Robot limb structure and robot

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.