and a second rotation driving device. The first rotation driving device and the second rotation driving device are relatively arranged on both sides of the thigh structure. At the output ends of the thigh driving device, the first rotation driving device and the second rotation driving device, a thigh transmission wheel disc, a first transmission wheel disc and a second transmission wheel disc are respectively arranged. In the knee joint structure and the ankle joint structure, a first output wire disc and a second output wire disc are respectively arranged. The tendon-imitating driving cable component is composed of a first driving cable structure and a second driving cable structure. The first driving cable structure is tensioned and sleeved between the first transmission wheel disc and the first output wire disc. The second driving cable structure is tensioned and sleeved between the second transmission wheel disc and the second output wire disc.

[0008] Preferably: The thigh driving device is arranged at the rear side of the top of the thigh structure, and the first rotation driving device and the second rotation driving device are respectively connected to both sides of the thigh driving device. The thigh transmission wheel disc is a bevel gear structure. At least one bevel gear disc is arranged at the top of the thigh structure, and the bevel gear structure is matched with the bevel gear disc.

[0009] 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 sole part. The front foot plate part and the rear heel plate part are respectively arranged on both sides of the sole part. The second output wire disc is fixedly installed on the sole 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 sole part is suspended. An arc-shaped installation part is arranged on the upper side of the sole part. The side surface of the second output wire disc is installed in the arc-shaped installation part.

[0010] 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 arranged relative to each other, and the first support plate shell and the second support plate shell are fixedly arranged at the bottom of the calf structure, and a coaxial first mounting hole and a second mounting hole are opened on the first support plate shell and the second support plate shell, and a first semi-axis structure and a second semi-axis structure are rotatably installed in the first mounting hole and the second mounting hole through bearings, and corresponding coaxial bolt holes are evenly opened on the first semi-axis structure and the second semi-axis structure, and bolts are installed in the bolt holes so that the first semi-axis structure and the second semi-axis structure are tightly pressed on the two end surfaces of the center part of the second output cable disk, and an encoder is also installed on the first support plate shell or the second support plate shell.

[0011] Preferably: the knee joint structure includes a knee joint rotation support shaft, the knee joint rotation support shaft is rotatably installed at the bottom of the thigh structure, an intermediate wire drum is also rotatably installed on the knee joint rotation support shaft, the first output wire drum is fixedly installed on the knee joint rotation support shaft, and the first output wire drum is arranged side by side with the intermediate wire drum, and the first output wire drum is fixedly connected to the top of the calf structure.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] Preferably, the coaxial stabilization kit structure includes a stabilizing bushing. One end of the stabilizing bushing is connected to the side of the first transmission wheel. The other end of the stabilizing bushing is provided with a bearing installation cavity. A rotating bearing structure is installed in the bearing installation cavity, and the rotating bearing structure is sleeved on the end of the second output shaft structure.

[0016] An installation through hole is provided in the center of the first output shaft structure, and an installation threaded hole is provided in the center of the second output shaft structure. The coaxial stabilization kit structure further includes a tensioning screw structure. The tensioning screw structure passes through the installation through hole and cooperates with the installation 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.

[0017] The beneficial effects of the present invention are as follows: It can achieve excellent dynamic performance, naturalness and flexibility, can be remotely driven, 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 requires less initial driving force. Therefore, the power consumption can be lower, enabling the robot leg to have the ability to walk with long endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structure schematic diagram of the whole of the present invention.

[0019] Figure 2 It is an installation structure schematic diagram of the thigh structure and the calf structure in the present invention.

[0020] Figure 3 It is an exploded structure schematic diagram of the motion control component part in the present invention.

[0021] Figure 4 It is a cross-sectional structure schematic diagram of the motion control component part in the present invention.

[0022] Figure 5 For Figure 4 The partial enlarged schematic diagram at A in

[0023] Figure 6 It is a cross-sectional structure schematic diagram of the knee joint structure in the present invention.

[0024] Figure 7 It is an installation structure schematic diagram of the foot plate structure in the present invention.

[0025] Figure 8 It is a cross-sectional structure schematic diagram of the ankle joint structure in the present invention.

[0026] Figure 9 It is a structure schematic diagram of the tensioning adjustment structure in the present invention.

[0027] 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; tension adjustment structure 9; motion control component support shell 10;

[0028] thigh bracket 11; upper thigh joint connection part 12; lower thigh joint connection part 13;

[0029] calf bracket 21; upper calf joint connection part 22; lower calf joint connection part 23;

[0030] thigh drive device 31; first rotary drive device 32; second rotary drive device 33; thigh transmission wheel disc 34; first transmission wheel disc 35; second transmission wheel disc 36;

[0031] first output shaft structure 321; second output shaft structure 331; mounting through hole 322; mounting threaded hole 332;

[0032] first drive cable structure 41; second drive cable structure 42;

[0033] narrow foot plate body 51; front foot plate part 52; rear heel plate part 53; instep part 54; ground contact end 55; arc-shaped mounting part 56;

[0034] first output wire reel 61; knee joint rotation support shaft 62; intermediate wire reel 64;

[0035] second output wire reel 71; second support plate shell 72; first mounting hole 73; second mounting hole 74; first half shaft structure 75; second half shaft structure 76; first support plate shell 77;

[0036] stabilizing bushing 81; bearing mounting cavity 82; rotating bearing structure 83; tensioning screw structure 84; thrust bearing structure 85;

[0037] adjusting screw 91; pressing adjustment nut structure 92; limit pressing cap structure 93. Detailed implementation manners

[0038] The following elaborates on the preferred embodiments of the present utility model in conjunction with the accompanying drawings, so that the advantages and features of the present utility model 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 utility model.

[0039] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model.

[0040] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "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 elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. Embodiment

[0041] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 As shown in

[0042] 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.

[0043] The above-mentioned 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.

[0044] The above-mentioned 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.

[0045] The above-mentioned motion control component part 3 is provided with a thigh driving device 31, a first rotary driving device 32 and a second rotary driving device 33. The first rotary driving device 32 and the second rotary driving device 33 are oppositely arranged on both sides of the thigh structure 1. The first rotary driving device 32 and the second rotary 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 rotary driving device 32 and the second rotary 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. Moreover, the first rotary driving device 32 and the second rotary 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 rotary 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.

[0046] 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 rotary driving device 32 and the second rotary 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 the ankle joint structure 7. The first driving wire structure 41 is tightly sleeved between the first transmission pulley 35 and the first output wire reel 61 to form a closed-loop structure. The second driving wire structure 42 is tightly sleeved between the second transmission pulley 36 and the second output wire reel 71 to form a closed-loop structure.

[0047] 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.

[0048] The above-mentioned 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, and 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 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.

[0049] The above-mentioned 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 opposite to each other at intervals, 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. Coaxial first mounting holes 73 and second mounting holes 74 are provided on the first support plate shell 77 and the second support plate shell 72. A first half-axis structure 75 and a second half-axis 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-axis structure 75 and the second half-axis structure 76. By installing bolts in the bolt holes, the first half-axis structure 75 and the second half-axis structure 76 are pressed tightly against both end faces of the center part of the second output wire reel 71. An encoder is also 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-axis structure.

[0050] By pressing the first half-axis structure 75 and the second half-axis structure 76 tightly 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, not only is it not easy to fall off during disassembly, but also joints are likely to shake in machines with poor assembly technology and material quality.

[0051] The above-mentioned 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 a transfer and 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 the feedback of 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, strengthening 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.

[0052] The above-mentioned first transmission wheel disc 35 and 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 synchronous belt. The chain or synchronous belt is matched with the sprocket or 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. The structure of combining 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 of the ratio with 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.

[0053] 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.

[0054] The 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.

[0055] 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.

[0056] 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 8 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.

[0057] Through the stabilizing bushing 81 and the tensioning 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 relative ends of the two output shafts, so that they can work independently without interference, and vibration of the suspended relative ends during operation is also avoided; one end of the tensioning screw structure 84 is fixedly connected to the second output shaft structure 331, and the other end of the tensioning 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 tensioning 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 tensioning 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 tensioning screw structure 84 are used in combination.

[0058] 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 principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A robot leg structure for tendon - like motion control, characterized in that: It includes a thigh structure (1), a calf structure (2) and a motion control component part (3). The bottom of the thigh structure (1) is rotatably connected to the top of the calf structure (2) through a knee joint structure (6). The bottom of the calf structure (2) is rotatably installed with a foot plate structure (5) through an ankle joint structure (7). The 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 assembly (4). The tendon-like driving cable assembly (4) is used to control the connection of the thigh structure (1), the calf structure (2) and / or the foot plate structure (5).

2. The robot leg structure for tendon-mimicking motion control according to claim 1, wherein: 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). At the output ends of the thigh driving device (31), the first rotation driving device (32) and the second rotation driving device (33), a thigh transmission wheel disc (34), a first transmission wheel disc (35) and a second transmission wheel disc (36) are respectively arranged. In the knee joint structure (6) and the ankle joint structure (7), a first output wire disc (61) and a second output wire disc (71) are respectively arranged. The tendon-like driving cable assembly (4) is composed of a first driving cable structure (41) and a second driving cable structure (42). The first driving cable structure (41) is tensioned and sleeved between the first transmission wheel disc (35) and the first output wire disc (61). The second driving cable structure (42) is tensioned and sleeved between the second transmission wheel disc (36) and the second output wire disc (71).

3. The robot leg structure with tendon-like motion control according to claim 2, characterized in that: The thigh driving device (31) is arranged at the rear side of the top of the thigh structure (1), 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). The thigh transmission wheel disc (34) is a bevel gear structure. At least one bevel gear disc is arranged at the top of the thigh structure (1). The bevel gear structure is matched with the bevel gear disc.

4. The robot leg structure for tendon-mimicking motion control according to claim 2 or 3, characterized in that: The foot plate structure (5) has a narrow foot plate body (51). The narrow foot plate body (51) has a front foot plate part (52), a rear heel plate part (53) and a sole part (54). The front foot plate part (52) and the rear heel plate part (53) are respectively arranged on both sides of the sole part (54). The second output wire disc (71) is fixedly installed on the sole part (54). Touching ground ends (55) are arranged at two opposite ends of the front foot plate part (52) and the rear heel plate part (53). The lower side of the sole part (54) is suspended. An arc-shaped installation part (56) is arranged on the upper side of the sole part (54). The side surface of the second output wire disc (71) is installed in the arc-shaped installation part (56).

5. The robot leg structure for tendon-like motion control according to claim 4, characterized in that: 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 opposite to each other at intervals, 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). Coaxial first mounting holes (73) and second mounting holes (74) are formed in 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 of the second output wire reel (71). An encoder is also installed on the first support plate shell (77) or the second support plate shell (72).

6. The robot leg structure with tendon-like motion control according to any one of claims 2, 3 or 5, characterized in that: The knee joint structure (6) includes a knee joint rotation support shaft (62). The knee joint rotation support shaft (62) is rotatably mounted at the bottom of the thigh structure (1). An intermediate wire reel (64) is also rotatably mounted on the knee joint rotation support shaft (62). The first output wire reel (61) is fixedly mounted on the knee joint rotation support shaft (62), and the first output wire reel (61) and the intermediate wire reel (64) are arranged side by side. The first output wire reel (61) is fixedly connected to the top of the calf structure (2).

7. The robot leg structure for tendon-like motion control according to claim 6, wherein: The first transmission wheel disc (35) and the second transmission wheel disc (36) are sprockets or synchronous belt wheels. The first drive cable structure (41) and the second drive cable structure (42) are each 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 of the metal cables is fastened and installed on the output wire reel structure and / or the driven control member through a tension adjustment structure (9).

8. The robot leg structure for tendon-like motion control according to claim 7, wherein: The tension adjustment structure (9) includes an adjustment screw rod (91) and a pressing adjustment nut structure (92). The pressing adjustment nut structure (92) is sleeved on the adjustment screw rod (91). The front end of the adjustment screw rod (91) is connected to the metal cable. A cable end clamping seat is arranged on the output wire reel structure and / or the driven control member. The pressing adjustment nut structure (92) is clamped on the cable end clamping seat.

9. The robot leg structure with tendon-like motion control according to any one of claims 2, 3, 5, 7 or 8, 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).

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