Robot joint structure and robot

Abstract

The utility model relates to the technical field of industry, and discloses a robot joint structure and a robot, the robot joint structure is used for a lower limb of the robot, the lower limb of the robot comprises at least two supporting parts, the joint structure is arranged between the two supporting parts, and the joint structure mainly comprises a first connecting unit, a second connecting unit and a limiting piece; the two connecting units are connected through the rotating piece, and relative rotation or swing between the supporting parts is achieved. The first connecting unit is provided with a first limiting hole, and the second connecting unit is provided with a second limiting hole. The limiting piece is detachably connected to the two connecting units and can be embedded into the limiting hole to limit movement between the supporting parts. The robot joint structure aims at improving the stability and safety of the lower limbs of the robot, through accurate limiting control, unexpected activities caused by heavy loads are prevented, and the safety and reliability of the robot are ensured.

Description

Technical Field

[0001] The present application relates to the field of industrial technology, and further to a robot joint structure and a robot. Background Art

[0002] In modern industry and service industries, robotics is increasingly being used. The stability and reliability of lower limb joint structures are crucial, especially for robots designed to carry heavy loads. However, existing robot joint structures often suffer from inadequate stability and flexibility when faced with heavy loads. For example, existing robot lower limb joint structures, due to design flaws, may cause unexpected joint movement when subjected to unexpected impacts or unbalanced forces. For example, sudden joint movement could cause the upper body to topple over, affecting not only the robot's stability but also potentially posing a threat to the surrounding environment and personnel safety. Utility Model Content

[0003] In response to the above technical problems, the purpose of this application is to provide a robot joint structure and a robot that can improve the performance and reliability of the robot under high load conditions, thereby reducing the risk of joint failure and unexpected movement.

[0004] To achieve the above objectives, the present application provides a robot joint structure for a robot lower limb, wherein the robot lower limb includes at least two support portions, and the robot joint structure is formed between any two adjacent support portions, including:

[0005] a first connecting unit, provided at an end portion of one of the supporting portions;

[0006] a second connecting unit, disposed at an end portion of the other supporting portion, wherein the first connecting unit and the second connecting unit are connected via a rotating member to enable relative rotation or swinging of the two supporting portions, the first connecting unit having a first limiting hole extending through the axial direction thereof, and the second connecting unit having a second limiting hole extending through the axial direction thereof;

[0007] A limiting member forms a detachable connection relative to the first connecting unit and the second connecting unit, and can be operated to be simultaneously embedded in the first limiting hole and the second limiting hole in the use state, for limiting the relative rotation or swing between the two supporting parts.

[0008] In some embodiments, the number of the first limiting holes is at least two, the number of the second limiting holes corresponds to the number of the first limiting holes, and the first limiting holes and the second limiting holes are evenly distributed with the rotating member as the center.

[0009] In some embodiments, the limiting member includes a limiting column and a limiting cover plate, the number of the limiting columns is less than or equal to the number of the first limiting holes, and the limiting columns are fixed to one side surface of the limiting cover plate. In the usage state, the limiting columns are simultaneously inserted into the first limiting hole and the second limiting hole, and the limiting cover plate is attached to the corresponding end face of the first connecting unit or the second connecting unit.

[0010] In some embodiments, a first guide portion is provided at the end of the limiting column away from the limiting cover plate, and a second guide portion is provided at the opening of the first limiting hole and / or the second limiting hole close to the side of the limiting member. The first guide portion and the second guide portion are matched and are used to guide when the limiting column is inserted into the first connecting unit and / or the second connecting unit.

[0011] In some embodiments, the first connecting unit and the second connecting unit are flat plate structures;

[0012] When the limiting column is embedded in the first limiting hole and the second limiting hole, the second connecting unit is located between the first connecting unit and the limiting cover plate, so that the limiting cover plate can be attached to the side wall of the second connecting unit.

[0013] In some embodiments, a side wall of the second connecting unit is provided with a receiving groove, and the contour of the receiving groove is adapted to the contour of the limiting cover plate, so that the limiting cover plate can be at least partially embedded in the receiving groove.

[0014] In some embodiments, the robot joint structure further includes a third connecting unit, a fourth connecting unit, and a joint driving member;

[0015] The third connecting unit and the first connecting unit are spaced apart at one end of one of the support parts, and the fourth connecting unit and the second connecting unit are spaced apart at one end of the other support part. The third connecting unit and the fourth connecting unit are rotatably connected, and the output end of the joint driving component is connected to the third connecting unit or the fourth connecting unit to provide driving force for the relative rotation of the two support parts.

[0016] Another aspect of the present application also provides a robot, comprising:

[0017] The above-mentioned robot joint structure is used for the lower limbs of the robot;

[0018] Among them, the number of the support parts is three, and they are respectively distinguished as a first support part, a second support part, and a third support part. The first support part and the second support part are connected to form a knee joint of the robot, and the second support part and the third support part are connected to form an ankle joint of the robot. The robot joint structure is arranged at the knee joint and / or the ankle joint.

[0019] In some embodiments, each of the support parts includes at least one support body and at least one support plate, the support body is a rod-shaped structure, and the support plate has two end faces in opposite directions, one end face is connected to the support body, and the other end face is connected to the first connecting unit or the second connecting unit.

[0020] In some embodiments, the support body is an aluminum profile, and assembly holes are provided at both end portions of the support body for passing the locking member.

[0021] Compared with the prior art, the robot joint structure and robot provided in this application have the following features:

[0022] Beneficial effects:

[0023] 1. In the present application, by embedding the limiting parts of the connection units, the robot joint structure can precisely control and limit the movement between the supporting parts while ensuring the necessary flexibility. This not only enhances the impact resistance of the joints and reduces the risk of unexpected movement under high loads or accidental impacts, but also improves the reliability and adaptability of the robot under various working conditions, thereby ensuring the safety of the surrounding environment and personnel.

[0024] 2. In the present application, the setting of the limit column and the limit cover plate is convenient for the operator to take, and the limit column is not easily lost, making the joint structure easier to operate and maintain; in addition, by setting a first guide part on the limit column and a second guide part matching it in the limit hole, precise guidance is achieved when the limit column is inserted into the connecting unit, making the installation process of the limit column smoother.

[0025] 3. In this application, aluminum profiles are used as the main material for the robot support part, which can significantly reduce the robot's own weight, thereby reducing movement inertia and improving the robot's movement speed and flexibility. At the same time, the lightweight design reduces the impact force that may be generated by the robot during movement, thereby reducing potential safety threats to the surrounding environment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present application.

[0027] Figure 1 This is a schematic diagram of the assembly structure of an embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the overall structure of an embodiment of the present application;

[0029] Figure 3 This is a partial structural diagram of an embodiment of the present application;

[0030] Figure 4 This is a schematic structural diagram of a position limiting member in one embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the overall structure of a robot in one embodiment of the present application;

[0032] Figure 6 It is a structural diagram of the supporting body in one embodiment of the present application.

[0033] Explanation of the accompanying figures: support part 1; support body 101; assembly hole 1010; support plate 102; first support part 11; second support part 12; third support part 13; second guide part 200; first connecting unit 21; first limiting hole 210; second connecting unit 22; second limiting hole 220; accommodating groove 221; rotating part 3; limiting part 4; limiting column 41; first guide part 411; limiting cover plate 42; third connecting unit 51; fourth connecting unit 52; joint driving part 6; ankle joint 70; knee joint 80. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive work.

[0035] To simplify the drawings, only the portions relevant to the application are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0036] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0037] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0038] In the description of the present application, 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", "clockwise", "counterclockwise", "axial", "radial", "circumferential" 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 application 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 application.

[0039] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] Robotics is increasingly being used in modern industry and services, and the stability and reliability of lower limb joint structures are crucial, especially for robots designed to carry heavy loads. However, existing robot joint structures often suffer from insufficient stability when facing large loads.

[0041] For example, existing robot lower limb joint structures can experience unexpected movement when subjected to heavy loads due to design flaws in the joints, resulting in unexpected impacts or unbalanced forces. This unintended movement not only affects the robot's stability but can also pose a threat to the surrounding environment and personnel safety.

[0042] In these situations, the sudden movement of the robot joint may be due to the joint structure's inability to effectively absorb and distribute loads, resulting in a torque imbalance. This imbalance is essentially due to the limitations of the joint design, which prevents the joint from maintaining its intended position and motion trajectory in the face of sudden loads.

[0043] For the current problems, please refer to the attached manual. Figure 1 and Figure 2 The present application provides a robot joint structure that can ensure the stability of the robot's lower limbs under load conditions, which is conducive to providing a safe and reliable use environment.

[0044] The robot lower limbs include at least two support parts 1, and the robot joint structure is formed between any two adjacent support parts 1. Figure 1 The present application provides a robot joint structure, including a first connecting unit 21, a second connecting unit 22, and a limiting member 4.

[0045] Specifically, the first connection unit 21 is mounted on the end of one support portion 1, while the second connection unit 22 is mounted on the end of the other support portion 1. The two connection units are connected to each other via a rotating member 3, allowing the supports 1 to rotate or swing relative to each other, thereby providing the necessary freedom of movement for the robot.

[0046] More specifically, Figure 3 As shown, the first connecting unit 21 is provided with a first limiting hole 210 extending axially therethrough, and similarly, the second connecting unit 22 is provided with a second limiting hole 220. These limiting holes cooperate with the aforementioned limiting member 4, which forms a detachable connection with the first connecting unit 21 and the second connecting unit 22, allowing for quick installation or removal of the limiting member 4 at different stages of operation to accommodate different work requirements.

[0047] Furthermore, the limiting member 4 can be operated in the use state to be embedded in the first limiting hole 210 and the second limiting hole 220 at the same time, thereby limiting the relative rotation or swing between the supporting parts 1 and ensuring the stability of the joint structure when bearing load or impact.

[0048] It can be understood that by using the limiter 4, the relative movement between the support parts 1 can be accurately controlled to prevent excessive rotation or swinging, thereby improving the stability of the robot's lower limbs. At the same time, by limiting the unexpected movement of the support part 1 through the limiter 4, the safety risks caused by joint failure can be reduced, and the robot and its operating environment can be protected.

[0049] In a specific implementation, the first connecting unit 21 and the second connecting unit 22 can be fixed to the ends of the support portion 1 by bolts, pins, or other mechanical connection methods. For example, the first connecting unit 21 and the second connecting unit 22 are connected by a spherical joint, which allows the two support portions 1 to rotate relative to each other in multiple directions. Similarly, the rotating member 3 can be a bearing, a hinge, or other mechanical component that allows rotational motion.

[0050] Based on the above embodiment, in one embodiment, the position-limiting member 4 can be connected to the robot's lower limb via a component similar to a connecting rope. This connecting rope not only provides a simple and effective connection method, but also ensures that the position-limiting member 4 will not accidentally fall off during use. When position-limiting is required, the operator can easily remove the position-limiting member 4 and insert it into the first position-limiting hole 210 and the second position-limiting hole 220. When position-limiting is no longer required, the operator can quickly remove it, and the connecting rope prevents the position-limiting member 4 from being lost or falling off.

[0051] In order to further improve the storage safety and convenience of the limiter 4, a dedicated slot can be provided on the lower limb of the robot for temporarily storing the unused limiter 4, thereby reducing the shaking of the limiter 4 on the lower limb of the robot, thereby reducing the interference or damage that may be caused by the shaking of the limiter 4.

[0052] In one embodiment, the number of the first limiting holes 210 is at least two, and the number of the second limiting holes 220 corresponds to the number of the first limiting holes 210, ensuring that the relative rotation or swing between the two support parts 1 can be limited at multiple points, thereby providing more precise motion control.

[0053] More specifically, the first limiting holes 210 and the second limiting holes 220 are evenly distributed with the rotating member 3 as the center. The layout ensures uniform force distribution at various positions, reduces local stress concentration, and thus improves the durability and reliability of the joint.

[0054] In addition, a redundant design is formed by the multiple limiting holes on each connection unit. Even if one limiting hole fails, the other limiting holes can still form a connection with the limiting part 4, thereby ensuring the protective effect of the robot joint structure in this embodiment on the joint.

[0055] Furthermore, as shown in the figure, each connection unit is provided with four limiting holes. Taking the first connection unit 21 as an example, the unit is provided with four first limiting holes 210, which are evenly distributed on the circumference with the rotating member 3 as the center.

[0056] It is understandable that the four first limiting holes 210 on the first connection unit 21 are evenly distributed on the circumference centered on the rotating member 3. This design ensures that the joint can obtain the same limiting support in any direction of 360 degrees, thereby providing comprehensive stability.

[0057] In one embodiment, Figure 4 As shown, the limiting member 4 includes a limiting column 41 and a limiting cover plate 42 . The number of the limiting columns 41 is less than or equal to the number of the first limiting holes 210 , and the limiting columns 41 are fixed to one side surface of the limiting cover plate 42 .

[0058] The limiting post 41 can be simultaneously engaged with the first limiting hole 210 and the second limiting hole 220 in the use state, thereby limiting the relative rotation or swing between the two support parts 1. In addition, in normal use, the limiting cover plate 42 is attached to the corresponding end surface of the first connecting unit 21 or the second connecting unit 22, providing a stable contact surface to ensure that the limiting post 41 is correctly embedded in the corresponding limiting hole.

[0059] Since the limiting column 41 is fixed on the limiting cover plate 42, it can be assembled, disassembled and inspected as a whole during maintenance, which reduces maintenance time and cost.

[0060] Optionally, the limiting column 41 is made of engineering plastic or rubber material with a certain elasticity. These materials can absorb the impact energy when the joint is impacted by the outside world, thereby reducing damage to the robot structure.

[0061] In addition, specific depressions or convex patterns can be provided on the limit cover plate 42 to provide additional gripping points, thereby reducing the possibility of hand slippage during operation, thereby improving the safety of operation, and making it easier for the operator to grasp the limit cover plate 42, and to operate accurately even in conditions of limited space or poor visibility.

[0062] In one embodiment, the limiting column 41 is provided with a first guide portion 411 at one end thereof away from the limiting cover plate 42. Accordingly, a second guide portion 200 is provided at the opening of the first limiting hole 210 and / or the second limiting hole 220 close to the limiting member 4.

[0063] The first guide portion 411 and the second guide portion 200 are designed to match. This matching design allows the limit post 41 to move smoothly along the predetermined path during insertion, reducing resistance and alignment difficulties during assembly. Furthermore, this precise guidance reduces assembly errors and damage to the limit post 41 or the limit hole, thereby improving the durability and reliability of the robot joint structure.

[0064] In a specific implementation, the first guide portion 411 of the limiting post 41 and the second guide portion 200 of the limiting hole optionally employ a design that utilizes a strip-shaped protrusion and a groove to cooperate. This allows the limiting post 41 to move smoothly along a predetermined path during insertion, similar to a sliding connection. This reduces resistance and alignment difficulty during assembly while ensuring the correct position and orientation of the limiting post 41 within the limiting hole. Furthermore, through the cooperation of the strip-shaped protrusion and the groove, the limiting post 41 is confined within a specific track, thereby preventing circumferential rotation within the limiting hole.

[0065] In addition, refer to the manual attached Figure 3 and Figure 4In one embodiment, the first guide portion 411 of the retaining post 41 is designed as an inclined conical surface, similar to a chamfer, which provides a smooth transition and guidance, while also dispersing contact stress and reducing friction and wear during insertion. Correspondingly, the second guide portion 200 also has an inclined conical surface, matching the first guide portion 411, effectively reducing errors during assembly and damage to the retaining hole and retaining post 41.

[0066] In one embodiment, the first connecting unit 21 and the second connecting unit 22 are flat-plate structures, which can effectively reduce the thickness of the robot's joints, allowing the two to be arranged more compactly in space, making the robot's joint structure thinner and lighter, which is beneficial to reducing the load and burden of the driving parts (motors) of the robot's lower limbs, and to a certain extent improving the dynamic response capability of the robot's lower limbs.

[0067] Furthermore, in the process of the limiting column 41 being embedded in the first limiting hole 210 and the second limiting hole 220, the second connecting unit 22 is clamped between the first connecting unit 21 and the limiting cover plate 42, and the limiting cover plate 42 is directly attached to the side wall of the second connecting unit 22. This sandwich structure provides additional support and enhances the stability of the entire joint structure.

[0068] Based on the above, if Figure 3 As shown, a side wall of the second connecting unit 22 is provided with a receiving groove 221, and the contour of the receiving groove 221 is adapted to the contour of the limiting cover plate 42, so that the limiting cover plate 42 can be at least partially embedded in the receiving groove 221 to form a tight fit.

[0069] As can be appreciated, the design of the receiving slot 221 provides several key functional advantages. First, it ensures the positional stability of the stopper cover 42 after installation, reducing potential movement or vibration of the stopper cover 42. Second, the installation and removal of the stopper cover 42 becomes simpler and faster, allowing operators to more easily align and insert the stopper cover 42 without requiring additional alignment or adjustment steps.

[0070] Optionally, elastic materials, such as springs or rubber pads, are integrated into the bottom or sidewalls of the receiving groove 221 to provide additional cushioning to prevent collisions with the limiting cover plate 42. Furthermore, in some embodiments, magnets or other magnetic materials are embedded in the receiving groove 221 and on the limiting cover plate 42 to form corresponding magnetic structures, thereby utilizing magnetic force to achieve close adsorption between the limiting cover plate 42 and the second connecting unit 22.

[0071] In one embodiment, the robot joint structure also includes a third connecting unit 51, a fourth connecting unit 52 and a joint driving component 6, the third connecting unit 51 and the first connecting unit 21 are spaced apart at one end of a support part 1, and the fourth connecting unit 52 and the second connecting unit 22 are spaced apart at one end of another support part 1.

[0072] like Figure 1 and Figure 2 As shown, a rotational connection is formed between the first connecting unit 21 and the second connecting unit 22, allowing the two connecting units to rotate relative to each other; similarly, a rotational connection is also formed between the third connecting unit 51 and the fourth connecting unit 52, allowing the two connecting units to rotate relative to each other.

[0073] The joint driving component 6 in this embodiment, such as an electric servo motor, a cylinder or a hydraulic cylinder, is connected to the third connecting unit 51 or the fourth connecting unit 52. Through the driving action of the joint driving component 6, the third connecting unit 51 or the fourth connecting unit 52 rotates, thereby driving the corresponding support part 1 to rotate relative to each other, thereby realizing the movement of the two support parts 1.

[0074] In this embodiment, the rotational connection formed by the two sets of connection units helps to improve the stability of the joint when bearing loads. In addition, in a further embodiment, the joint driver 6 is arranged in the space formed by the first connection unit 21 and the third connection unit 51. This can maximize the use of the joint structure space, thereby reducing the overall size of the joint structure.

[0075] In one embodiment, the reference Figure 5 According to another aspect of the present application, the present application further provides a robot comprising the robot joint structure in the above embodiment.

[0076] Specifically, if Figure 2 As shown, in this embodiment, there are three support parts 1, which are divided into a first support part 11, a second support part 12, and a third support part 13. The first support part 11 and the second support part 12 are connected to form the robot's knee joint 80. The second support part 12 and the third support part 13 are connected to form the robot's ankle joint 70. The robot joint structure is used in the robot's lower limbs, such as the knee joint 80 and ankle joint 70 mentioned above, to provide stability and prevent the upper body from tipping over due to the robot's excessive weight.

[0077] It should be noted that the robot joint mechanism can be independently set, that is, only set at the knee joint 80 or only set at the ankle joint 70, or can be set at the knee joint 80 and the ankle joint 70 at the same time, which is highly adaptable.

[0078] In one embodiment, more specifically, each support portion 1 includes at least one support body 101 and at least one support plate 102, the support body 101 is a rod-shaped structure, and the support portion 1 has two end faces in opposite directions, so that the support plate 102 can simultaneously connect the support body 101 and the connecting unit.

[0079] As shown in the figure, one end of the support plate 102 is connected to the support body 101, forming the calf or thigh structure of the robot's lower limb; the other end is connected to the first connecting unit 21 or the second connecting unit 22, thereby effectively connecting the support part 1 to other parts of the robot's lower limb through the connecting units. The rod-shaped support body 101 provides high rigidity and strength, ensuring the stability of the support part 1 when bearing loads.

[0080] In addition, the design of the support portion 1 can be customized according to different design requirements. For example, when a larger load needs to be supported, two or more support bodies 101 can be provided in one support portion 1. These support bodies 101 can be arranged in parallel or staggered to improve the stability and load capacity of the structure.

[0081] Moreover, in this embodiment, according to the different positions and parts of the robot's lower limbs, the movement accuracy and response speed of the joints can be improved by fixing the connection units on both sides of the support plate 102.

[0082] In one embodiment, the support body 101 is an aluminum profile. The use of the aluminum profile can not only reduce the weight of the robot, but also reduce the use of materials while maintaining the structural strength, thereby achieving a small-volume design.

[0083] As is understandable, aluminum alloy, with its low density and high strength, is a preferred material for lightweight design. In the design of the robot's lower limbs in this embodiment, aluminum profiles help reduce the weight of the entire robot, improving its maneuverability and energy efficiency.

[0084] Furthermore, Figure 6 As shown, assembly holes 1010 are opened at both side ends of the supporting body 101 of the aluminum profile, which facilitates the insertion of the locking parts, simplifies the assembly process, and enables the supporting body 101 to be quickly and firmly connected to other structural components, thereby improving assembly efficiency and structural reliability.

[0085] Based on the above, in some embodiments, the upper limb support structure of the robot also uses aluminum profiles, which is conducive to the lightweight and miniaturization of the robot as a whole.

[0086] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be considered as the scope of protection of the present application.

Claims

1. A robot joint structure, characterized in that: For a robot lower limb, wherein the robot lower limb includes at least two supporting parts, and the robot joint structure is formed between any two adjacent supporting parts, including: a first connecting unit, provided at an end portion of one of the supporting portions; a second connecting unit, disposed at an end portion of the other supporting portion, wherein the first connecting unit and the second connecting unit are connected via a rotating member to enable relative rotation or swinging of the two supporting portions, the first connecting unit having a first limiting hole extending through the axial direction thereof, and the second connecting unit having a second limiting hole extending through the axial direction thereof; A limiting member forms a detachable connection relative to the first connecting unit and the second connecting unit, and can be operated to be simultaneously embedded in the first limiting hole and the second limiting hole in the use state, for limiting the relative rotation or swing between the two supporting parts.

2. The robot joint structure according to claim 1, characterized in that: The number of the first limiting holes is at least two, the number of the second limiting holes corresponds to the number of the first limiting holes, and the first limiting holes and the second limiting holes are evenly distributed with the rotating member as the center.

3. The robot joint structure according to claim 2, characterized in that: The limiting member includes a limiting column and a limiting cover plate, the number of the limiting columns is less than or equal to the number of the first limiting holes, and the limiting columns are fixed to one side surface of the limiting cover plate. In the usage state, the limiting column is simultaneously inserted into the first limiting hole and the second limiting hole, and the limiting cover plate is attached to the corresponding end surface of the first connecting unit or the second connecting unit.

4. The robot joint structure according to claim 3, characterized in that: A first guide portion is provided at the end of the limiting column away from the limiting cover plate, and a second guide portion is provided at the opening of the first limiting hole and / or the second limiting hole close to the side of the limiting member. The first guide portion and the second guide portion are matched and are used to guide when the limiting column is inserted into the first connecting unit and / or the second connecting unit.

5. The robot joint structure according to claim 3, characterized in that: The first connecting unit and the second connecting unit are flat plate structures; When the limiting post is embedded in the first limiting hole and the second limiting hole, the second connecting unit is located between the first connecting unit and the limiting cover plate, so that the limiting cover plate can be attached to the side wall of the second connecting unit.

6. The robot joint structure according to claim 5, characterized in that: A receiving groove is provided on one side wall of the second connecting unit, and the contour of the receiving groove is adapted to the contour of the limiting cover plate, so that the limiting cover plate can be at least partially embedded in the receiving groove.

7. The robot joint structure according to any one of claims 1 to 6, characterized in that: The robot joint structure further includes a third connecting unit, a fourth connecting unit and a joint driving member; The third connecting unit and the first connecting unit are spaced apart at one end of one of the supporting parts, and the fourth connecting unit and the second connecting unit are spaced apart at one end of the other supporting part. The third connecting unit and the fourth connecting unit are rotatably connected, and the output end of the joint driving component is connected to the third connecting unit or the fourth connecting unit to provide driving force for the relative rotation of the two supporting parts.

8. A robot, characterized in that: include: The robot joint structure according to any one of claims 1 to 7, used for the lower limbs of the robot; Among them, the number of the support parts is three, and they are respectively distinguished as a first support part, a second support part, and a third support part. The first support part and the second support part are connected to form a knee joint of the robot, and the second support part and the third support part are connected to form an ankle joint of the robot. The robot joint structure is arranged at the knee joint and / or the ankle joint.

9. The robot according to claim 8, characterized in that Each of the support parts includes at least one support body and at least one support plate. The support body is a rod-shaped structure. The support plate has two end faces in opposite directions. One end face is connected to the support body, and the other end face is connected to the first connecting unit or the second connecting unit.

10. The robot according to claim 9, characterized in that The supporting body is made of aluminum profile, and both side ends of the supporting body are provided with assembly holes for passing the locking piece.

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