Leg control mechanism for tendon-driven bionic robot

Abstract

A leg control mechanism for a tendon-driven bionic robot, the leg control mechanism comprising at least one rotary driving device and at least one leg support structure, wherein the rotary driving device is arranged at one end of the leg support structure, an output wire spool structure is rotationally mounted at the other end of the leg support structure and is configured to be connected to a driven control member, a transmission wheel disk structure is provided at an output end of the rotary driving device, a transmission wire drive structure is sleeved between the output wire spool structure and the transmission wheel disk structure, and the transmission wire drive structure forms a tensioned loop state between the output wire spool structure and the transmission wheel disk structure. The leg control mechanism for a tendon-driven bionic robot has high flexibility and compactness, high control stability and precision and a large driving force, fatigue fractures can be avoided, and the service life is prolonged.

Description

A leg control mechanism for a tendon-inspired robot

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411504737.7, filed on October 26, 2024, entitled “A Leg Control Mechanism for a Tendon-Aspirated Robot,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the technical field of humanoid robots, and more specifically to a leg control mechanism for a tendon-inspired robot. Background Technology

[0004] In the field of humanoid robot research and development and manufacturing, the joint drive of robots has always been a key technology that restricts the development of robots. The current mainstream solution is to form a joint drive by a motor and a reducer (planetary reducer, cycloidal reducer and harmonic reducer), also known as a joint module. Then, joint modules of different sizes are connected in series as needed to form a robotic arm, robot arm or leg of a legged robot, etc. The biggest advantage of this technical solution is modular design and convenient maintenance, but it cannot achieve remote drive, resulting in a large end rotational inertia.

[0005] One technology uses biomimetic techniques to achieve remote actuation through contraction, such as in linear joint modules. These modules utilize a combination of a motor and a lead screw, along with a linkage mechanism, to achieve joint oscillation, thus reducing rotational inertia. Currently, the best way to reduce rotational inertia is to place the motor and reducer at the base and then drive other rotary joints via a remote transmission scheme. Remote transmission schemes include belt drives, synchronous belt drives, reel drives, and rope drives. However, belt drives and reel drives suffer from drawbacks such as large size, low torque transmission, and insufficient rigidity. Reel drives have lower transmission accuracy and more complex tensioning systems.

[0006] Cable drives, similar to muscles or tendons, offer advantages such as high rigidity, small footprint, and the ability to achieve multi-stage coupling transmission. Cable drive systems also have significant advantages in distal drive applications. For example, because the heavy and bulky drive components are concentrated in the base of the end of the robotic hand or arm, rather than being distributed across various joints, the weight of each part of the joint is greatly reduced, making the joints and robotic arms more flexible and agile, while also reducing drive energy consumption.

[0007] In the prior art, patent document CN113894840A discloses a rope-driven flexible robotic arm, including several links and ropes that pass through the links in sequence and are distributed circumferentially. Universal joints connect adjacent links. One end of each rope passes through the root link and is connected to a drive structure, while the other end passes through and is fixed to the free end link. Several circumferentially distributed return springs are also connected between adjacent links. The elastic coefficients of the different return springs gradually increase from the free end link towards the root link. This invention connects return springs between adjacent links, enabling the robotic arm to return to its original position and enhancing its overall strength. Furthermore, the gradually increasing elastic coefficients of the return springs from the free end towards the root provide elastic force and return tension at different positions of the robotic arm, ensuring stability during posture adjustments.

[0008] The above-mentioned technical solution achieves control of the robotic arm joints by pulling with ropes and using return springs. Although it has the flexibility and dexterity of tendon-driven systems, the ropes suddenly generate huge tension to drive joint movements, which can lead to problems such as rope fatigue and short lifespan. Furthermore, the return springs used can cause problems such as insufficient control stability, control accuracy, and driving torque, making it difficult to meet the motion control requirements of robots that perform delicate work or robots with excessively large driving torques.

[0009] Public content

[0010] To address the shortcomings of existing humanoid robot technology, this disclosure proposes a leg control mechanism for a tendon-like driven robot that possesses extremely high flexibility and dexterity, high control stability and precision, large driving torque, and can avoid fatigue fracture and extend service life.

[0011] The specific technical solution is as follows:

[0012] A leg control mechanism for a tendon-inspired robot includes at least one rotary drive device and at least one leg support structure. The rotary drive device is located at one end of the leg support structure, and an output coil structure is rotatably mounted at the other end of the leg support structure, configured to connect to a driven control component. A transmission wheel structure is provided at the output end of the rotary drive device, and a transmission wire drive structure is sleeved between the output coil structure and the transmission wheel structure, and the transmission wire drive structure forms a taut loop between the output coil structure and the transmission wheel structure.

[0013] Optionally, the drive structure includes an anti-bending chain drive structure or a flexible drive structure, which cooperates with the transmission wheel structure. Cable structures are connected to both ends of the anti-bending chain drive structure or the flexible drive structure, and these cable structures cooperate with the output wheel structure.

[0014] Optionally, the transmission wheel structure is a sprocket or a synchronous belt pulley, and the transmission drive structure includes a chain or synchronous belt and metal cables connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley, and the other ends of the two metal cables are fastened to the output wheel structure and / or the driven control component. At least one of the metal cables is fastened to the output wheel structure and / or the driven control component by a tension adjustment structure.

[0015] Optionally, the rotary drive device is a motor module.

[0016] Optionally, the outer diameter of the transmission wheel structure ranges from 10mm to 45mm, the outer diameter of the output coil structure ranges from 40mm to 200mm, and the diameter of the metal cable is no greater than 5mm.

[0017] Optionally, the tension adjustment structure includes an adjustment screw and a clamping adjustment nut structure. The clamping adjustment nut structure is sleeved on the adjustment screw, and the front end of the adjustment screw is connected to a metal cable. A cable end holder is provided on the output coil structure and / or the driven control component, and the clamping adjustment nut structure is clamped on the cable end holder.

[0018] Optionally, the rear end of the adjusting screw is further provided with a limiting clamping cap structure, and a through hole is provided in the center of the adjusting screw, through which the metal cable passes and is clamped at the limiting clamping cap structure.

[0019] Optionally, it includes two rotary drive devices, two leg support structures, and two output cable reel structures, namely a first rotary drive device, a second rotary drive device, a thigh support, a calf support, a first output cable reel, and a second output cable reel. The first rotary drive device and the second rotary drive device are both mounted on the top of the thigh support. The first output cable reel and the top of the calf support are rotatably mounted on the bottom of the thigh support through the same rotating shaft structure, and the first output cable reel is fixedly connected to the top of the calf support. The calf support serves as the first driven control element, and the second output cable reel is rotatably mounted on the bottom of the calf support and configured to connect to the second driven control element.

[0020] A first transmission wheel and a second transmission wheel are respectively provided at the output ends of the first and second rotary drive devices. A first transmission wire drive structure is sleeved between the first transmission wheel and the first output wire spool, and a second transmission wire drive structure is sleeved between the second transmission wheel and the second output wire spool. An idler wire spool is also rotatably installed at the bottom of the thigh support or the top of the calf support, and the second transmission wire drive structure is tightly wound around the idler wire spool and then tightly wound around the second output wire spool.

[0021] Optionally, the first and second transmission wheel discs are transmission sprockets, and the first and second transmission wheel discs are arranged side by side independently. The second transmission wire drive structure consists of a chain structure, a first steel cable pull structure, and a second steel cable pull structure. One end of the first and second steel cable pull structures is fixedly connected to the two ends of the chain structure through a crimp connector, and the chain structure meshes with the transmission sprocket. After the first and second steel cable pull structures are tightly wound around the idler reel, they are tightly wound with the second output reel. The other end of the first steel cable pull structure is provided with a pull end, and a pull end locking hole is provided on the side of the second output reel. The pull end is locked in the pull end locking hole. The other end of the second steel cable pull structure is provided with a tension adjustment structure.

[0022] Optionally, the outer diameters of the second transmission wheel and the second output wheel are both smaller than the outer diameter of the idler wheel, and the first and second steel cable pulling structures are arranged to cross and tightly wind the cables between the idler wheel and the second output wheel.

[0023] The beneficial effects of this embodiment are as follows: by forming a taut loop between the output reel structure and the transmission wheel structure through the transmission wire drive structure, the impact torque of the transmission is avoided during the motion control process, there is no vacuum distance of transmission loosening, and the slippage of the steel cable pull structure of the transmission wire drive structure on the reel is avoided, resulting in high control stability and accuracy, extremely high flexibility and ingenuity, avoiding fatigue fracture and extending service life;

[0024] Then, by designing a section of the transmission drive structure fitted onto the transmission wheel as a chain or synchronous belt-like anti-bending chain drive structure or a flexible drive structure, and the transmission wheel structure using a matching sprocket or synchronous belt pulley, the diameter of the transmission wheel structure can be designed to be smaller. This allows for a larger reduction ratio and greater transmission torque, and prevents fatigue fracture due to excessive bending at the transmission wheel. This significantly improves both the driving torque and the overall service life of the transmission drive structure. Connecting metal cables to both ends of the chain or synchronous belt-like anti-bending chain drive structure or flexible drive structure allows for easy simultaneous tensioning of both sides, reducing the complexity of the rope drive system installation. A tension adjustment structure is also included to facilitate tensioning of the transmission drive structure and adjust the tension to adapt to robot motion control, making later maintenance easier. Attached Figure Description

[0025] Figure 1 is a schematic diagram illustrating the overall application of the embodiments of this disclosure.

[0026] Figure 2 is a schematic diagram of the installation structure of the first drive wire structure and the second drive wire structure in the embodiments of this disclosure.

[0027] Figure 3 is a schematic diagram of the transmission of the first drive wire structure and the second drive wire structure in the embodiments of this disclosure.

[0028] Figure 4 is a schematic diagram of the transmission of the second drive-line structure in an embodiment of this disclosure.

[0029] Figure 5 is a schematic diagram of the transmission of the first drive-line structure in the embodiment of this disclosure.

[0030] Figure 6 is a schematic diagram of the tension adjustment structure in an embodiment of this disclosure.

[0031] Explanation of reference numerals in the attached drawings: First rotary drive device 1; Second rotary drive device 2; Thigh support 3; Lower leg support 4; First output cable reel 5; Second output cable reel 6; First transmission cable drive structure 7; Second transmission cable drive structure 8; Tension adjustment structure 9; Idler cable reel 10; First transmission wheel 101; Second transmission wheel 201; Chain structure 81; First steel cable tension structure 82; Second steel cable tension structure 83; Adjusting screw 91; Tightening adjusting nut structure 92; Limiting clamping cap structure 93. Detailed Implementation

[0032] The preferred embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this disclosure can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this disclosure.

[0033] In the description of this disclosure, it should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0034] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0035] As shown in Figures 1, 2, 3, 4, 5, and 6: A leg control mechanism for a tendon-inspired robot includes two rotary drive devices, two leg support structures, and two output coil structures, namely a first rotary drive device 1, a second rotary drive device 2, a thigh support 3, a lower leg support 4, a first output coil 5, and a second output coil 6. It is also possible to have one or more rotary drive devices, leg support structures, and output coil structures, the number of which depends on the required number of degrees of freedom.

[0036] The first rotary drive device 1 and the second rotary drive device 2 are both mounted on the top of the thigh support 3. Both are motor modules; however, other rotary drive devices such as hydraulic motors or pneumatic motors are also possible, but motor modules are currently the best choice. The first output coil 5 and the top of the lower leg support 4 are rotatably mounted on the bottom of the thigh support 3 via the same shaft structure. The first output coil 5 is fixedly connected to the top of the lower leg support 4, which serves as the first driven control component. The second output coil 6 is rotatably mounted on the bottom of the lower leg support 4, configured to connect to the second driven control component. This second driven control component, typically a footplate structure, is used in robot legs.

[0037] A first transmission wheel 101 and a second transmission wheel 201 are respectively provided at the output ends of the first rotary drive device 1 and the second rotary drive device 2. A first transmission wire drive structure 7 is sleeved between the first transmission wheel 101 and the first output wire spool 5, and a second transmission wire drive structure 8 is sleeved between the second transmission wheel 201 and the second output wire spool 6. An idler wheel spool 10 is also rotatably mounted at the bottom of the thigh support 3 or the top of the calf support 4. The idler wheel spool 10 can be set separately, but it is best that the idler wheel spool 10 and the first output wire spool 5 are rotatably mounted between the bottom of the thigh support 3 or the top of the calf support 4 through the same rotating shaft structure. The second transmission wire drive structure 8 is tightly wound around the idler wheel spool 10 and then tightly wound around the second output wire spool 6. Similarly, the first transmission... The wire drive structure 7 is tightly wound around the first transmission wheel 101, forming a taut loop with the first output wire drive 5, i.e., forming a closed loop. This closed loop is not a physical loop structure of the transmission wire drive structure, but a closed loop structure in terms of transmission relationship. That is, it includes both the transmission wire drive structure being a complete loop structure and the two ends of the transmission wire drive structure being connected to synchronously moving objects to form a closed loop only in terms of transmission relationship. For example, the two ends of the transmission wire drive structure are fixed to the first transmission wire drive or the second transmission wire drive or other synchronously moving objects. Furthermore, the transmission wire drive structure is wound around the output wire drive structure, but it does not necessarily have to be wound all the way, because the more it is wound, the more serious the coupling interference of the transmission wire drive structure on the output wire drive structure will be.

[0038] The first transmission wheel 101 and the second transmission wheel 201 are transmission sprockets, and the first transmission wheel 101 and the second transmission wheel 201 are arranged side by side independently, that is, coaxial and side by side but rotating independently without affecting each other. The second transmission line drive structure 8 is composed of a chain structure 81, a first steel cable tension structure 82 and a second steel cable tension structure 83. The first steel cable tension structure 82 and the second steel cable tension structure 83 can be replaced with other metal cables or ropes with high load-bearing capacity; similarly, the chain structure 81 can be replaced with a synchronous belt or other bending-resistant chain drive structure or a flexible line drive structure. The transmission wheel structure adopts a matching synchronous pulley or other structure. For example, as long as the pulley is designed not to slip, a pulley can also be used; the first steel cable tension structure 82 and the second steel cable tension structure 83... The ends are fixedly connected to the two ends of the chain structure 81 by crimp connectors 83, and the chain structure 81 meshes with the transmission sprocket. The first steel cable pull structure 82 and the second steel cable pull structure 83 are tightly wound with the idler reel 10 and then tightly wound with the second output reel 6. The other end of the first steel cable pull structure 82 is provided with a pull end, and a pull end locking hole is provided on the side of the second output reel 6. The pull end is locked in the pull end locking hole. The pull end can also be fixed by clamping or welding on the driven control component, but this is easy to cause interference or breakage and is not easy to repair. The other end of the second steel cable pull structure 83 is provided with a tension adjustment structure 9. The second steel cable pull structure 83 is fastened to the output reel structure or the driven control component through the tension adjustment structure 9.

[0039] The aforementioned tension adjustment structure 9 includes an adjustment screw 91 and a clamping adjustment nut structure 92. The clamping adjustment nut structure 92 is sleeved on the adjustment screw 91, and the front end of the adjustment screw 91 is connected to the steel cable pull structure. A pull end holder is provided on the output coil structure and / or the driven control component. The clamping adjustment nut structure 92 is clamped on the pull end holder. A limit clamping cap structure 93 is also provided at the rear end of the adjustment screw 91. A through hole is provided in the center of the adjustment screw 91. The steel cable pull structure passes through the through hole to the limit clamping cap structure 93 and is clamped. That is, the limit clamping cap structure 93 serves as both an end limit and a pressure joint. The steel cable pull structure can also be directly welded to the front end of the adjustment screw 91, but its tension and breakage protection will be limited.

[0040] Similarly, the first transmission drive structure 7 and the second transmission drive structure 8 have the same structure, but the first transmission drive structure 7 is a linear transmission between the first transmission wheel 101 and the first output wheel 5, without the need for an idler wheel. That is, when the transmission drive structure involves flexible changes in the transmission direction, an idler wheel needs to be set to assist in stabilizing the transmission and changing the direction. Multiple idler wheels can be set for multiple changes in the transmission direction. Of course, in scenarios where only linear transmission driving force is needed, there is no need for an idler wheel, and only the first transmission drive structure 7 can be set. The second rotary drive device 2 can also be set to linear transmission driving force at the same time, driving different components or different degrees of freedom of the same component at the bottom of the thigh support 3.

[0041] The outer diameter range of the aforementioned transmission sprockets is 10mm-45mm, meaning the outer diameter range of the first transmission sprocket 101 and the second transmission sprocket 201 is 10mm-45mm. The outer diameter range of the output sprocket structure is 40mm-200mm, meaning the outer diameter range of the first output sprocket 5 and the second output sprocket 6 is 40mm-200mm. Furthermore, the diameter of the cable tension structure is less than or equal to 5mm. This is because the ratio of the sprocket diameter to the cable tension structure's wire diameter directly affects the cable tension structure's service life. The cable tension structure diameter is optimally selected based on the outer diameter of the output sprocket and / or idler sprocket and the actual load-bearing requirements. Selecting a wire (tension cable) less than 5mm in diameter based on different tension requirements is already... It can meet the load-bearing requirements of general robots. For example, a steel wire with a diameter of 2.5mm can withstand a tensile force of up to 3000 Newtons. Conversely, the lower limit of the outer diameter range of the output coil structure is indirectly determined based on the diameter of the minimum load-bearing capacity of the steel cable pull structure, and the upper limit of the outer diameter range of the output coil structure is determined based on the optimal appearance size range of the robot's legs. Therefore, the outer diameter of the output coil structure can be set to be larger than that of the transmission sprocket. Under the condition that the wire diameter of the steel cable pull structure has sufficient load-bearing capacity, the output coil structure with a larger outer diameter will not affect the service life of the steel cable pull structure. However, if the transmission wheel with a smaller outer diameter also directly adopts a coil and is fitted with a steel cable pull structure, the service life of the steel cable pull structure will be greatly reduced.

[0042] Specifically, the transmission wheel connected to the power output end of a typical rotary drive device such as a motor module provides the source power for remote transmission. The target joint acts as the output reel, and the ratio of the diameters of the transmission wheel and the output reel is the reduction ratio. The larger the reduction ratio, the greater the torque that can drive the target joint. However, due to the limitation that the diameter of the robot's output reel cannot be too large and the diameter of the transmission wheel cannot be too small, the reduction ratio of tendon-driven cable transmission is generally within 5, and its service life is also insufficient. In contrast, the reduction ratio of the aforementioned composite transmission cable drive structure can reach up to 20. The size of the output reel directly determines the shape and size of the rotary joint. Generally, in robotic applications, the length and width of this joint shape do not exceed 200mm. This ensures sufficient maneuverability while avoiding a bulky and unsightly joint.

[0043] Furthermore, the diameter of the transmission wheel is also limited by the lifespan of the wire rope. According to test and experimental data, the ratio of the spool diameter to the wire rope diameter must be greater than 25 to effectively guarantee the service life of the wire rope. Of course, the larger the ratio, the longer the service life of the wire rope will be. In the above scheme, the ratio of the spool diameter to the wire diameter is at least 30. Assuming a 2mm wire rope is used, the spool diameter must be at least 50mm. With a transmission wheel diameter of 50mm, and based on the general maximum reduction ratio of 5, the output spool diameter would be 250mm. This is not conducive to the miniaturization and weight reduction of the robot, nor is it conducive to improving the robot's load-bearing capacity.

[0044] Therefore, the transmission wheel section uses transmission sprockets or synchronous belt pulleys and corresponding chains or synchronous belts. The transmission sprockets or synchronous belt pulleys can be made small enough not to fatigue and break due to excessive bending at the transmission wheel, thus greatly improving the driving torque and significantly extending the overall service life of the transmission drive structure. Compared to single chain drives and synchronous belt drives, this composite transmission drive structure allows for easier and more precise transmission by simultaneously tightening both sides, avoiding slippage on the cable pulley and preventing impact-type transmission forces, thereby also improving service life.

[0045] The outer diameters of the second transmission wheel 201 and the second output wheel 6 are both smaller than the outer diameter of the idler wheel 10. This facilitates increasing the transmission ratio and torque while allowing the end joint to be made more delicate and lightweight. The first steel cable tension structure 82 and the second steel cable tension structure 83 are arranged with cross-threaded cables tightly wound between the idler wheel 10 and the second output wheel 6. Intersecting through holes are also provided at both ends of the lower leg support 4, allowing the first steel cable tension structure 82 and the second steel cable tension structure 83 to pass through each other, making the overall design more flexible and delicate. Furthermore, it can change the direction of the torque transmission of the coil. Since the outer diameter of the second output coil 6 is smaller than the outer diameter of the idler coil 10, the normal cable pulling method will result in insufficient wrapping force on the second output coil 6, requiring each cable to be wrapped an extra turn on the output coil. However, the extra wrapping will cause coupling interference during the control process. The cross-pulling of the first steel cable pulling structure 82 and the second steel cable pulling structure 83 on the second output coil 6 provides a stronger wrapping force, so the cable does not need to be wrapped an extra turn on the second output coil 6. Normal wrapping and covering are sufficient.

[0046] The above solution forms a taut loop between the output reel structure and the transmission wheel structure through the drive-wire structure, avoiding the bearing of impact transmission torque during motion control, eliminating the vacuum distance of transmission loosening, and preventing slippage of the steel cable pull structure on the reel. This results in high control stability and precision, extremely high flexibility and ingenuity, avoidance of fatigue fracture, and extended service life.

[0047] Although embodiments of the present disclosure have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the appended claims. Industrial applicability

[0048] In summary, the embodiments of this disclosure provide a leg control mechanism for a tendon-inspired robot, which has extremely high flexibility and sophistication, high control stability and accuracy, and large driving torque, which can avoid fatigue fracture and extend service life.

Claims

1. A leg control mechanism for a tendon-inspired robot, characterized in that: It includes at least one rotary drive device and at least one leg support structure. The rotary drive device is located at one end of the leg support structure, and an output coil structure is rotatably mounted at the other end of the leg support structure, configured to connect to the driven control component. A transmission wheel structure is provided at the output end of the rotary drive device, and a transmission wire drive structure is sleeved between the output coil structure and the transmission wheel structure. The transmission wire drive structure forms a taut loop between the output coil structure and the transmission wheel structure.

2. The leg control mechanism of the tendon-like driven robot according to claim 1, characterized in that: The drive structure includes an anti-bending chain drive structure or a flexible drive structure, which cooperates with the transmission wheel structure. Cable structures are connected to both ends of the anti-bending chain drive structure or the flexible drive structure, and these cable structures cooperate with the output wheel structure.

3. The leg control mechanism of the tendon-like driven robot according to claim 1 or 2, characterized in that: The transmission wheel structure is a sprocket or a synchronous belt pulley. The transmission line drive structure includes a chain or synchronous belt and metal cables connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with the sprocket or synchronous belt pulley. The other ends of the two metal cables are fastened to the output wheel structure and / or the driven control component. At least one metal cable is fastened to the output wheel structure and / or the driven control component by a tension adjustment structure (9).

4. The leg control mechanism of the tendon-like driven robot according to claim 3, characterized in that: The rotary drive device is a motor module.

5. The leg control mechanism of the tendon-like driven robot according to claim 3, characterized in that: The outer diameter of the transmission wheel structure ranges from 10mm to 45mm, the outer diameter of the output coil structure ranges from 40mm to 200mm, and the diameter of the metal cable is no greater than 5mm.

6. The leg control mechanism of the tendon-like driven robot according to claim 3, characterized in that: The tension adjustment structure (9) includes an adjustment screw (91) and a clamping adjustment nut structure (92). The clamping adjustment nut structure (92) is sleeved on the adjustment screw (91), and the front end of the adjustment screw (91) is connected to a metal cable. A cable end holder is provided on the output coil structure and / or the driven control component, and the clamping adjustment nut structure (92) is clamped on the cable end holder.

7. The leg control mechanism of the tendon-like driven robot according to claim 6, characterized in that: The rear end of the adjusting screw (91) is also provided with a limiting clamping cap structure (93). A through hole is provided in the center of the adjusting screw (91), and the metal cable passes through the through hole to the limiting clamping cap structure (93) and is clamped.

8. The leg control mechanism of the tendon-like driven robot according to any one of claims 1-2 or 4-7, characterized in that: It includes two rotary drive devices, two leg support structures, and two output coil structures, namely a first rotary drive device (1), a second rotary drive device (2), a thigh support (3), a calf support (4), a first output coil (5), and a second output coil (6). The first rotary drive device (1) and the second rotary drive device (2) are both installed on the top of the thigh support (3). The top of the first output coil (5) and the calf support (4) are rotatably installed on the bottom of the thigh support (3) through the same rotating shaft structure. The first output coil (5) is fixedly connected to the top of the calf support (4). The calf support (4) serves as the first driven control element. The second output coil (6) is rotatably installed on the bottom of the calf support (4) and configured to connect to the second driven control element. A first transmission wheel (101) and a second transmission wheel (201) are respectively provided at the output ends of the first rotary drive device (1) and the second rotary drive device (2). A first transmission wire drive structure (7) is sleeved between the first transmission wheel (101) and the first output wire spool (5). A second transmission wire drive structure (8) is sleeved between the second transmission wheel (201) and the second output wire spool (6). An idler wire spool (10) is also rotatably installed at the bottom of the thigh support (3) or the top of the calf support (4). The second transmission wire drive structure (8) is tightly wound around the idler wire spool (10) and then tightly wound around the second output wire spool (6).

9. The leg control mechanism of the tendon-like driven robot according to claim 8, characterized in that: The first transmission wheel (101) and the second transmission wheel (201) are transmission sprockets, and the first transmission wheel (101) and the second transmission wheel (201) are arranged side by side independently. The second transmission line drive structure (8) consists of a chain structure (81), a first steel cable tension structure (82), and a second steel cable tension structure (83). One end of the first steel cable tension structure (82) and the second steel cable tension structure (83) are respectively fixedly connected to the two ends of the chain structure (81) through crimp connectors (83). The chain structure (81) meshes with the transmission sprocket. The first steel cable pull structure (82) and the second steel cable pull structure (83) are tightly wound with the idler spool (10) and the second output spool (6) respectively. The first steel cable pull structure (82) is provided with a pull end at the other end. The pull end is provided with a pull end locking hole on the side of the second output spool (6). The pull end is locked in the pull end locking hole. The second steel cable pull structure (83) is provided with a tension adjustment structure (9) at the other end.

10. The leg control mechanism of the tendon-like driven robot according to claim 9, characterized in that: The outer diameters of the second transmission wheel (201) and the second output wheel (6) are both smaller than the outer diameter of the idler wheel (10). The first steel cable pull structure (82) and the second steel cable pull structure (83) are arranged to cross and tightly wind the wires between the idler wheel (10) and the second output wheel (6).

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