The invention relates to a line pipe and rope transmission system used for driving robot joints. The line pipe and rope transmission system used for driving the robot joints comprises a primary rod, a secondary rod and a joint. The joint is formed by a driving wheel which is fixed on the secondary rod. A line fixing frame is arranged on the primary rod in a fixed mode. A stepped hole is formed in the line fixing frame. A line pipe is connected with one end of the stepped hole. A rope is installed in the line pipe. The line pipe and the rope are separated through the stepped hole in the line fixing rod. One point of the rope is fixed on the driving wheel. The line pipe is connected with a fixing frame which is arranged at the tail end of the transmission system through a line adjusting device. A line adjusting screw is installed on the fixing frame on the tail end of the transmission system. A stepped hole is formed in the line adjusting screw. The line pipe and the rope are separated through the stepped hole. A power producer is arranged at the tail end of the transmission system. The transmission process is achieved through driving of the power producer. Due to the fact that the power producer and an actuating member are separated, the line pipe and rope transmission system used for driving the robot joints is simple in structure, flexible in layout, convenient to adjust, high in efficiency and strong in operability.