Robot tail end joint based on tendon motion control

Abstract

A robot tail end joint based on tendon motion control comprises a tail end output wire coil and a tail end support, the tail end output wire coil is rotationally connected with the tail end support, a tail end structure part is installed on the tail end output wire coil, and a tail end joint shell is arranged at the tail end of the tail end support; the tail end joint shell is provided with a first supporting plate shell and a second supporting plate shell, a first mounting hole and a second mounting hole are formed in the first supporting plate shell and the second supporting plate shell, and a first half shaft structure and a second half shaft structure are rotationally mounted in the first mounting hole and the second mounting hole; bolt holes are evenly formed in the first half shaft structure and the second half shaft structure in a surrounding mode, bolts are installed in the bolt holes, so that the first half shaft structure and the second half shaft structure are tightly pressed on the two end faces of the center portion of the tail end output wire coil, and an encoder is further installed on the first supporting plate shell or the second supporting plate shell. The joint structure is easy to control, the output wire coil is installed stably enough, and the joint rotating angle is convenient to disassemble, assemble and monitor and feed back.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots, and in particular relates to a robot terminal joint based on 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 life and transmission torque in rope transmission. In the terminal joint it drives, since its bearing torque is relatively the largest, the terminal output reel adopts a general installation method, which can easily lead to the terminal output reel shaking during the control process and other inaccurate control positioning problems, which is extremely detrimental to the overall balance and coordinated control of the robot. Summary of the Invention

[0006] In response to the deficiencies of the prior art, the utility model proposes a robot end joint based on tendon motion control, which has a simple joint structure control, a sufficiently stable output reel installation, and is convenient for disassembly and assembly and monitoring and feedback of joint rotation angles.

[0007] The specific technical solutions are as follows:

[0008] A robot end joint based on tendon motion control includes an end output reel and an end bracket, wherein the end output reel is rotatably connected to the end bracket, an end structure portion is mounted on the end output reel, and an end joint housing is provided at the end of the end bracket;

[0009] The end joint housing 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, the end output cable drum is arranged between the first support plate shell and the second support plate shell, and the first support plate shell and the second support plate shell are provided with a coaxial first mounting hole and a second mounting hole, the first mounting hole and the second mounting hole are rotatably installed with a first semi-axis structure and a second semi-axis structure, and corresponding coaxial bolt holes are evenly arranged on the first semi-axis structure and the second semi-axis structure. By installing bolts in the bolt holes, the first semi-axis structure and the second semi-axis structure are tightly pressed against the two end surfaces of the center part of the end output cable drum, and an encoder is also installed on the first support plate shell or the second support plate shell.

[0010] Preferably, circular through holes or circular slots are provided on both end surfaces of the central portion of the terminal output reel, and the inner ends of the first semi-axle structure and the second semi-axle structure both have inner step rings, which are clamped in the circular through holes or circular slots.

[0011] Preferably, bearing structures are installed at the outer ends of the first and second semi-axle structures, and the outer ends of the first and second semi-axle structures both have outer step rings, and the bearing structures are arranged close to the outer step rings.

[0012] Preferably, circular slots are provided on both end surfaces of the central portion of the terminal output reel, and the inner ends of the first semi-axle structure and the second semi-axle structure respectively have a first inner stepped ring platform and a second inner stepped ring platform, and the first inner stepped ring platform and the second inner stepped ring platform are respectively press-fitted with the two circular slots.

[0013] Preferably, the first semi-axle structure and the second semi-axle structure are sleeve structures with hollow holes, and corresponding hollow holes and through hole groups are provided between the bottom walls of the two opposite circular slots.

[0014] Preferably, a radial magnet is installed at the end of the hollow hole of the first semi-shaft structure, an encoder mounting platform is provided in the first supporting plate shell, and an absolute encoder is mounted on the encoder mounting platform by screws.

[0015] Preferably, a radial magnet is installed at the end of the hollow hole of the first semi-shaft structure, an encoder mounting platform is provided in the first supporting plate shell, and an absolute encoder is mounted on the encoder mounting platform by screws.

[0016] Preferably, the bolt hole of the first semi-axle structure is a threaded hole, and the bolt hole of the second semi-axle structure is a smooth through hole. A fastening bolt is installed in the smooth through hole of the second semi-axle structure, and the fastening bolt passes through the smooth through hole and cooperates with the threaded hole.

[0017] Preferably, the terminal structure is a narrow foot plate structure, which comprises a front foot plate portion, a rear heel plate portion and a midfoot portion, wherein the front foot plate portion and the rear heel plate portion are respectively arranged on both sides of the midfoot portion, and the front foot plate portion, the rear heel plate portion and the midfoot portion are integrally formed to form the narrow foot plate structure, and an arc-shaped mounting portion is provided on the upper side of the midfoot portion;

[0018] The arc-shaped mounting portion includes a first supporting arc plate and a second supporting arc plate, the first supporting arc plate and the second supporting arc plate are arranged relative to each other, the lower side of the terminal output cable drum is arranged between the first supporting arc plate and the second supporting arc plate, and the upper sides of the first supporting arc plate and the second supporting arc plate are arc-shaped, and a cable drum positioning arc boss is provided on the inner side surface opposite to the first supporting arc plate and the second supporting arc plate for installing and positioning the terminal output cable drum.

[0019] Preferably, protective flanges are provided at the outer side edge positions of the first supporting arc plate and the second supporting arc plate, respectively, and corresponding threaded hole groups are provided on the sides of the first supporting arc plate, the second supporting arc plate and the terminal output cable drum, the threaded hole group is provided on the inner side of the protective flange, the threaded hole group consists of a number of threaded holes evenly arranged along the concentric arc direction of the terminal output cable drum, and fastening screw structures are respectively installed in the threaded hole groups of the first supporting arc plate and the second supporting arc plate.

[0020] The beneficial effects of the present invention are as follows: a first semi-axle structure and a second semi-axle structure are provided to be tightly pressed against the two end surfaces of the central part of the terminal output cable drum, which facilitates the disassembly and assembly of the rotating joint of the terminal output cable drum, and the installed terminal output cable drum is more stable and less likely to shake during the rotation process relative to the ankle joint shell. Other methods of directly installing the entire axis are not only not easy to fall off during disassembly, but also poor assembly technology and material quality can easily cause joint shaking in the machine; by respectively arranging fastening screw structures on the two sides of the terminal output cable drum to fix the first support arc plate and the second support arc plate, not only is the fixation more stable, but the tension of the fastening screw structures on both sides is symmetrical, and the terminal output cable drum is less likely to deflect, making subsequent wire pulling control more stable and accurate, and the threaded holes and the fastening screw structures are evenly distributed along the concentric arc direction of the terminal output cable drum, so that the screws installed later can better bear the circumferential force of the rotation; an encoder is provided to facilitate monitoring and feedback of the joint rotation angle, and the encoder is an absolute encoder that cooperates with the radial magnet installed on the semi-axle structure, occupies less space, and is convenient for subsequent maintenance and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the present invention as a whole.

[0022] Figure 2 It is a schematic diagram of the installation structure of the terminal structure part, the terminal joint housing and the terminal output cable drum in the present invention.

[0023] Figure 3 It is a schematic cross-sectional view of the installation of the first semi-axle structure and the second semi-axle structure in the present invention.

[0024] Figure 4 Schematic diagram of the structure of the terminal structure portion in the present invention.

[0025] Figure 5 It is a structural schematic diagram of the terminal joint housing in the present invention.

[0026] Figure 6 This is a schematic structural diagram of the bottom of the narrow foot plate structure and the synapse portion of the terminal structure portion in the present invention.

[0027] Figure 7 This is a schematic structural diagram of the bottom portion of the narrow foot structure of the terminal structure portion of the present invention.

[0028] Description of reference numerals: terminal output reel 1; terminal bracket 2; terminal structure 3; terminal joint housing 4; first semi-shaft structure 5; second semi-shaft structure 6; absolute encoder 7;

[0029] Front foot plate portion 32; rear heel plate portion 33; sole portion 34; ground contact end 35; arc-shaped mounting portion 36; frame-shaped bridge portion 37;

[0030] Synapse portion 351; compression shrinkage hole 352; groove mounting assembly portion 353; bridge bottom plate portion 371; top pull-piece structure 372; strain gauge slot 373;

[0031] First supporting arc plate 361; second supporting arc plate 362; cable drum positioning arc boss 363; protective flange 364; threaded hole group 365;

[0032] First support plate shell 41; second support plate shell 42; first mounting hole 43; second mounting hole 44; encoder mounting platform 45; connecting opening 46;

[0033] Circular slot 11; first inner stepped ring platform 51; second inner stepped ring platform 61; radial magnet 52; fastening bolt 62. DETAILED DESCRIPTION

[0034] 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.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to 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 should not be understood as a limitation on the present invention.

[0036] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. 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

[0037] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 Shown: A robot end joint based on tendon motion control, characterized in that: it includes an end output reel 1 and an end bracket 2, the end output reel 1 is rotatably connected to the end bracket 2, the end bracket 2 is a leg bracket, generally a calf bracket, an end structure part 3 is installed on the end output reel 1, the end structure part 3 is a narrow foot plate structure, and an end joint shell 4 is provided at the end of the end bracket 2, and the end joint shell 4 is an ankle joint shell.

[0038] Among them, the narrow footplate structure has a front footplate portion 32, a rear heel plate portion 33 and a center portion 34, and the front footplate portion 32 and the rear heel plate portion 33 are respectively arranged on both sides of the center portion 34, and the front footplate portion 32, the rear heel plate portion 33 and the center portion 34 are integrated into a narrow footplate structure, and the width of the narrow footplate structure is 10 mm-50 mm, and the length of the narrow footplate structure is 100 mm-500 mm. The width and length of the narrow footplate structure here refer to the length and width directions of an ordinary foot, and the length and width refer to the average values ​​of the entire length and width directions. The length and width directions of the narrow footplate structure are generally linear. The commonly used narrow footplate structure has a width of 30 mm and a length of 265 mm, which is more coordinated for a humanoid robot with a height of 170 cm.

[0039] The narrow foot plate structure can be rotated in the front-to-back direction as a whole, and a soft foot cover shell can be set on the narrow foot plate body 1 to make the foot more human-like in shape, and the soft foot cover shell is not subjected to force.

[0040] The front foot plate portion 32 and the rear heel plate portion 33 are provided with contacting ends 35 at the opposite ends, and the center portion 34 is suspended, that is, generally not in contact with the ground, that is, the front foot plate portion 32 and the rear heel plate portion 33 protrude downward relative to the center portion 34. Such a structure is shaped like a hollow human foot. Although generally only the contacting ends 35 at the two ends are in contact with the ground, and the contacting area is small, the contacting ends 35 are more likely to be in complete contact with the ground, and the actual contact area is large. It will not be restricted or greatly affected by the ground environment, and its actual contact area is more likely to meet the expectations of stable robot programming and control. The center portion 34 is suspended, so that it has a certain elastic space, so it can absorb larger impact loads and has enhanced durability. It will not be 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 conform to the preset and also affects the stability of the robot when walking and standing. In addition, the lower side of the narrow footboard structure is in an arch shape, which can be a circular arch or a straight triangular arch, which is more conducive to enhancing the bearing capacity.

[0041] The ground contact end 35 has a synapse portion 351 , which is arranged along the center line of the narrow side of the narrow foot plate structure, and both sides of the synapse portion 351 smoothly transition to the edge of the narrow side of the narrow foot plate structure.

[0042] The synapse part 351 is a soft synapse foot pad, which is evenly provided with compression shrinkage holes 352. The ground contact end 35 also has a groove mounting group part 353, and the synapse part 351 is mounted on the groove mounting group part 353 through a screw structure; and the synapse part 351 is mounted on the groove mounting group part 353 through a screw structure, so that the soft synapse foot pad can filter out most of the small bump loads while being able to absorb larger impact loads.

[0043] It adopts a narrow foot plate structure with a relatively narrow width, which can prevent the soles of the feet from tilting sideways and contacting the ground when the robot's legs are separated to a large extent. Therefore, there is no need to design a complex ankle joint structure, which is conducive to the overall lightweight design of the robot. Only an end output cable drum 1 needs to be installed on the narrow foot plate structure to control the overall rotation of the narrow foot plate structure in the front and rear directions, so that the joint structure is simple to control. A soft foot cover shell can also be set on the narrow foot plate body 1 to make its feet more human-like in shape, and the soft foot cover shell is not subjected to force.

[0044] There is a frame-shaped bridge portion 37 between the front foot plate portion 32, the rear heel plate portion 33 and the center portion 34. The frame-shaped bridge portion 37 is composed of a bridge bottom plate portion 371 and two top pull-tab structures 372. The two top pull-tab structures 372 are respectively arranged on both sides above the bridge bottom plate portion 371, that is, the two ends of the bridge bottom plate portion 371 and the two top pull-tab structures 372 are respectively connected to the center portion 34 and the front foot plate portion 32 or the rear heel plate portion 33 to form a frame shape, which is more conducive to lightweight design, and the connection strength and stability are sufficient, and the frame-shaped bridge portion 37 is more easily deformed to produce buffering elasticity.

[0045] A strain gauge slot 373 is provided on the bridge bottom plate portion 371 for installing strain gauges. The deformation at the frame-shaped bridge portion 37 is relatively larger, so installing a strain gauge at the bridge bottom plate portion 371 can more accurately detect the contact status of the corresponding contact terminal 35, and the two top pull-piece structures 372 can protect the strain gauge without affecting the removal, replacement, installation and heat dissipation of the strain gauge. After the strain gauge is installed, the contact status of the front foot plate portion 32 and the rear heel plate portion 33 can be detected respectively. If it is detected that the contact terminals 35 corresponding to the front foot plate portion 32 and the rear heel plate portion 33 are not touching the ground or the contact force is insufficient, the robot should adjust its movement posture in time. If it is in a state of not touching the ground or insufficient contact force for a long time, feedback needs to be given to the operator to adjust the robot program or structure.

[0046] An arc-shaped mounting portion 36 is provided on the upper side of the foot center portion 34 , and the terminal output cable drum 1 can be more stably mounted in the arc-shaped mounting portion 36 through the side surface thereof.

[0047] The above-mentioned arc-shaped mounting portion 36 is provided with a first supporting arc plate 361 and a second supporting arc plate 362, and the first supporting arc plate 361 and the second supporting arc plate 362 are arranged relative to each other, and the lower side of the terminal output cable drum 1 is arranged between the first supporting arc plate 361 and the second supporting arc plate 362, and the upper sides of the first supporting arc plate 361 and the second supporting arc plate 362 are arc-shaped, and a cable drum positioning arc boss 363 is provided on the inner side surface opposite to the first supporting arc plate 361 and the second supporting arc plate 362, which is used to install and position the terminal output cable drum 1, so as to facilitate the rapid positioning of the position of the terminal output cable drum 1 during installation, and make the side surface and circumferential surface of the terminal output cable drum 1 close to the arc-shaped mounting portion 36, so that the terminal output cable drum 1 can be installed more stably and beautifully.

[0048] The first and second supporting arc plates 361 and 362 are provided with protective flanges 364 at the outer edge positions of the first supporting arc plate 361 and the second supporting arc plate 362 respectively; corresponding threaded hole groups 365 are opened on the sides of the first supporting arc plate 361, the second supporting arc plate 362 and the end output cable drum 1. The threaded hole group 365 is arranged on the inner side of the protective flange 364 to prevent the protruding screws of the subsequent installation from scratching the surrounding area. The threaded hole group 365 is composed of a number of threaded holes evenly arranged along the concentric arc direction of the end output cable drum 1, so that the screws installed later can better bear the circumferential force of rotation. Fastening screw structures are respectively installed in the threaded hole groups 365 of the first supporting arc plate 361 and the second supporting arc plate 362. By respectively arranging the fastening screw structures on the two sides of the end output cable drum 1 to fix them to the first supporting arc plate 361 and the second supporting arc plate 362, not only is the fixation more stable, but the tension of the fastening screw structures on both sides is symmetrical, and the end output cable drum 1 is less likely to deflect, making the subsequent wire pulling control more stable and accurate.

[0049] Among them, the end joint shell 4 has a first support plate shell 41 and a second support plate shell 42, and the first support plate shell 41 and the second support plate shell 42 are arranged relative to each other, and the end output cable drum 1 is arranged between the first support plate shell 41 and the second support plate shell 42, and the first support plate shell 41 and the second support plate shell 42 are provided with a coaxial first mounting hole 43 and a second mounting hole 44, and the first mounting hole 43 and the second mounting hole 44 are rotatably mounted with a first semi-axis structure 5 and a second semi-axis structure 6, and corresponding coaxial bolt holes are evenly arranged on the first semi-axis structure 5 and the second semi-axis structure 6. By installing bolts in the bolt holes, the first semi-axis structure 5 and the second semi-axis structure 6 are tightly pressed against the two end surfaces of the center part of the end output cable drum 1, which facilitates the disassembly and assembly of the rotating joint of the end output cable drum 1, and the installed end output cable drum 1 is more stable and not easy to shake during the rotation process relative to the ankle joint shell. The other whole-axis direct installation methods are not only not easy to fall off during disassembly, but also the poor assembly technology and material quality of the machine easily cause the joint to shake.

[0050] The above-mentioned ankle joint shell is independently arranged, so the ankle joint shell also has a connecting opening portion 46, and the leg bracket cooperates with the connecting opening portion 46. A limiting ring is arranged on the inner wall of the connecting opening portion 46, and positioning screw holes are also opened on the inner wall above the limiting ring and the corresponding position of the leg bracket for installing screws to limit the leg bracket from falling off and rotating in the connecting opening portion 46 of the ankle joint shell. This structure is simple and reliable to install, and the independent arrangement of the ankle joint shell is convenient for subsequent maintenance and disassembly. The ankle joint shell can be integrated with the leg bracket, but it is not convenient for subsequent maintenance and disassembly.

[0051] Circular through holes or circular slots are provided on both end surfaces of the central portion of the terminal output cable drum 1, and the inner ends of the first semi-axle structure 5 and the second semi-axle structure 6 both have inner step ring platforms, which are clamped in the circular through holes or circular slots for easy positioning and clamping during installation. More preferably, circular slots 11 are provided on both end surfaces of the central portion of the terminal output cable drum 1, and the inner ends of the first semi-axle structure 5 and the second semi-axle structure 6 respectively have first inner step ring platforms 51 and second inner step ring platforms 61, which are respectively pressed together with the two circular slots 11, so that the first semi-axle structure 5 and the second semi-axle structure 6 have a larger pressing contact area with the two end surfaces of the central portion of the terminal output cable drum 1, thereby being more stable.

[0052] Bearing structures are installed at the outer ends of the first semi-axle structure 5 and the second semi-axle structure 6, and the outer ends of the first semi-axle structure 5 and the second semi-axle structure 6 both have outer step rings. The bearing structures are arranged close to the outer step rings, thereby achieving more stable relative rotation of the joints.

[0053] An encoder is also installed on the first support plate shell 41 or the second support plate shell 42. It can be an ordinary encoder, but more preferably, a radial magnet 52 is installed at the end of the first semi-axis structure 5, and an encoder mounting step 45 is provided in the first support plate shell 41. An absolute encoder 7 is installed on the encoder mounting step 45 by screws to facilitate monitoring and feedback of the joint rotation angle.

[0054] The first semi-axle structure 5 and the second semi-axle structure 6 are sleeve structures with hollow holes. Corresponding hollow holes and bolt through-hole groups are provided between the opposite bottom walls of the two circular slots 11. The above-mentioned radial magnet 52 is installed at the end of the hollow hole of the first semi-axle structure 5 and is centrally aligned to facilitate removal of the radial magnet 52 through the other end of the hollow hole.

[0055] In addition, the bolt hole of the first semi-axle structure 5 is a threaded hole, and the bolt hole of the second semi-axle structure 6 is a smooth through hole. A fastening bolt 62 is installed in the smooth through hole of the second semi-axle structure 6. The fastening bolt 62 passes through the smooth through hole and cooperates with the threaded hole, so that the fastening bolt 62 does not extend out to occupy the encoder position or scratch the encoder.

[0056] 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 end joint based on tendon motion control, characterized by: It comprises a terminal output reel (1) and a terminal bracket (2), wherein the terminal output reel (1) is rotatably connected to the terminal bracket (2), a terminal structure (3) is mounted on the terminal output reel (1), and a terminal joint housing (4) is provided at the terminal end of the terminal bracket (2); The terminal joint housing (4) comprises a first supporting plate shell (41) and a second supporting plate shell (42), the first supporting plate shell (41) and the second supporting plate shell (42) being arranged at a relative interval, the terminal output cable drum (1) being arranged between the first supporting plate shell (41) and the second supporting plate shell (42), and the first supporting plate shell (41) and the second supporting plate shell (42) being provided with a coaxial first mounting hole (43) and a second mounting hole (44), the first semi-axle structure (5) and the second semi-axle structure (6) being rotatably mounted in the first mounting hole (43) and the second mounting hole (44), the first semi-axle structure (5) and the second semi-axle structure (6) being uniformly provided with corresponding coaxial bolt holes on the first semi-axle structure (5) and the second semi-axle structure (6), and by installing bolts in the bolt holes, the first semi-axle structure (5) and the second semi-axle structure (6) are pressed tightly against the two end surfaces of the center portion of the terminal output cable drum (1), and an encoder is also installed on the first supporting plate shell (41) or the second supporting plate shell (42).

2. The robot end joint based on tendon motion control according to claim 1, characterized in that: Circular through holes or circular slots are provided on both end surfaces of the central portion of the terminal output reel (1), and the inner ends of the first semi-axle structure (5) and the second semi-axle structure (6) both have inner step rings, which are clamped in the circular through holes or circular slots.

3. The robot end joint based on tendon motion control according to claim 1 or 2, characterized in that: Bearing structures are installed at the outer ends of the first semi-axle structure (5) and the second semi-axle structure (6), and the outer ends of the first semi-axle structure (5) and the second semi-axle structure (6) both have outer step ring platforms, and the bearing structures are arranged closely against the outer step ring platforms.

4. The robot end joint based on tendon motion control according to claim 3, characterized in that: Circular slots (11) are provided on both end surfaces of the central portion of the terminal output reel (1); the inner ends of the first semi-axial structure (5) and the second semi-axial structure (6) respectively have a first inner stepped ring platform (51) and a second inner stepped ring platform (61); the first inner stepped ring platform (51) and the second inner stepped ring platform (61) are respectively tightly fitted with the two circular slots (11).

5. The robot end joint based on tendon motion control according to claim 4, characterized in that: The first semi-axle structure (5) and the second semi-axle structure (6) are shaft sleeve structures with hollow holes, and corresponding hollow holes and a through hole group are provided between the bottom walls of the two circular slots (11) facing each other.

6. The robot end joint based on tendon motion control according to claim 5, characterized in that: A radial magnet (52) is installed at the end of the hollow hole of the first semi-axle structure (5), an encoder mounting platform (45) is provided in the first supporting plate shell (41), and an absolute encoder (7) is mounted on the encoder mounting platform (45) via screws.

7. The robot terminal joint based on tendon motion control according to any one of claims 1-2 or 4-6, characterized in that: The bolt hole of the first semi-axle structure (5) is a threaded hole, and the bolt hole of the second semi-axle structure (6) is a smooth through hole. A fastening bolt (62) is installed in the smooth through hole of the second semi-axle structure (6), and the fastening bolt (62) passes through the smooth through hole and cooperates with the threaded hole.

8. The robot terminal joint based on tendon motion control according to any one of claims 1-2 or 4-6, characterized in that: The terminal structure (3) is a narrow foot plate structure, which comprises a front foot plate portion (32), a rear heel plate portion (33) and a sole portion (34), wherein the front foot plate portion (32) and the rear heel plate portion (33) are respectively arranged on both sides of the sole portion (34), and the front foot plate portion (32), the rear heel plate portion (33) and the sole portion (34) are integrally formed to form the narrow foot plate structure, and an arc-shaped mounting portion (36) is arranged on the upper side of the sole portion (34); The arc-shaped mounting portion (36) includes a first supporting arc plate (361) and a second supporting arc plate (362), the first supporting arc plate (361) and the second supporting arc plate (362) being arranged relative to each other at a distance, the lower side of the terminal output cable drum (1) being arranged between the first supporting arc plate (361) and the second supporting arc plate (362), and the upper sides of the first supporting arc plate (361) and the second supporting arc plate (362) being arc-shaped, and a cable drum positioning arc boss (363) is provided on the inner side surface opposite to the first supporting arc plate (361) and the second supporting arc plate (362) for mounting and positioning the terminal output cable drum (1).

9. The robot end joint based on tendon motion control according to claim 8, characterized in that: Protective flanges (364) are respectively provided at the outer side edge positions of the first supporting arc plate (361) and the second supporting arc plate (362); corresponding threaded hole groups (365) are opened on the sides of the first supporting arc plate (361), the second supporting arc plate (362) and the terminal output cable drum (1); the threaded hole group (365) is provided on the inner side of the protective flange (364); the threaded hole group (365) is composed of a plurality of threaded holes uniformly arranged along the concentric arc direction of the terminal output cable drum (1); and fastening screw structures are respectively installed in the threaded hole groups (365) of the first supporting arc plate (361) and the second supporting arc plate (362).

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