Robot limb structure and robot

1 . A robot limb structure, comprising:

a main limb body, wherein the main limb body is provided with two joint-connection parts at two ends, one of the two joint-connection parts is located at one of the two ends and the other of the two joint-connection parts is located at the other of the two ends;

two joint components, wherein one of the two joint components is connected to one of the two joint-connection parts and the other of the two joint components is connected to the other of the two joint-connection parts, and each joint component forms a connecting rod mechanism with a joint-connection part corresponding to each joint component; and

two telescopic parts, which are provided corresponding to the two joint-connection parts, wherein one end of each telescopic part is hinged to a joint component of the two joint components, and the other end of each telescopic part is hinged to the main limb body, and a length of each telescopic part is adjustable so as to drive a connecting rod mechanism connected to each telescopic part to move,

wherein each joint-connection part of the two joint-connection parts comprises a first hinge point and a second hinge point which are provided on the main limb body at an interval, and a third hinge point is further provided on the main limb body;

wherein each joint component comprises: a first connecting rod, a second connecting rod, and a third connecting rod; one end of the first connecting rod is connected to the first hinge point, one end of the second connecting rod is connected to the second hinge point, one of two ends of the third connecting rod is hinged to the first connecting rod and the other end of the two ends of the third connecting rod is hinged to the second connecting rod; a point where the second connecting rod and the third connecting rod are hinged is a fourth hinge point; and one end of a telescopic part corresponding to each joint-connection part is connected to the fourth hinge point, and the other end of the telescopic part is connected to the third hinge point.

2 . The robot limb structure according to claim 1 , wherein at least one of the two telescopic parts comprises at least two telescopic bodies which are parallel and consistent in length.

3 . The robot limb structure according to claim 2 , wherein each telescopic part comprises two telescopic bodies which are symmetrically provided on two sides of the main limb body, and each of the two telescopic bodies is connected to the main limb body through a connector.

4 . The robot limb structure according to claim 3 , wherein the connector is a spherical hinge.

5 . The robot limb structure according to claim 1 , wherein the main limb body comprises:

a main limb section, wherein each of the two ends of the main limb section is provided with an assembling hole to form the third hinge point;

two branch limb sections, wherein first ends of the two branch limb sections are connected to the two ends of the main limb section, second ends of the two branch limb sections are positioned on two opposite sides of the main limb section, each branch limb section of the two branch limb sections is provided with two assembling holes, one of the two assembling holes forms the first hinge point and the other of the two assembling holes forms the second hinge point; and

wherein one end of each telescopic part is connected to the third hinge point adjacent to one branch limb section of the two branch limb sections, and the other end of each telescopic part is connected to a joint component connected to the other branch limb section of the two branch limb sections.

6 . The robot limb structure according to claim 5 , wherein each joint component comprises two rotating rods; the two rotating rods are assembled in the two assembling holes of each branch limb section; the first connecting rod is connected to an end of one of the two rotating rods and the second connecting rod is connected to an end of the other of the two rotating rods.

7 . The robot limb structure according to claim 6 , wherein a first limiting hole is radially provided in each assembling hole of each branch limb section; and a first limiting pin is assembled at the first limiting hole to limit a rotating rod in each assembling hole.

8 . The robot limb structure according to claim 5 , wherein a reinforcing rib is arranged between the main limb section and at least one of the two branch limb sections.

9 . The robot limb structure according to claim 1 , wherein each telescopic part comprises a linear motor, and the linear motor comprises:

a housing;

an output shaft which is provided in the housing, wherein one end of the output shaft extends out of the housing;

a stator which is positioned in the housing and sleeves the output shaft;

a rotor which is matched with the stator and is positioned in the housing, and the rotor sleeves the output shaft in a threaded fitting manner; and

a brake unit, which is provided in the housing and is configured to brake the rotor, or brake the output shaft, or brake the rotor and the output shaft during power off; and

wherein one of the housing and the output shaft is connected to a joint component corresponding to each telescopic part, and the other one is connected to the main limb body.

10 . A robot, comprising:

a leg structure which adopts a robot limb structure;

a trunk structure which is positioned above the leg structure, and is connected to a joint component at an upper end of the leg structure; and

a base which is positioned below the leg structure, and is connected to a joint component at a lower end of the leg structure,

wherein the robot limb structure comprises:

a main limb body, wherein the main limb body is provided with two joint-connection parts at two ends, one of the two joint-connection parts is located at one of the two ends and the other of the two joint-connection parts is located at the other of the two ends;

two joint components, wherein one of the two joint components is connected to one of the two joint-connection parts and the other of the two joint components is connected to the other of the two joint-connection parts, and each joint component forms a connecting rod mechanism with a joint-connection part corresponding to each joint component; and

two telescopic parts, which are provided corresponding to the two joint-connection parts, wherein one end of each telescopic part is hinged to a joint component of the two joint components, and the other end of each telescopic part is hinged to the main limb body, and a length of each telescopic part is adjustable so as to drive a connecting rod mechanism connected to each telescopic part to move,

wherein each joint-connection part of the two joint-connection parts comprises a first hinge point and a second hinge point which are provided on the main limb body at an interval, and a third hinge point is further provided on the main limb body;

wherein each joint component comprises: a first connecting rod, a second connecting rod, and a third connecting rod; one end of the first connecting rod is connected to the first hinge point, one end of the second connecting rod is connected to the second hinge point, one of two ends of the third connecting rod is hinged to the first connecting rod and the other end of the two ends of the third connecting rod is hinged to the second connecting rod; a point where the second connecting rod and the third connecting rod are hinged is a fourth hinge point; and one end of a telescopic part corresponding to each joint-connection part is connected to the fourth hinge point, and the other end of the telescopic part is connected to the third hinge point.

11 . The robot according to claim 10 , wherein at least one of the two telescopic parts comprises at least two telescopic bodies which are parallel and consistent in length.

12 . The robot according to claim 11 , wherein each telescopic part comprises two telescopic bodies which are symmetrically provided on two sides of the main limb body, and each of the two telescopic bodies is connected to the main limb body through a connector.

13 . The robot according to claim 12 , wherein the connector is a spherical hinge.

14 . The robot according to claim 10 , wherein the main limb body comprises:

a main limb section, wherein each of the two ends of the main limb section is provided with an assembling hole to form the third hinge point;

two branch limb sections, wherein first ends of the two branch limb sections are connected to the two ends of the main limb section, second ends of the two branch limb sections are positioned on two opposite sides of the main limb section, each branch limb section of the two branch limb sections is provided with two assembling holes, one of the two assembling holes forms the first hinge point and the other of the two assembling holes forms the second hinge point; and

wherein one end of each telescopic part is connected to the third hinge point adjacent to one branch limb section of the two branch limb sections, and the other end of each telescopic part is connected to a joint component connected to the other branch limb section of the two branch limb sections.

15 . The robot according to claim 14 , wherein each joint component comprises two rotating rods; the two rotating rods are assembled in the two assembling holes of each branch limb section; the first connecting rod is connected to an end of one of the two rotating rods and the second connecting rod is connected to an end of the other of the two rotating rods.

16 . The robot according to claim 15 , wherein a first limiting hole is radially provided in each assembling hole of each branch limb section; and a first limiting pin is assembled at the first limiting hole to limit a rotating rod in each assembling hole.

17 . The robot according to claim 14 , wherein a reinforcing rib is arranged between the main limb section and at least one of the two branch limb sections.

18 . The robot according to claim 10 , wherein each telescopic part comprises a linear motor, and the linear motor comprises:

a housing;

an output shaft which is provided in the housing, wherein one end of the output shaft extends out of the housing;

a stator which is positioned in the housing and sleeves the output shaft;

a rotor which is matched with the stator and is positioned in the housing, and the rotor sleeves the output shaft in a threaded fitting manner; and

a brake unit, which is provided in the housing and is configured to brake the rotor, or brake the output shaft, or brake the rotor and the output shaft during power off; and

wherein one of the housing and the output shaft is connected to a joint component corresponding to each telescopic part, and the other one is connected to the main limb body.