Robot intermediate joint for tendon movement control

Abstract

A robot middle joint for tendon movement control comprises a first joint support structure, a second joint support structure and a middle joint rotating supporting shaft, and the top of the second joint support structure is rotationally connected with the bottom of the first joint support structure through the middle joint rotating supporting shaft. One end of the joint rotation supporting shaft is fixedly installed on the top of the second joint support structure, at least one idle wheel wire coil is rotatably installed on the middle joint rotation supporting shaft, and a middle joint output wire coil is further fixedly installed on the middle joint rotation supporting shaft. The middle joint output wire coil is fixedly connected with the top of the second joint support structure, and the second joint support structure is fixedly supported at the other end of the middle joint rotating supporting shaft through the middle joint output wire coil. The utility model discloses simple structure, it is convenient to install, dismantle and follow-up maintenance, and each idle wheel wire coil and output wire coil do not interfere with each other, can realize steady operation.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot intermediate joint for tendon motion control. Background Art

[0002] In the field of humanoid robot research and development and manufacturing, the joint drive solution is a key factor in the robot's stability, reliability, cost-effectiveness and efficiency. In the existing technology, there are three mainstream technical solutions for robot joint drive:

[0003] The first is hydraulic drive technology, represented by Boston Dynamics' Atlas robot. It has the advantages of high torque and fast response, but also has the disadvantages of high complexity, high cost and high weight.

[0004] The second is direct-drive or connecting rod drive technology for motor joint modules. This technology is adopted by most robotics companies or institutions, including Digit Robotics, Tesla Robotics, and Yushu Robotics. Its advantages lie in its simple structure and low cost, but it may lack dynamic performance in some situations.

[0005] The third is tendon drive technology that simulates human muscles, which can achieve more natural movements, but this technology is difficult to control and currently has a short service life. It was represented by the iCub humanoid robot platform in the early days. In recent technology, the patent document with announcement number CN221391059 U discloses a robot joint transmission mechanism, including a first bracket, a first motor, a first input end, a first transmission belt and a first output reel; the first motor is arranged at the upper end of the first bracket, the first output reel is arranged at the lower end of the first bracket, the first input end includes the first input reel, the power output end of the first motor is connected to the first input reel, the outer diameter range of the first input reel is 15mm-45mm, the first transmission belt includes a first chain and a first pull wire, the first chain is connected to the first input reel, and the first pull wire is wrapped around the first output reel. It solves the problems of wire rope life and transmission torque in rope transmission. In the intermediate joint it drives, which is generally the knee joint of a humanoid robot, since it not only has to carry various idler reels, but also has to carry its own joint output reel, its joint is relatively complex, which is not convenient for installation and disassembly and subsequent maintenance. Moreover, the idler reel and the output reel are easily interfered when arranged side by side, which is not conducive to smooth operation and is prone to problems such as shaking and inaccurate control positioning. Summary of the Invention

[0006] In order to make up for the shortcomings of existing humanoid robot technology, the utility model proposes a robot intermediate joint for tendon motion control with a simple structure, which is easy to install and disassemble and for subsequent maintenance, and in which the idler pulley reels and the output reels do not interfere with each other, and can achieve smooth operation.

[0007] The specific technical solutions are as follows:

[0008] A robot intermediate joint for tendon motion control includes a first joint support structure, a second joint support structure and an intermediate joint rotation support shaft. The top of the second joint support structure is rotatably connected to the bottom of the first joint support structure through the intermediate joint rotation support shaft. One end of the joint rotation support shaft is fixedly installed on the top of the second joint support structure. At least one idler pulley is rotatably installed on the intermediate joint rotation support shaft. An intermediate joint output pulley is also fixedly installed on the intermediate joint rotation support shaft. The intermediate joint output pulley is fixedly connected to the top of the second joint support structure. The second joint support structure is fixedly supported on the other end of the intermediate joint rotation support shaft through the intermediate joint output pulley. An encoder aligned with the intermediate joint rotation support shaft is also installed at the bottom of the first joint support structure.

[0009] Preferably, a first joint support plate and a second joint support plate are provided at the bottom of the first joint support structure, the first joint support plate and the second joint support plate are arranged relatively spaced apart, the idler pulley reel and the intermediate joint output reel are arranged side by side between the first joint support plate and the second joint support plate, and the first joint support plate and the second joint support plate are respectively rotatably matched with the intermediate joint rotation support shaft.

[0010] Preferably: the second joint support structure includes a joint lower support and an intermediate joint support shell, the intermediate joint support shell is arranged on the top of the joint lower support, and the intermediate joint support shell has 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 intermediate joint rotation support axis is arranged between the first support plate shell and the second support plate shell.

[0011] Preferably: one end face of the intermediate joint rotation support shaft is fixedly mounted on the inner side of the first support plate shell by a screw structure, the intermediate joint output cable drum is fixedly mounted on the inner side of the second support plate shell, and the intermediate joint output cable drum is arranged close to the second joint support plate, and the upper side of the second support plate shell has a limiting opening portion, and the limiting opening portion is arranged to align with both sides of the second joint support plate, and the first joint support plate is arranged on the inner side of the first support plate shell.

[0012] Preferably: the limiting opening portion has a curved oblique limiting portion and an upright vertical limiting portion, the curved oblique limiting portion is arranged below the middle joint rotation support shaft, and is inclined downward toward the rear side of the second joint support structure, the upright vertical limiting portion is arranged at the top of the curved oblique limiting portion, and is located in front of the middle joint rotation support shaft, and a cushion structure is also installed on the upright vertical limiting portion, which is arranged on the side of the upright second joint support plate.

[0013] Preferably, the first joint support plate and the second joint support plate are respectively installed at two ends of the intermediate joint rotation support shaft through angular contact bearings.

[0014] Preferably: a through hole is opened at the center of the intermediate joint rotation support shaft and the corresponding position of the first support plate shell, a radial magnet is installed at the end of the through hole of the intermediate joint rotation support shaft, the radial magnet is arranged close to the second joint support plate, and an absolute encoder is installed on the outside of the second joint support plate through a screw structure, and the absolute encoder is aligned with the radial magnet.

[0015] Preferably: the outer circular surface of the intermediate joint rotation support shaft has a first cylindrical surface, a second cylindrical surface, a third cylindrical surface and an outer ring limit disk in sequence, and the diameters of the first cylindrical surface, the second cylindrical surface, the third cylindrical surface and the outer ring limit disk increase in sequence, the intermediate joint output drum has an interference fit on the second cylindrical surface, the idler drum is rotatably mounted on the first cylindrical surface through a bearing, joint mounting holes are respectively provided on the first joint support plate and the second joint support plate, angular contact bearings are respectively arranged in the joint mounting holes, two angular contact bearings are respectively mounted on the first cylindrical surface and the third cylindrical surface, and the outer ring limit disk is arranged close to the inner ring of the angular contact bearing on the second joint support plate.

[0016] Preferably: an idler pulley drum is rotatably mounted on the intermediate joint rotation support shaft, the idler pulley drum has a through hole in the center, an annular boss is provided in the middle of the through hole to divide the through hole into two bearing mounting holes, a left angular contact bearing and a right angular contact bearing are respectively provided in the bearing mounting holes, the left angular contact bearing and the right angular contact bearing are both sleeved on the first cylindrical surface, a sleeve or a gasket is provided between the inner ring of the left angular contact bearing and the inner ring of the angular contact bearing on the first joint support plate, the central part of the intermediate joint output pulley has a mounting hole portion, one side of the mounting hole portion is interference fit with the second cylindrical surface, the other side of the mounting hole portion is provided with a limiting separation ring portion, the inner ring of the right angular contact bearing is arranged close to the limiting separation ring portion.

[0017] Preferably, a wire end clamping hole is provided on the intermediate joint output reel, and a wire end clamping seat is provided on the intermediate joint support shell. The wire end clamping hole and the wire end clamping seat respectively fix the two ends of the control wire.

[0018] The beneficial effects of the utility model are as follows: one end of the joint rotation support shaft is fixedly mounted on the top of the second joint bracket structure, and the other end of the intermediate joint rotation support shaft is supported on the other side of the top of the second joint bracket structure through the intermediate joint output cable drum, which not only facilitates the installation and disassembly of the intermediate joint part and subsequent maintenance, but also facilitates the rotation of the intermediate joint and the intermediate idler cable drum to achieve smooth operation, thereby enhancing the supporting stability of the joint rotation support shaft, avoiding problems such as shaking during the control process and inaccurate control positioning, and facilitating the overall balanced and coordinated control of the robot;

[0019] In addition, the outer circular surface of the intermediate joint rotation support shaft is composed of a first cylindrical surface, a second cylindrical surface, a third cylindrical surface and an outer ring limit plate with successively increasing diameters, and is used in sequence to limit the installation of the first joint support plate, the idler pulley drum, the intermediate joint output pulley drum and the second joint support plate, which is convenient for sequential installation while being beneficial for the rotation of each idler pulley drum and the output pulley drum without interfering with each other, and the structure is stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the robot's legs.

[0021] Figure 2 It is a schematic diagram of the cross-sectional structure of the entire utility model.

[0022] Figure 3 It is a schematic diagram of the rear structure of the entire utility model.

[0023] Figure 4 It is a schematic side structural diagram of the entire utility model.

[0024] Figure 5 This is a schematic diagram of the installation structure of the intermediate joint output cable reel in the utility model.

[0025] Figure 6 It is a schematic diagram of the cross-sectional structure of the intermediate joint rotation support shaft in the present utility model.

[0026] Figure 7 This is a structural diagram of the first joint bracket structure in the present utility model.

[0027] Description of reference numerals: first joint support structure 1; second joint support structure 2; intermediate joint rotation support shaft 3; idler pulley reel 4; intermediate joint output reel 5; absolute encoder 6;

[0028] First joint support plate 11; second joint support plate 12; angular contact bearing 13; joint mounting hole 14;

[0029] Joint lower bracket 21; intermediate joint support housing 22; first support plate shell 23; second support plate shell 24; limit opening 25; cable end holder 26;

[0030] curved oblique limiting portion 251; upright vertical limiting portion 252;

[0031] Threaded hole 31; radial magnet 32; first cylindrical surface 33; second cylindrical surface 34; third cylindrical surface 35; outer ring limiting plate 36;

[0032] Bearing mounting hole 41; left angular contact bearing 42; right angular contact bearing 43; wire end clamping hole 51. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0035] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may refer to direct connections or connections through an intermediate medium, or to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances. Example

[0036] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown: a robot intermediate joint for tendon motion control is provided with a first joint support structure 1, a second joint support structure 2 and an intermediate joint rotation support shaft 3, wherein the first joint support structure 1, the second joint support structure 2 and the intermediate joint rotation support shaft 3 are generally thigh structure, calf structure and knee joint rotation support shafts respectively. When the robot is special-shaped and has multiple joints in the middle, this joint structure can also be used. The top of the second joint support structure 2 is rotatably connected to the bottom of the first joint support structure 1 through the intermediate joint rotation support shaft 3. One end of the joint rotation support shaft 3 is fixedly installed on the top of the second joint support structure 2. An idler pulley drum 4 is rotatably installed on the intermediate joint rotation support shaft 3 for controlling the wire transfer of the foot plate structure to achieve smooth controlled pulling. If the foot plate and other structures have multiple degrees of freedom that need to be controlled, multiple idler pulley drums 4 can be rotatably installed on the intermediate joint rotation support shaft 3. The intermediate joint output cable drum 5 is also fixedly installed on the intermediate joint rotation support shaft 3, and the intermediate joint output cable drum 5 is fixedly connected to the top of the second joint bracket structure 2. The second joint bracket structure 2 is fixedly supported on the other end of the intermediate joint rotation support shaft 3 through the intermediate joint output cable drum 5, which is convenient for the knee joint rotation and the intermediate idler wheel cable drum 4 to achieve smooth operation, avoiding problems such as shaking and inaccurate control positioning during the control process, which is beneficial to the overall balance and coordinated control of the robot, and only one end of the joint rotation support shaft is fixedly installed on the top of the second joint bracket structure. Under the condition that the indirect support through the intermediate joint output cable drum 5 does not affect the stability of the intermediate joint rotation support shaft 3, and even enhances its stability, it is convenient for installation and disassembly and subsequent maintenance. An encoder aligned with the intermediate joint rotation support shaft 3 is also installed at the bottom of the first joint bracket structure 1 to facilitate feedback on the movement state of the knee joint.

[0037] A first joint support plate 11 and a second joint support plate 12 are provided at the bottom of the first joint bracket structure 1. The first joint support plate 11 and the second joint support plate 12 are arranged relatively spaced apart, and the idler pulley reel 4 and the intermediate joint output reel 5 are arranged side by side between the first joint support plate 11 and the second joint support plate 12. The first joint support plate 11 and the second joint support plate 12 are respectively rotatably cooperated with the intermediate joint rotation support shaft 3, so that the joint support is more stable, which is conducive to the smooth support of the intermediate joint rotation support shaft 3, and the first joint support plate 11 and the second joint support plate 12 are respectively rotatably installed on the two ends of the intermediate joint rotation support shaft 3 through angular contact bearings 13.

[0038] The outer circumference of the intermediate joint rotation support shaft 3 has a first cylindrical surface 33, a second cylindrical surface 34, a third cylindrical surface 35 and an outer ring limit plate 36 in sequence, and the diameters of the first cylindrical surface 33, the second cylindrical surface 34, the third cylindrical surface 35 and the outer ring limit plate 36 increase in sequence. The intermediate joint output reel 5 is interference-fitted on the second cylindrical surface 34, and the idler reel 4 is rotatably mounted on the first cylindrical surface 33 through a bearing. Joint mounting holes 14 and joint mounting holes are respectively provided on the first joint support plate 11 and the second joint support plate 12. Angular contact bearings 13 are respectively provided in 14, and the two angular contact bearings 13 are respectively mounted on the first cylindrical surface 33 and the third cylindrical surface 35. The outer ring limit plate 36 is arranged close to the inner ring of the angular contact bearing 13 on the second joint support plate 12, which is conducive to the rotation of each idler pulley and the output pulley without interfering with each other. The idler pulley and the output pulley can rotate separately or at the same time without interfering with each other, that is, the relative angle of the foot plate is rotated while the knee is bent, making the movement more coordinated and natural, and the knee joint structure itself is more stable, and it is also convenient for orderly installation.

[0039] The idler pulley drum 4 has a through hole in the center, and an annular boss is provided in the middle of the through hole to divide the through hole into two bearing mounting holes 41. A left angular contact bearing 42 and a right angular contact bearing 43 are respectively provided in the bearing mounting hole 41. The left angular contact bearing 42 and the right angular contact bearing 43 are both sleeved on the first cylindrical surface 33. A sleeve or gasket is provided between the inner ring of the left angular contact bearing 42 and the inner ring of the angular contact bearing 13 on the first joint support plate 11. The center of the middle joint output drum 5 has a mounting hole portion, one side of the mounting hole portion is interference fit with the second cylindrical surface 34, and the other side of the mounting hole portion is provided with a limiting separation ring portion, and the inner ring of the right angular contact bearing 43 is arranged close to the limiting separation ring portion.

[0040] Furthermore, the second joint support structure 2 includes a lower joint support 21 and an intermediate joint support shell 22. The lower joint support 21 is generally the calf support bone, and the first joint support structure 1 is generally the thigh support bone, so the calf support bone is generally below the thigh support bone. The intermediate joint support shell 22 is arranged on the top of the lower joint support 21, and the intermediate joint support shell 22 has a first support plate shell 23 and a second support plate shell 24. The first support plate shell 23 and the second support plate shell 24 are arranged relative to each other, and the intermediate joint rotation support shaft 3 is arranged between the first support plate shell 23 and the second support plate shell 24.

[0041] Among them, one end face of the intermediate joint rotation support shaft 3 is fixedly installed on the inner side of the first support plate shell 23 through a screw structure, that is, mounting holes are evenly arranged on the first support plate shell 23, and corresponding threaded holes 31 are evenly opened on one end face of the intermediate joint rotation support shaft 3, and a screw structure is arranged in the mounting hole, and the screw structure passes through the mounting hole and cooperates with the threaded hole 31.

[0042] The intermediate joint output cable drum 5 is fixedly installed on the inner side of the second support plate shell 24 by a uniformly arranged screw structure, and the intermediate joint output cable drum 5 is arranged close to the second joint support plate 12, that is, the second support plate shell 24 indirectly supports the other end of the intermediate joint rotation support shaft 3 through the intermediate joint output cable drum 5, and the upper side of the second support plate shell 24 has a limiting opening 25, and the limiting opening 25 is arranged on both sides of the second joint support plate 12, and the first joint support plate 11 is arranged on the inner side of the first support plate shell 23.

[0043] The above-mentioned limiting opening portion 25 has a curved oblique limiting portion 251 and an upright vertical limiting portion 252. The curved oblique limiting portion 251 is arranged below the intermediate joint rotation support shaft 3 and is inclined downward toward the rear side of the second joint support structure 2. The upright vertical limiting portion 252 is arranged at the top of the curved oblique limiting portion 251 and is located in front of the intermediate joint rotation support shaft 3. A cushion structure is also installed on the upright vertical limiting portion 252. The cushion structure is arranged on the side of the upright second joint support plate 12. The limiting opening portion 25 is located above the screw structure installed on the intermediate joint output cable reel 5. Therefore, a continuous edge protection shell is provided on the second joint support plate 12. While the screw structure is embedded for protection, the force bearing area of ​​the curved oblique limiting portion 251 and the upright vertical limiting portion 252 is widened.

[0044] A through hole is opened at the center of the middle joint rotation support shaft 3 and the corresponding position of the first support plate shell 23, and a radial magnet 32 ​​is installed at the end of the through hole of the middle joint rotation support shaft 3. The radial magnet 32 ​​is arranged close to the second joint support plate 12, and an absolute encoder 6 is installed on the outside of the second joint support plate 12 through a screw structure. The absolute encoder 6 is aligned with the radial magnet 32. The absolute encoder 6 is used in conjunction with the radial magnet 32, and it is convenient to memorize the movement position of the knee joint after power failure.

[0045] A wire end clamping hole 51 is provided on the middle joint output wire reel 5, and a wire end clamping seat 26 is provided on the middle joint support shell 22. The wire end clamping hole 51 and the wire end clamping seat 26 respectively fix the two ends of the control wire, which makes it easier to clamp the two ends of the wire during installation and avoid overlapping interference of the wire during movement, making the movement control smoother.

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

Claims

1. A robot intermediate joint for tendon motion control, characterized by: The invention comprises a first joint support structure (1), a second joint support structure (2) and an intermediate joint rotation support shaft (3); the top of the second joint support structure (2) is rotationally connected to the bottom of the first joint support structure (1) through the intermediate joint rotation support shaft (3); one end of the joint rotation support shaft (3) is fixedly mounted on the top of the second joint support structure (2); at least one idler pulley (4) is rotationally mounted on the intermediate joint rotation support shaft (3); an intermediate joint output pulley (5) is also fixedly mounted on the intermediate joint rotation support shaft (3); the intermediate joint output pulley (5) is fixedly connected to the top of the second joint support structure (2); and the second joint support structure (2) is fixedly supported on the other end of the intermediate joint rotation support shaft (3) through the intermediate joint output pulley (5).

2. The robot intermediate joint for tendon motion control according to claim 1, characterized in that: A first joint support plate (11) and a second joint support plate (12) are provided at the bottom of the first joint support structure (1); the first joint support plate (11) and the second joint support plate (12) are arranged relative to each other at intervals; the idler pulley reel (4) and the intermediate joint output reel (5) are arranged side by side between the first joint support plate (11) and the second joint support plate (12); the first joint support plate (11) and the second joint support plate (12) are respectively rotationally matched with the intermediate joint rotation support shaft (3).

3. The robot intermediate joint for tendon motion control according to claim 2, characterized in that: The second joint support structure (2) includes a joint lower support (21) and an intermediate joint support shell (22), wherein the intermediate joint support shell (22) is arranged on the top of the joint lower support (21), and the intermediate joint support shell (22) has a first support plate shell (23) and a second support plate shell (24), wherein the first support plate shell (23) and the second support plate shell (24) are arranged relative to each other and spaced apart, and the intermediate joint rotation support shaft (3) is arranged between the first support plate shell (23) and the second support plate shell (24).

4. The robot intermediate joint for tendon motion control according to claim 3, characterized in that: One end face of the intermediate joint rotation support shaft (3) is fixedly mounted on the inner side of the first support plate shell (23) through a screw structure, and the intermediate joint output cable drum (5) is fixedly mounted on the inner side of the second support plate shell (24), and the intermediate joint output cable drum (5) is arranged close to the second joint support plate (12). The upper side of the second support plate shell (24) has a limiting opening portion (25), and the limiting opening portion (25) is arranged to align with both sides of the second joint support plate (12). The first joint support plate (11) is arranged on the inner side of the first support plate shell (23).

5. The robot intermediate joint for tendon motion control according to claim 4, characterized in that: The limiting opening portion (25) comprises a curved oblique limiting portion (251) and an upright vertical limiting portion (252), wherein the curved oblique limiting portion (251) is arranged below the intermediate joint rotation support shaft (3) and is arranged to be inclined downwardly toward the rear side of the second joint support structure (2), and the upright vertical limiting portion (252) is arranged at the top of the curved oblique limiting portion (251) and is located in front of the intermediate joint rotation support shaft (3). A soft pad structure is also installed on the upright vertical limiting portion (252), and the soft pad structure is arranged on the side of the upright second joint support plate (12).

6. The robot intermediate joint for tendon motion control according to any one of claims 2 to 5, characterized in that: The first joint support plate (11) and the second joint support plate (12) are respectively mounted on the two ends of the intermediate joint rotation support shaft (3) via angular contact bearings (13).

7. The robot intermediate joint for tendon motion control according to claim 6, characterized in that: A through hole is provided at the center of the intermediate joint rotation support shaft (3) and at a corresponding position of the first support plate shell (23); a radial magnet (32) is installed at the end of the through hole of the intermediate joint rotation support shaft (3); the radial magnet (32) is arranged close to the second joint support plate (12); and an absolute encoder (6) is installed on the outside of the second joint support plate (12) through a screw structure; the absolute encoder (6) is arranged to align with the radial magnet (32).

8. The robot intermediate joint for tendon motion control according to any one of claims 2 to 5 or 7, characterized in that: The outer circumference of the intermediate joint rotation support shaft (3) has a first cylindrical surface (33), a second cylindrical surface (34), a third cylindrical surface (35) and an outer ring limiting disk (36) in sequence, and the diameters of the first cylindrical surface (33), the second cylindrical surface (34), the third cylindrical surface (35) and the outer ring limiting disk (36) increase in sequence. The intermediate joint output reel (5) is interference-fitted on the second cylindrical surface (34), and the idler reel (4) is rotatably mounted on the first cylindrical surface (33) through a bearing. Joint mounting holes (14) are respectively provided on the first joint support plate (11) and the second joint support plate (12), and angular contact bearings (13) are respectively arranged in the joint mounting holes (14). Two angular contact bearings (13) are respectively mounted on the first cylindrical surface (33) and the third cylindrical surface (35). The outer ring limiting disk (36) is arranged close to the inner ring of the angular contact bearing (13) on the second joint support plate (12).

9. The robot intermediate joint for tendon motion control according to claim 8, characterized in that: An idler pulley drum (4) is rotatably mounted on the intermediate joint rotation support shaft (3). The idler pulley drum (4) has a through hole at its center. An annular boss is provided in the middle of the through hole to divide the through hole into two bearing mounting holes (41). A left angular contact bearing (42) and a right angular contact bearing (43) are respectively provided in the bearing mounting holes (41). The left angular contact bearing (42) and the right angular contact bearing (43) are both sleeved on the first cylindrical surface (33). A sleeve or a gasket is provided between the inner ring of the left angular contact bearing (42) and the inner ring of the angular contact bearing (13) on the first joint support plate (11). The intermediate joint output pulley (5) has a mounting hole at its center. One side of the mounting hole is interference-fitted with the second cylindrical surface (34). The other side of the mounting hole is provided with a limiting separation ring. The inner ring of the right angular contact bearing (43) is closely disposed against the limiting separation ring.

10. The robot intermediate joint for tendon motion control according to any one of claims 3 to 5, characterized in that: A cable end clamping hole (51) is provided on the intermediate joint output cable drum (5), and a cable end clamping seat (26) is provided on the intermediate joint support shell (22). The cable end clamping hole (51) and the cable end clamping seat (26) respectively fix the two ends of the control cable.

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