Robot leg structure and robot

Abstract

The utility model provides a robot leg structure and a robot, and relates to the technical field of robos.The robot leg structure comprises a driver, a transmission assembly, a horizontal supporting platform, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially hinged to form a quadrangle; the horizontal supporting platform is hinged to the end, away from the third connecting rod, of the second connecting rod, and the driver is used for driving the first connecting rod and the fourth connecting rod to synchronously rotate in opposite directions so as to drive the horizontal supporting platform to move in the vertical direction through the second connecting rod. The lifting motion of the horizontal supporting platform can be achieved only through one driver, and the number and the manufacturing cost of the drivers are reduced. Moreover, the mode that the first connecting rod and the fourth connecting rod synchronously rotate reversely can ensure that the horizontal supporting platform is always kept horizontal in the lifting process, so that the posture of the upper body of the robot is more stable, and the operation precision or stability is prevented from being influenced by inclination or shaking.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robot leg structure and a robot. Background Technology

[0002] The rapid development of robotics technology has permeated various fields, from industrial automation to home services, from medical care to military applications, and the scope of robot applications continues to expand. The application requirements of robots in these fields vary, which places higher demands on the leg structure of robots. In current technology, the leg structure of robots typically uses two independent actuators to drive the rotation of two joints respectively.

[0003] While this design grants robots high flexibility and mobility, it also presents several significant challenges. First, each actuator requires not only high-precision machining and assembly but also an independent control system and drive circuitry, leading to complex manufacturing processes and increased costs. Second, the precise coordination of each actuator's movement to ensure synchronized and coordinated motion between joints increases the difficulty of system development and may also result in higher energy consumption and greater control system complexity. Utility Model Content

[0004] The purpose of this application is to provide a robot leg structure and a robot in order to address the shortcomings of the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] One aspect of this application provides a robot leg structure, including a driver, a transmission assembly, a horizontal support platform, and a first link, a second link, a third link, and a fourth link that are sequentially hinged to form a quadrilateral. The driver is driven to the first link and the fourth link via the transmission assembly. The horizontal support platform is hinged to the end of the second link away from the third link. The driver is used to drive the first link and the fourth link to rotate synchronously in opposite directions, so as to drive the horizontal support platform to move in the vertical direction via the second link.

[0007] Optionally, the transmission assembly includes a first gear and a second gear. The driver is driven to connect to the first link via the first gear and to the fourth link via the second gear. The driver is used to drive the first gear and the second gear to rotate synchronously in opposite directions, so as to drive the first link and the fourth link to rotate synchronously in opposite directions.

[0008] Optionally, the second link includes a connecting section and an extension section connected in sequence. The two ends of the connecting section are hinged to the first link and the third link, respectively, and the horizontal support platform is hinged to the end of the extension section away from the connecting section.

[0009] Optionally, the robot leg structure also includes a base, a connector, and a fifth link, one end of which is hinged to the base, and the connector is hinged to the other end of the fifth link and the end of the first link away from the driver.

[0010] Optionally, the fifth link is hinged to the base at the first hinge point, the connector is hinged to the fifth link at the second hinge point, the connector is hinged to the first link at the third hinge point, the line connecting the rotation center of the first link to the first hinge point is parallel to the line connecting the second and third hinge points, and the fifth link is parallel to the first link.

[0011] Optionally, the robot's leg structure also includes a sixth link, one end of which is hinged to a connector, and the other end of which is hinged to the end of the horizontal support platform away from the second link.

[0012] Optionally, the connector is hinged to the second link at the third hinge point, the sixth link is hinged to the connector at the fourth hinge point, the sixth link is hinged to the horizontal support platform at the fifth hinge point, the second link is hinged to the horizontal support platform at the sixth hinge point, the line connecting the third and fourth hinge points is parallel to the line connecting the fifth and sixth hinge points, and the sixth link is parallel to the second link.

[0013] Optionally, the connector is a triangular structure, with one vertex of the triangular structure hinged to the first and second links at a third hinge point, and the other two vertices of the triangular structure hinged to the fifth and sixth links at a second and a fourth hinge point, respectively.

[0014] Optionally, the connecting member is a horizontal link, one end of which is hinged to the first link and the second link at the third hinge point, and the other end of which is hinged to the fifth link and the sixth link at the coincidence point of the second hinge point and the fourth hinge point.

[0015] Optionally, the robot's leg structure also includes a level sensor disposed on the horizontal support platform, which is used to detect the horizontal state of the horizontal support platform.

[0016] In another aspect of this application, a robot is provided, including a robot upper body structure and a robot leg structure of any of the above, wherein the robot upper body structure is mounted on a horizontal support platform of the robot leg structure.

[0017] The beneficial effects of this application include:

[0018] This application provides a robot leg structure, including a driver, a transmission assembly, a horizontal support platform, and four links sequentially hinged to form a quadrilateral. The driver is connected to the first and fourth links via the transmission assembly. The horizontal support platform is hinged to the end of the second link furthest from the third link. The driver drives the first and fourth links to rotate synchronously in opposite directions, thereby driving the horizontal support platform to move vertically via the second link. This application requires only one driver to achieve the lifting and lowering movement of the horizontal support platform, significantly reducing the number of drivers and the complexity of related control circuits, thus effectively reducing the system's manufacturing cost and debugging difficulty. The single-point drive design of the driver also reduces the need for synchronous coordination, further improving the system's reliability. Furthermore, the counter-rotation of the first and fourth links, through the geometric characteristics of the quadrilateral mechanism, drives the horizontal support platform to move vertically via the second link. Simultaneously, the hinged connection between the horizontal support platform and the far end of the second link ensures that the horizontal support platform remains horizontal during lifting and lowering, making the robot's upper body posture more stable and preventing tilting or swaying from affecting operational accuracy or stability. In addition, due to the relatively simple structure of multi-link mechanisms and actuators, the maintenance requirements of the system are significantly reduced. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a robot leg structure provided in an embodiment of this application;

[0021] Figure 2 A simplified diagram of a robot leg structure provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of a transmission component provided in an embodiment of this application.

[0023] Icons: 1-Driver; 21-First Link; 22-Second Link; 221-Connecting Section; 222-Extension Section; 23-Third Link; 24-Fourth Link; 3-Horizontal Support Platform; 41-First Gear; 42-Second Gear; 43-Driving Gear; 44-First Driven Gear; 45-Second Driven Gear; 5-Base; 6-Connector; 7-Fifth Link; 8-Sixth Link. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] In the description of this application, 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 refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] In existing technologies, robot leg structures typically employ two actuators to drive two joints, resulting in higher overall costs and increased control complexity. Furthermore, existing robot leg structures often struggle to maintain the horizontality of the upper body when moving it vertically, impacting operational accuracy and stability.

[0030] To address the aforementioned problems, one aspect of this application provides a robot leg structure, such as... Figures 1 to 3 As shown, the device includes a driver 1, a transmission assembly, a horizontal support platform 3, and four connecting rods 21, 22, 23, and 24, which are sequentially hinged to form a quadrilateral. The driver 1 drives the first connecting rod 21 and the fourth connecting rod 24 through the transmission assembly, causing them to rotate synchronously but in opposite directions during operation. The horizontal support platform 3 is hinged to the end of the second connecting rod 22 away from the third connecting rod 23, enabling vertical lifting and lowering. This design requires only one driver 1 to complete the lifting and lowering of the horizontal support platform 3, resulting in a simple and efficient structure.

[0031] Specifically, the output of the actuator 1 acts on the first link 21 and the fourth link 24 through a transmission assembly, causing the two links to rotate synchronously in opposite directions around the hinge point. This reverse rotation is transmitted to the second link 22 through the geometric characteristics of the quadrilateral structure, further driving the horizontal support platform 3 to move vertically. When the first link 21 and the fourth link 24 rotate towards each other, the horizontal support platform 3 is raised; when they rotate in opposite directions, the horizontal support platform 3 is lowered. Simultaneously, the hinged connection between the horizontal support platform 3 and the distal end of the second link 22 ensures that it remains horizontal throughout the lifting and lowering process. This coupled motion structure of the links not only optimizes the motion transmission path but also reduces the number of degrees of freedom that need to be controlled.

[0032] The drive unit 1 can be a high-torque motor, which transmits power to the hinge points of the first link 21 and the fourth link 24 via a gear set or chain drive assembly. The transmission assembly can be designed as a synchronous pulley or a differential transmission mechanism to ensure synchronicity between the first link 21 and the fourth link 24. Each link in the quadrilateral structure can be made of high-strength, lightweight materials (such as aluminum alloy or carbon fiber composites) to reduce overall weight and enhance the system's response speed and load-bearing capacity. Furthermore, the hinge points of the horizontal support platform 3 can be equipped with rolling bearings or sliding bearings to reduce kinetic friction and improve the smoothness of lifting.

[0033] In summary, the robot leg structure provided in this application embodiment can achieve the vertical lifting and lowering of the horizontal support platform 3 using only one actuator 1. This greatly simplifies the complexity of the robot leg structure, reduces manufacturing costs and system control difficulty. The single-point drive design of the actuator 1 also reduces the need for synchronization and coordination, further improving system reliability. Simultaneously, the horizontal support platform 3 maintains a horizontal posture throughout the lifting and lowering process, making the robot's upper body posture more stable and preventing operational accuracy or stability from being affected by tilting or swaying. Furthermore, due to the simple structure and high reliability of the multi-link mechanism and actuator 1, the system's maintenance requirements are significantly reduced, making it suitable for robots requiring lightweight and high efficiency.

[0034] Optionally, such as Figure 3 As shown, the transmission assembly includes a driving gear 43, a first gear 41, a first driven gear 44, a second driven gear 45, and a second gear 42. The driving gear 43 is directly connected to the output of the driver 1 and serves as the power input source for the entire transmission system. The driving gear 43 meshes with the first gear 41, which is connected to the first connecting rod 21 and directly drives its rotation. Furthermore, the driving gear 43 also meshes with the first driven gear 44, which is coaxially fixed with the second driven gear 45. The second driven gear 45 meshes with the second gear 42, thereby driving the second gear 42 to rotate the fourth connecting rod 24. Due to the gear ratio design and meshing direction control, the first gear 41 and the second gear 42 can achieve synchronous rotation in opposite directions, thus causing the first connecting rod 21 and the fourth connecting rod 24 to rotate synchronously in opposite directions.

[0035] Through the coordinated action of multiple gears, the single power output from driver 1 can be distributed to two independent links. Furthermore, the design of the first driven gear 44 and the second driven gear 45 allows for adjustment of the rotation direction and transmission ratio, achieving synchronous counter-rotation of the first link 21 and the fourth link 24. This method effectively avoids the complexity associated with controlling multiple drivers 1, makes the power transmission process more stable, and ensures the coordination of the movements of multiple links, resulting in greater stability and control precision for the robot's leg structure during movement.

[0036] Optionally, such as Figure 2 As shown, the second link 22 includes a connecting section 221 and an extension section 222 connected in sequence. The two ends of the connecting section 221 are hinged to the first link 21 and the third link 23, respectively, and the length of the connecting section 221 is the same as the length of the fourth link 24. That is, the first link 21, connecting section 221, third link 23, and fourth link 24 are sequentially hinged to form a parallelogram structure. By driving the first link 21 and the fourth link 24 to rotate synchronously in opposite directions, the connecting section 221 and the third link 23 can also rotate synchronously in opposite directions. During the movement, the links constrain each other, always maintaining the shape of the parallelogram. The extension section 222 is designed to provide a direct connection fulcrum for the horizontal support platform 3. The horizontal support platform 3 is hinged to the end of the extension section 222 furthest from the first link 21, further transmitting the movement of the parallelogram structure to the horizontal support platform 3, thus realizing the vertical lifting and lowering of the horizontal support platform 3.

[0037] It should be noted that the second link 22 can be a single, integrally molded rod, with the connecting section 221 and the extension section 222 being two parts of the second link 22. Furthermore, the second link 22 can be made of high-strength materials to withstand the complex force transmission within the scissor mechanism, such as lightweight alloys or carbon fiber composites.

[0038] Optionally, such as Figure 1 and Figure 2 As shown, the robot leg structure also includes a base 5, a connector 6, and a fifth link 7. The actuator 1 is mounted on the base 5, and one end of the first link 21 and one end of the fourth link 24 are hinged to the same hinge point on the base 5. The other ends of the third link 23 and the fourth link 24 are hinged to the same hinge point on the base 5. One end of the fifth link 7 is hinged to another point on the base 5. The connector 6 is hinged to the other end of the fifth link 7 and the end of the first link 21 furthest from the actuator 1. The introduction of the fifth link 7 and the connector 6 forms an additional support point and a stable structure, effectively distributing the load and reducing the problem of excessive force on a single link, thereby improving the motion stability of the entire robot leg structure. Especially during vertical movement, this structural stability ensures the smoothness and accuracy of the horizontal support platform 3. The fifth link 7 can be made of high-strength materials, such as steel alloy or carbon fiber, to ensure its strength and rigidity under heavy loads. The connector 6 can be made of lightweight, wear-resistant materials, such as aluminum alloy or high-strength plastic, to reduce the system's weight and energy consumption.

[0039] Optionally, such as Figure 1 and Figure 2 As shown, the fifth link 7 is hinged to the base 5 at the first hinge point, the connecting piece 6 is hinged to the fifth link 7 at the second hinge point, and the connecting piece 6 is hinged to the first link 21 at the third hinge point. The line connecting the rotation center of the first link 21 (i.e., the hinge point of the first link 21 on the base 5) to the first hinge point is parallel to the line connecting the second and third hinge points. The fifth link 7 is parallel to the first link 21. Thus, the first link 21, the fifth link 7, the connecting piece 6, and their related hinge points together form a parallelogram structure, realizing the transmission of power and motion.

[0040] Because the connecting member 6 is driven by both the first link 21 and the fifth link 7 during movement, the line connecting the second and third hinge points is always parallel to the line connecting the rotation center of the first link 21 and the first hinge point, thus avoiding tilting or shaking caused by mechanical deviations. This structural characteristic gives the entire robot leg structure excellent motion stability during lifting and lowering, and also reduces the stress on individual components, improving the reliability of movement. Furthermore, the parallelogram structure, through the mutual support and constraint of each link during movement, reduces motion deviations, making the motion trajectory of the connecting member 6 and the horizontal support platform 3 more controllable, thereby enhancing the precision of the robot leg structure.

[0041] Optionally, such as Figure 1 and Figure 2 As shown, the robot's leg structure also includes a sixth link 8. One end of the sixth link 8 is hinged to the connector 6, and the other end is hinged to the end of the horizontal support platform 3 furthest from the second link 22. This design makes the overall structure more stable by adding additional support points. The introduction of the sixth link 8 not only provides additional support for the horizontal support platform 3 but also further disperses the stress and load generated during its movement. Furthermore, its connection with the connector 6 forms a more stable and reliable mechanical system.

[0042] Optionally, such as Figure 1 and Figure 2 As shown, connector 6 is hinged to the second link 22 at the third hinge point, the sixth link 8 is hinged to connector 6 at the fourth hinge point, the sixth link 8 is hinged to the horizontal support platform 3 at the fifth hinge point, and the second link 22 is hinged to the horizontal support platform 3 at the sixth hinge point. The line connecting the third and fourth hinge points is parallel to the line connecting the fifth and sixth hinge points, and the sixth link 8 is parallel to the second link 22. Thus, the second link 22, the sixth link 8, connector 6, and their respective hinge points together form a parallelogram structure, realizing the transmission of power and motion. The sixth link 8 can be made of a high-strength material, such as steel alloy or carbon fiber, to ensure its strength and rigidity under heavy loads.

[0043] This parallelogram structure, combined with the aforementioned parallelogram structure consisting of the first link 21, the fifth link 7, the connector 6, and their related hinge points, forms a double parallelogram mechanism. This double parallelogram mechanism, combined with the aforementioned parallelogram structure formed by the sequential hinge of the first link 21, the connecting segment 221, the third link 23, and the fourth link 24, not only improves the stability and control precision of the robot's leg structure and significantly enhances the overall reliability and durability of the robot, but also solves problems such as high cost and complex control in existing technologies.

[0044] Optionally, such as Figure 1 and Figure 2 As shown, connector 6 is a triangular structure. Two parallelogram structures are connected into a reliable whole through the triangular structure, which can increase the stability of the robot's leg structure. One vertex of the triangular structure is hinged to the first link 21 and the second link 22 at the third hinge point. The other two vertices of the triangular structure are hinged to the fifth link 7 and the sixth link 8 at the second and fourth hinge points, respectively. By reducing the number of independent connection points, the structural design can be effectively simplified, making the mechanical structure of the robot's leg structure more compact. At the same time, it can also reduce failure points and improve the reliability and durability of the robot.

[0045] Optionally, the connecting member 6 is a horizontal link. One end of the horizontal link is hinged to the first link 21 and the second link 22 at the third hinge point, and the other end of the horizontal link is hinged to the fifth link 7 and the sixth link 8 at the coincidence point of the second hinge point and the fourth hinge point, so that the two parallelogram structures can constrain each other and simplify the overall structure.

[0046] It should be noted that the links in the robot's leg structure can be hinged together using bearings. At the connection points, the use of bearings converts the relative motion between the links into low-friction rotational or oscillating motion. Because bearings provide a smooth rotational or oscillating path, they reduce energy loss due to friction and reduce heat generated during movement. This not only improves the smoothness and durability of the motion but also extends the lifespan of the robot's leg structure.

[0047] Optionally, the robot's leg structure also includes a level sensor mounted on the horizontal support platform 3. The level sensor detects the horizontal state of the horizontal support platform 3, ensuring it remains level throughout its vertical movement. The level sensor is a device capable of accurately measuring the tilt angle of the platform relative to the horizontal plane. By monitoring the tilt of the horizontal support platform 3, the level sensor provides feedback on the actual horizontal state of the support. This information can be used to adjust the control commands of the control system, ensuring that the horizontal support platform 3 maintains a stable horizontal state during movement.

[0048] Specifically, a level sensor is mounted on the level support platform 3, and its position is precisely calculated to ensure it covers the entire level of the platform. The sensor is connected to the control system, which transmits measurement data in real time. Based on the sensor feedback, the control system can dynamically adjust the actuator 1. This design allows the control system to react quickly to any minute level deviations, adjusting the output of the actuator 1 to correct the platform's tilt.

[0049] In another aspect of this application, a robot is provided, including any of the robot leg structures described above. A robot upper body structure is mounted on a horizontal support platform 3 of the robot leg structure. The robot upper body structure and the robot leg structure work together to provide a high-performance, stable, and flexible robot. Since the robot uses the aforementioned robot leg structure, it also has the same beneficial effects as the robot leg structure, which will not be elaborated further here.

[0050] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot leg structure characterized by comprising: The robot leg structure comprises a drive (1), a horizontal support platform (3) of a transmission assembly, and a first connecting rod (21), a second connecting rod (22), a third connecting rod (23) and a fourth connecting rod (24) which are sequentially hinged to form a quadrilateral, the drive (1) is drivingly connected with the first connecting rod (21) and the fourth connecting rod (24) through the transmission assembly respectively, the horizontal support platform (3) is hingedly connected with one end of the second connecting rod (22) away from the third connecting rod (23), and the drive (1) is used to drive the first connecting rod (21) and the fourth connecting rod (24) to synchronously rotate towards opposite directions so as to drive the horizontal support platform (3) to move along a vertical direction through the second connecting rod (22).

2. The robotic leg structure of claim 1, wherein, The transmission assembly comprises a first gear (41) and a second gear (42), the drive (1) is drivingly connected with the first connecting rod (21) through the first gear (41), the drive (1) is drivingly connected with the fourth connecting rod (24) through the second gear (42), and the drive (1) is used to drive the first gear (41) and the second gear (42) to synchronously rotate towards opposite directions so as to drive the first connecting rod (21) and the fourth connecting rod (24) to synchronously rotate towards opposite directions.

3. The robotic leg structure of claim 1 or 2, wherein, The second connecting rod (22) comprises a connecting section (221) and an extension section (222) which are sequentially connected, two ends of the connecting section (221) are hingedly connected with the first connecting rod (21) and the third connecting rod (23) respectively, and the horizontal support platform (3) is hingedly connected with one end of the extension section (222) away from the connecting section (221).

4. The robotic leg structure of claim 3, wherein, The robot leg structure further comprises a base (5), a connecting piece (6) and a fifth connecting rod (7), one end of the fifth connecting rod (7) is hingedly connected with the base (5), and the connecting piece (6) is hingedly connected with the other end of the fifth connecting rod (7) and one end of the first connecting rod (21) away from the drive (1) respectively.

5. The robotic leg structure of claim 4, wherein, The fifth connecting rod (7) is hingedly connected with the base (5) at a first hinge point, the connecting piece (6) is hingedly connected with the fifth connecting rod (7) at a second hinge point, the connecting piece (6) is hingedly connected with the first connecting rod (21) at a third hinge point, the connecting line of the rotation center of the first connecting rod (21) and the first hinge point is parallel to the connecting line of the second hinge point and the third hinge point, and the fifth connecting rod (7) is parallel to the first connecting rod (21).

6. The robotic leg structure of claim 5, wherein, The robot leg structure further comprises a sixth connecting rod (8), one end of the sixth connecting rod (8) is hingedly connected with the connecting piece (6), and the other end of the sixth connecting rod (8) is hingedly connected with one end of the horizontal support platform (3) away from the second connecting rod (22).

7. The robotic leg structure of claim 6, wherein, The connecting piece (6) is hinged to the third hinge point with the second connecting rod (22), the sixth connecting rod (8) is hinged to the fourth hinge point with the connecting piece (6), the sixth connecting rod (8) is hinged to the fifth hinge point with the horizontal support platform (3), the second connecting rod (22) is hinged to the sixth hinge point with the horizontal support platform (3), the line connecting the third hinge point and the fourth hinge point is parallel to the line connecting the fifth hinge point and the sixth hinge point, and the sixth connecting rod (8) is parallel to the second connecting rod (22).

8. The robotic leg structure of claim 7, wherein, The connecting piece (6) is a triangular structure, one vertex of the triangular structure is hinged to the third hinge point with the first connecting rod (21) and the second connecting rod (22), and the other two vertices of the triangular structure are respectively hinged to the second hinge point and the fourth hinge point with the fifth connecting rod (7) and the sixth connecting rod (8).

9. The robotic leg structure of claim 7, wherein, The connecting piece (6) is a horizontal connecting rod, one end of the horizontal connecting rod is hinged to the third hinge point with the first connecting rod (21) and the second connecting rod (22), and the other end of the horizontal connecting rod is hinged to the coincident point of the second hinge point and the fourth hinge point with the fifth connecting rod (7) and the sixth connecting rod (8).

10. A robot, characterized in that The robot upper body structure is installed on the horizontal support platform (3) of the robot leg structure.

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