Robot leg structure and robot

Abstract

The utility model provides a robot leg structure and a robot, and relates to the technical field of robots, the robot leg structure comprises a driver, a shear fork mechanism and a horizontal supporting platform, the driver is in driving connection with the control end of the shear fork mechanism, and the horizontal supporting platform is connected with the lifting end of the shear fork mechanism; the driver is used for driving the horizontal supporting platform to move in the vertical direction through the shear fork mechanism. Compared with a traditional multi-driver structure, lifting motion of the horizontal supporting platform can be achieved only through one driver, the number of the drivers and complexity of related control circuits are remarkably reduced, and therefore the manufacturing cost and debugging difficulty of the system are effectively reduced. Moreover, the shear fork mechanism can keep the horizontal state of the horizontal supporting platform in the whole 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 affected by inclination or shaking. In addition, due to the fact that the scissor fork mechanism and the driver are simple in structure, the maintenance requirement of the system is remarkably reduced.

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] In one aspect of this application, a robot leg structure is provided, including a driver, a scissor mechanism, and a horizontal support platform. The driver is driven to the control end of the scissor mechanism, and the horizontal support platform is connected to the lifting end of the scissor mechanism. The driver is used to drive the horizontal support platform to move in the vertical direction via the scissor mechanism.

[0007] Optionally, the scissor mechanism includes a first link, a second link, a third link, and a fourth link that are hinged in sequence to form a quadrilateral, a driver is driven to the end of the first link away from the second link, and a horizontal support platform is hinged to the end of the second link away from the first link.

[0008] Optionally, the robot leg structure includes a slide rail, the first link includes a first connecting segment and a first extension segment connected in sequence, and the fourth link includes a fourth connecting segment and a fourth extension segment connected in sequence;

[0009] The two ends of the first connecting segment are respectively hinged to one end of the second connecting rod and one end of the fourth connecting segment, and the other end of the fourth connecting segment is hinged to the third connecting rod.

[0010] The driver is driven to the end of the first extension that is away from the first connecting section, and the end of the fourth extension that is away from the fourth connecting section is slidably hinged to the slide rail.

[0011] Optionally, the second link includes a second connecting segment and a second extension segment connected in sequence. The two ends of the second connecting segment are hinged to the first link and the third link, respectively, and the horizontal support platform is hinged to the end of the second extension segment away from the first connecting segment.

[0012] Optionally, the robot leg structure also includes a base, a connector, and a fifth link, which is parallel to the first link. One end of the fifth link 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 actuator.

[0013] Optionally, the robot leg structure also includes a sixth link parallel to the second 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.

[0014] Optionally, the connector is a triangular structure, with one vertex of the triangular structure hinged to the first and second links at a point, and the other two vertices of the triangular structure hinged to the fifth and sixth links respectively.

[0015] Optionally, the connecting member is a horizontal link, one end of which is hinged to the first link and the second link at a point, and the other end of which is hinged to the fifth link and the sixth link at a point.

[0016] Optionally, the robot's leg structure also includes a slider, and the fourth link is slidably hinged to the slide rail via the slider.

[0017] 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.

[0018] 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.

[0019] The beneficial effects of this application include:

[0020] This application provides a robot leg structure, including a driver, a scissor mechanism, and a horizontal support platform. The driver is connected to the control end of the scissor mechanism, and the horizontal support platform is connected to the lifting end of the scissor mechanism. The driver is used to drive the horizontal support platform to move vertically via the scissor mechanism. Compared with traditional multi-driver structures, this application only requires one driver to realize the lifting movement of the horizontal support platform, significantly reducing the number of drivers and the complexity of related control circuits, thereby effectively reducing the system's manufacturing cost and debugging difficulty. Furthermore, the scissor mechanism can maintain the horizontal support platform's level state throughout the lifting process, making the robot's upper body posture more stable and avoiding the impact of tilting or swaying on operational accuracy or stability. In addition, due to the relatively simple structure of the scissor mechanism and driver, the system's maintenance requirements are significantly reduced. The single-point drive design of the driver also reduces the need for synchronization coordination, further improving the system's reliability. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of a robot leg structure provided in an embodiment of this application;

[0023] Figure 2 This is a simplified diagram of a robot leg structure provided in an embodiment of this application.

[0024] Icons: 1-Driver; 21-First Link; 211-First Connecting Segment; 212-First Extension; 22-Second Link; 221-Second Connecting Segment; 222-Second Extension; 23-Third Link; 24-Fourth Link; 241-Fourth Connecting Segment; 242-Fourth Extension; 3-Horizontal Support Platform; 41-Slide Rail; 42-Slider; 5-Base; 6-Connector; 7-Fifth Link; 8-Sixth Link. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] 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.

[0031] 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.

[0032] To address the aforementioned problems, one aspect of this application provides a robot leg structure, such as... Figure 1 and Figure 2 As shown, the device includes a driver 1, a scissor lift mechanism, and a horizontal support platform 3. The driver 1, via a drive connection, is linked to the control end of the scissor lift mechanism, enabling it to apply driving force to the mechanism. The lifting end of the scissor lift mechanism is connected to the horizontal support platform 3, transmitting the power from the driver 1 to achieve the vertical lifting movement of the horizontal support platform 3. Through its ingenious design, the overall structure ensures coordinated operation between all components, resulting in highly efficient and stable motion performance for the entire device.

[0033] Specifically, in this structure, the actuator 1 is the core power source, which applies driving force to the scissor mechanism, causing it to extend or retract. The scissor mechanism forms a scissor-like structure through multiple links. Under the action of the driving force, the included angle between the links changes, causing the overall height to change accordingly. At the same time, the scissor mechanism is tightly connected to the lifting end of the horizontal support platform 3, ensuring that the horizontal support platform 3 remains horizontal during lifting, thereby effectively avoiding tilting or instability during movement.

[0034] The actuator 1 can be powered by an electric actuator, hydraulic cylinder, or servo motor, with the appropriate drive type selected based on the specific application scenario. The design of the scissor lift mechanism needs to be optimized according to the load requirements and lifting height of the support platform, including selecting appropriate materials, rod lengths, and connection methods to ensure sufficient load-bearing capacity and range of motion. The horizontal support platform 3 is fixedly connected to the lifting end of the scissor lift mechanism, and its bottom can be equipped with a leveling mechanism or damping device to further improve the horizontal stability of the horizontal support platform 3 during movement.

[0035] In summary, through the close cooperation between the actuator 1, the scissor mechanism, and the horizontal support platform 3, the robot leg structure provided in this embodiment requires only one actuator 1 to achieve the lifting and lowering movement of the horizontal support platform 3. This significantly reduces the number of actuators 1 and the complexity of related control circuits, thereby effectively reducing the system's manufacturing cost and debugging difficulty. Furthermore, the scissor mechanism maintains the horizontal state of the support platform throughout the lifting and lowering process, 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 the scissor mechanism and actuator 1, the system's maintenance requirements are significantly reduced. The single-point drive design of actuator 1 also reduces the need for synchronization and coordination, further improving the system's reliability.

[0036] Optionally, such as Figure 1As shown, the scissor lift mechanism consists of four main links: link 21, link 22, link 23, and link 24, which are hinged sequentially to form a closed quadrilateral frame. When subjected to a driving force, this quadrilateral undergoes controlled deformation, enabling the scissor lift mechanism to provide smooth lifting motion, thereby driving the horizontal support platform 3 to achieve precise vertical displacement. Each link should be made of lightweight, high-strength, and low-friction materials to reduce mechanical wear and improve the system's durability.

[0037] The actuator 1 is connected to the end of the first link 21 furthest from the second link 22, and the output power of the actuator 1 drives the movement of the first link 21. The power of the actuator 1 is transmitted to the second link 22 through the first link 21, which in turn triggers the movement of the third link 23 and the fourth link 24, ultimately realizing the lifting and lowering of the scissor lift mechanism. The end of the second link 22 furthest from the first link 21 is hinged to the horizontal support platform 3, so that the horizontal support platform 3 can always remain horizontal and rise and fall synchronously during the lifting and lowering of the scissor lift mechanism.

[0038] Optionally, such as Figure 1 and Figure 2 As shown, the robot's leg structure includes a slide rail 41, a first link 21 comprising a first connecting segment 211 and a first extension segment 212 connected in sequence, and a fourth link 24 comprising a fourth connecting segment 241 and a fourth extension segment 242 connected in sequence. The two ends of the first connecting segment 211 are hinged to one end of the second link 22 and one end of the fourth connecting segment 241, respectively, and the other end of the fourth connecting segment 241 is hinged to the third link 23, so that the first connecting segment 211, the second link 22, the third link 23, and the fourth connecting segment 241 form a closed quadrilateral through hinged connections. The first link 21 can be a single, integrally formed rod, with the first connecting segment 211 and the first extension segment 212 being two parts of the first link 21. Similarly, the fourth link 24 can be a single, integrally formed rod, with the fourth connecting segment 241 and the fourth extension segment 242 being two parts of the fourth link 24.

[0039] The robot's leg structure also includes a base 5, on which the driver 1 is mounted. The end of the first extension segment 212 furthest from the first connecting segment 211 is hinged to the base 5. The driver 1 acts on the end of the first extension segment 212 furthest from the first connecting segment 211 via a drive connection, providing a power source for the scissor mechanism. The end of the fourth extension segment 242 furthest from the fourth connecting segment 241 is slidably hinged to a slide rail 41, allowing the fourth link 24 to slide linearly along the slide rail 41. The slide rail 41, acting as a constraint device, provides a stable motion trajectory for the fourth link 24, preventing structural deviation or vibration during lifting and lowering, thereby enhancing the overall stability and accuracy of the scissor mechanism.

[0040] In the specific implementation, the actuator 1 applies a force to the first extension section 212, causing the first connecting rod 21 to rotate around the base 5. This rotational motion is transmitted through the first connecting section 211 to the second connecting rod 22 and the fourth connecting section 241, resulting in relative displacement between the links and causing a change in the geometry of the quadrilateral, which in turn causes a change in the overall height of the structure. Simultaneously, the fourth connecting section 241 transmits the motion to the fourth extension section 242, and the end of the fourth extension section 242 slides along a linear path guided by the slide rail 41. This sliding restricts the degree of freedom of the fourth connecting rod 24, ensuring the stability and verticality of the scissor mechanism's trajectory during lifting. The slide rail 41 can be made of high-strength metal material with a low-friction coating or a ball bearing guide to reduce sliding resistance and extend its service life.

[0041] In summary, through the coordinated action of the rotation of the first extension section 212 and the sliding action of the fourth extension section 242, the power of the driver 1 can be efficiently transmitted to the entire scissor lift mechanism, making the lifting and lowering process of the horizontal support platform 3 smoother and more stable. At the same time, the use of the slide rail 41 can reduce energy loss and improve the overall energy efficiency of the system.

[0042] Optionally, such as Figure 1 As shown, the robot's leg structure also includes a slider 42, which is slidably connected to the slide rail 41 and hinged to the fourth link 24, forming a flexible and controlled motion system. When the scissor mechanism moves as a whole, the driver 1 transmits power to each part of the mechanism through the first link 21, causing the scissor mechanism to extend or retract. During this process, the fourth link 24 slides along the slide rail 41 via the slider 42, controlling its end position. During the movement, the slide rail 41 provides a clear linear motion constraint, preventing the movement of the fourth link 24 from deviating from the set trajectory. At the same time, the slider 42, through its hinge point, allows the fourth link 24 to have angular adjustment capabilities on the slide rail 41. This design can reduce unnecessary deformation and friction caused by force transmission in the scissor mechanism, establish an efficient motion transmission path between the fourth link 24 and the slide rail 41, achieve precise lifting and lowering movements of the scissor mechanism, and maintain the stability of the motion trajectory when the load changes.

[0043] The slider 42 can be made of a wear-resistant material, such as high-strength engineering plastic or metal. A lubricating coating or ball bearings can be added to the contact surface between the slider 42 and the slide rail 41 to reduce frictional resistance. The hinge point between the slider 42 and the fourth link 24 can be a universal joint or a pin connection to ensure flexibility and durability under multi-directional forces. The length of the slide rail 41 should be designed according to the movement requirements of the robot's legs, satisfying both the sliding stroke of the fourth link 24 and ensuring structural compactness. Furthermore, the fitting precision between the slider 42 and the slide rail 41 must be strictly controlled to avoid jamming or wobbling during movement.

[0044] Optionally, such as Figure 2 As shown, the second link 22 includes a second connecting section 221 and a second extension section 222 connected in sequence. The two ends of the second connecting section 221 are hinged to the first link 21 and the third link 23, respectively. That is, the first link 21, the second connecting section 221, the third link 23, and the fourth connecting section 241 form a quadrilateral structure through hinge points, thereby providing a stable geometric frame for the entire scissor mechanism. The design of the second extension section 222 is to provide a direct connection fulcrum for the horizontal support platform 3. The horizontal support platform 3 is hinged to the end of the second extension section 222 away from the first connecting section 211, further transmitting the motion of the scissor mechanism to the horizontal support platform 3, realizing the vertical lifting and lowering of the horizontal support platform 3.

[0045] It should be noted that the second link 22 can be a single, integrally molded rod, with the second connecting section 221 and the second 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 lift mechanism, such as lightweight alloys or carbon fiber composite materials.

[0046] Optionally, such as Figure 1 and Figure 2 As shown, the robot's leg structure also includes a connector 6 and a fifth link 7. The fifth link 7 is parallel to the first link 21, and one end of the fifth link 7 is hinged to 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 driver 1. Furthermore, the line connecting the hinge point of the connector 6 to the fifth link 7 and the hinge point of the connector 6 to the first link 21 is parallel to the line connecting the hinge points of the fifth link 7 and the first link 21 respectively hinged to the base 5. Thus, the first link 21, the fifth link 7, the connector 6, and their related hinge points together form a parallelogram structure, realizing the transmission of power and motion. The fifth link 7 can be made of a high-strength material, such as steel alloy or carbon fiber, to ensure its strength and rigidity under heavy loads. The connector 6 can be made of a lightweight, wear-resistant material, such as aluminum alloy or high-strength plastic, to reduce the system's weight and energy consumption.

[0047] Because the connecting member 6 is driven by both the first link 21 and the fifth link 7 during movement, the line connecting its two hinge points always remains parallel to the line connecting the hinge points of the fifth link 7 and the base 5 of the first link 21, thus avoiding tilting or shaking caused by mechanical deviations. This structural characteristic gives the entire scissor mechanism excellent motion stability during lifting and lowering, while reducing the stress on individual components and improving motion reliability. Furthermore, the parallelogram structure reduces motion deviations through the mutual support and constraint of the links during movement, making the motion trajectory of the connecting member 6 and the platform more controllable, thereby enhancing the precision of the robot's leg structure.

[0048] Optionally, such as Figure 1 and Figure 2 As shown, the robot's leg structure also includes a sixth link 8 parallel to the second link 22. The second link 22 and the sixth link 8 are hinged to the connector 6. The other end of the sixth link 8 is hinged to the end of the horizontal support platform 3 furthest from the second link 22. The lines connecting the hinge points of the connector 6 and the second link 22, and the connector 6 and the sixth link 8, are parallel to the lines connecting the hinge points of the second link 22 and the horizontal support platform 3, and the sixth link 8 and the horizontal support platform 3. Thus, the second link 22, the sixth link 8, the connector 6, and their associated hinge points together form a parallelogram structure, enabling the transmission of power and motion. The sixth link 8 can be made of high-strength materials, such as steel alloy or carbon fiber, to ensure its strength and rigidity under heavy loads.

[0049] 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. The design of the scissor mechanism combined with the double parallelogram mechanism not only improves the stability and control precision of the robot's leg structure, significantly enhancing the overall reliability and durability of the robot, but also solves problems such as high cost and complex control in existing technologies.

[0050] 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. Furthermore, one vertex of the triangular structure is hinged to the first link 21 and the second link 22 at a point, and the other two vertices of the triangular structure are hinged to the fifth link 7 and the sixth link 8, 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.

[0051] Optionally, the connector 6 is a horizontal link, with one end of the horizontal link hinged to the first link 21 and the second link 22 at a point, and the other end of the horizontal link hinged to the fifth link 7 and the sixth link 8 at a point, so that the two parallelogram structures can constrain each other and simplify the overall structure.

[0052] 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.

[0053] 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 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.

[0054] 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.

[0055] 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.

[0056] 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 scissor mechanism and a horizontal support platform (3), the drive (1) is drivingly connected with a control end of the scissor mechanism, the horizontal support platform (3) is connected with a lifting end of the scissor mechanism, and the drive (1) is used for driving the horizontal support platform (3) to move along the vertical direction through the scissor mechanism.

2. The robotic leg structure of claim 1, wherein, The scissor mechanism comprises 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 one end of the first connecting rod (21) away from the second connecting rod (22), and the horizontal support platform (3) is hingedly connected with one end of the second connecting rod (22) away from the first connecting rod (21).

3. The robotic leg structure of claim 2, wherein, The robot leg structure comprises a slide rail (41), the first connecting rod (21) comprises a first connecting section (211) and a first extension section (212) which are sequentially connected, and the fourth connecting rod (24) comprises a fourth connecting section (241) and a fourth extension section (242) which are sequentially connected. Two ends of the first connecting section (211) are hingedly connected with the second connecting rod (22) and one end of the fourth connecting section (241) respectively, and the other end of the fourth connecting section (241) is hingedly connected with the third connecting rod (23). The drive (1) is drivingly connected with one end of the first extension section (212) away from the first connecting section (211), and one end of the fourth extension section (242) away from the fourth connecting section (241) is slidingly hinged to the slide rail (41).

4. The robotic leg structure of claim 3, wherein, The second connecting rod (22) comprises a second connecting section (221) and a second extension section (222) which are sequentially connected, two ends of the second 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 second extension section (222) away from the first connecting section (211).

5. The robotic leg structure of any of claims 2 to 4, wherein, The robot leg structure further comprises a base (5), a connecting piece (6) and a fifth connecting rod (7), the fifth connecting rod (7) is parallel to the first connecting rod (21), one end of the fifth connecting rod (7) is hinged to 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.

6. The robotic leg structure of claim 5, wherein, The robot leg structure further comprises a sixth connecting rod (8) which is parallel to the second connecting rod (22), 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 a triangular structure, one vertex of the triangular structure is hinged to a point with the first connecting rod (21) and the second connecting rod (22), and the other two vertices of the triangular structure are hingedly connected with the fifth connecting rod (7) and the sixth connecting rod (8) respectively.

8. The robotic leg structure of claim 6, wherein, The connecting piece (6) is a horizontal connecting rod, one end of which is hingedly connected to the first connecting rod (21) and the second connecting rod (22) at a point, and the other end of which is hingedly connected to the fifth connecting rod (7) and the sixth connecting rod (8) at a point.

9. The robotic leg structure of claim 3 or 4, wherein, The robot leg structure further comprises a sliding block (42), and the fourth connecting rod (24) is slidingly hingedly connected to the sliding rail (41) through the sliding block (42).

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

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