Hip structure and robot

Abstract

The invention provides a hip structure and a robot, and relates to the technical field of robots, in particular to the technical field of hip structures of robots. A hip structure includes: a first hip actuator and a second hip actuator for performing hip movement of a robot; wherein the first hip joint actuator and the second hip joint actuator are obliquely arranged. The size of the hip structure is reduced, the space compactness of the hip of the robot is improved, the flexibility of the hip is improved, and the movement range of the hip is expanded.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to the field of robotic hip structure technology. Background Art

[0002] Humanoid robots usually consist of four parts: actuators, drive systems, control systems, and intelligent systems. Basically corresponding to the structure of the human body, the actuators of humanoid robots mainly include hand actuators, wrist actuators, waist actuators, hip actuators, and leg actuators. The actuators of the robot are devices that can execute the movements of various parts of the robot. The drive system of the robot is a device that transmits energy to the actuators.

[0003] The hip structure of the robot is the core structure that connects the upper body and lower limbs, which enables the robot to complete a variety of spatial movements. Through the reasonable design of the hip structure of the humanoid robot, the robot can move in multiple degrees of freedom such as rotation, swinging, bending, etc., thus achieving freer robot movement.

[0004] In the current prior art, in the hip structure design of a humanoid robot, the hip joint actuators on both sides extend in parallel from both sides of the waist actuator, are connected to the waist actuator, and are arranged side by side with the waist actuator.

[0005] The hip structure of the prior art occupies a large space in the horizontal direction. The hip joint actuators on both sides are installed in parallel on both sides of the waist. The horizontal width of the hip is the width of the waist plus the width of the two joint actuators. If the horizontal width of the hip is too wide, it will be difficult for the robot to adapt to a narrow environment. The large hip structure makes it difficult to miniaturize the robot.

[0006] The spatial compactness of the hip structure in the prior art is low. Since the hip structure is the core structure connecting the upper body and lower limbs of the robot, the core mechanism needs to realize actions such as extending the legs and bending the waist. The upper body and thighs will have a large fold at the hip. The large hip structure will lead to a decrease in the spatial compactness of the robot.

[0007] The hip structure of the prior art is not flexible enough to achieve lower limb movements. If the prior art wants to connect other hip joint actuators to the current hip joint actuator, they can only be connected on both sides or directly below the current hip joint actuator, which will not only further increase the space occupied by the hip structure, but also whether the robot can simulate human leg-lifting movements when performing actions such as leg-lifting is the key to satisfying the flexibility of the movement. The structure in which the joint actuators are located parallel to the sides or directly below the hips makes it difficult to simulate humans to perform common leg movements such as leg-lifting. The joint actuators are far away from the base of the thigh, which will cause the movements to be clumsy.

[0008] The hip structure of the prior art has an insufficient range of motion for the lower limbs. The joint actuators are located parallel to or below the hips, and their rotation axes are parallel to or perpendicular to the body midline. The range of motion of the legs and waist is also perpendicular to or parallel to the body midline, and their range of motion is limited. Summary of the invention

[0009] The present disclosure provides a hip structure and a robot.

[0010] According to one aspect of the present disclosure, there is provided a hip structure, comprising:

[0011] a first hip joint actuator and a second hip joint actuator for performing hip motion of the robot;

[0012] Wherein, the first hip joint actuator and the second hip joint actuator are arranged tilted.

[0013] In some examples, the first hip joint actuator and the second hip joint actuator are symmetrically arranged;

[0014] One end of the first hip joint actuator close to the leg of the robot is directly connected to one end of the second hip joint actuator close to the leg of the robot.

[0015] In some examples, the first hip joint actuator and the second hip joint actuator are symmetrically arranged;

[0016] There is a gap between one end of the first hip joint actuator close to the waist of the robot and one end of the second hip joint actuator close to the waist of the robot;

[0017] A gap is formed between one end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot.

[0018] In some examples, the hip structure further comprises:

[0019] a third hip joint actuator, connected to a side of the first hip joint actuator facing away from the second hip joint actuator;

[0020] a fourth hip joint actuator, connected to a side of the second hip joint actuator facing away from the first hip joint actuator;

[0021] wherein the first hip joint actuator and the second hip joint actuator perform hip motion in a first degree of freedom direction;

[0022] The third hip joint actuator and the fourth hip joint actuator perform hip motion in a second degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction.

[0023] In some examples, the hip structure further comprises:

[0024] a fifth hip joint actuator, connected to the third hip joint actuator;

[0025] a sixth hip joint actuator, connected to the fourth hip joint actuator;

[0026] The fifth hip joint actuator and the sixth hip joint actuator perform hip movement in a third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

[0027] In some examples, the first degree of freedom direction is a forward swing direction;

[0028] Either one of the second degree of freedom direction and the third degree of freedom direction is a roll direction, and the other is a rotation direction.

[0029] In some examples, the angle between the rotation axis direction of the first hip joint actuator and the tilt direction of the first hip joint actuator is 90 degrees; the rotation axis direction of the third hip joint actuator and the rotation axis direction of the first hip joint actuator form an angle;

[0030] The included angle between the rotation axis direction of the second hip joint actuator and the tilt direction of the second hip joint actuator is 90 degrees; the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the second hip joint actuator form an included angle.

[0031] In some examples, the angle between the rotation axis direction of the third hip joint actuator and the rotation axis direction of the fifth hip joint actuator is 90 degrees;

[0032] The included angle between the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the sixth hip joint actuator is 90 degrees.

[0033] In some examples, the hip structure further includes: a first hip connector and a second hip connector for fixing the third hip joint actuator; a third hip connector and a fourth hip connector for fixing the fourth hip joint actuator;

[0034] The first hip connector is provided with a first accommodation portion for accommodating the third hip joint actuator; one end of the second hip connector is connected to a side of the first hip joint actuator away from the second hip joint actuator, and the other end of the second hip connector is connected to the outer side of the first accommodation portion;

[0035] The third hip connector is provided with a second accommodating portion for accommodating the fourth hip joint actuator; one end of the fourth hip connector is connected to a side of the second hip joint actuator away from the first hip joint actuator, and the other end of the fourth hip connector is connected to the outer side of the second accommodating portion.

[0036] In some examples, the hip structure further includes: a fifth hip connector for fixing the fifth hip joint actuator; a sixth hip connector for fixing the sixth hip joint actuator;

[0037] The fifth hip connector is provided with a third accommodating portion for accommodating the fifth hip joint actuator; the fifth hip connector is provided with a first fixing portion connected to a side of the first hip joint actuator away from the second hip joint actuator; the first hip connector is provided with a second fixing portion connected to a side of the fifth hip joint actuator close to the third hip joint actuator;

[0038] The sixth hip connector is provided with a fourth accommodating portion for accommodating the sixth hip joint actuator. The sixth hip connector is provided with a third fixing portion connected to the side of the second hip joint actuator away from the first hip joint actuator; the third hip connector is provided with a fourth fixing portion connected to the side of the sixth hip joint actuator close to the fourth hip joint actuator.

[0039] In some examples, the hip structure further comprises:

[0040] a waist actuator for performing waist movements of the robot;

[0041] Wherein, the sides of the first hip joint actuator and the second hip joint actuator that are close to each other jointly define an internal accommodating space, and the waist actuator is located in the internal accommodating space.

[0042] In some examples, the hip structure further includes: a waist actuator connecting member for fixing the waist actuator, located in the internal accommodation space and connecting the first hip joint actuator and the second hip joint actuator.

[0043] In some examples, the number of the waist actuator is one;

[0044] The waist actuator connecting member comprises: a first sub-connecting member, the main body of the first sub-connecting member is connected to the output end of the waist actuator, and the connecting parts of the first sub-connecting member located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator;

[0045] A second sub-connector, the main body of the second sub-connector is connected to the rear end of the waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator.

[0046] In some examples, the number of the waist actuators is multiple;

[0047] The waist actuator connecting member includes: a plurality of connecting components respectively connected to the plurality of waist actuators, and an intermediate connecting member connecting the plurality of waist actuators.

[0048] In some examples, the lumbar actuator includes a first lumbar actuator and a second lumbar actuator;

[0049] The waist actuator connecting member includes: a first connecting component for fixing the first waist actuator, a second connecting component for fixing the second waist actuator, and a first intermediate connecting member connected to the first waist actuator and the second waist actuator;

[0050] Wherein, the first connection component comprises:

[0051] a first sub-connector, wherein a main body of the first sub-connector is connected to an output end of the first waist actuator, and connecting parts of the first sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator;

[0052] a second sub-connector, wherein the main body of the second sub-connector is connected to the rear end of the first waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator;

[0053] The second connection component comprises:

[0054] a third sub-connector, connected to the output end of the second waist actuator;

[0055] a fourth sub-connector, connected to a rear end of the second waist actuator away from the output end;

[0056] a fifth sub-connector, one end of which is connected to the third sub-connector and the other end of which is connected to the fourth sub-connector;

[0057] The first intermediate connecting member is provided with a first hollow portion and a second hollow portion, wherein the first hollow portion is used for accommodating the first lumbar actuator, and the second hollow portion is used for accommodating the second lumbar actuator.

[0058] In some examples, the first waist actuator and the second waist actuator are arranged along the height direction of the robot, and the angle between the rotation axis direction of the first waist actuator and the rotation axis direction of the second waist actuator is 90 degrees;

[0059] The included angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees.

[0060] In some examples, a center line of an angle formed by an inclination direction of the first hip joint actuator and an inclination direction of the second hip joint actuator is referred to as a first center line;

[0061] An arrangement direction of the first lumbar actuator and the second lumbar actuator coincides with the first center line.

[0062] In some examples, either one of the first waist actuator and the second waist actuator is an actuator for performing a lateral swing movement of the robot's waist, and the other is an actuator for performing a pitch swing movement of the robot's waist.

[0063] In some examples, the lumbar actuator also includes: a third lumbar actuator; a connecting and fixing structure adapted to the third lumbar actuator is provided on the side of the fifth sub-connector facing away from the second lumbar actuator, and the third lumbar actuator is fixed to the side of the fifth sub-connector facing away from the second lumbar actuator through the connecting and fixing structure.

[0064] In some examples, the first hip joint actuator includes: a first hip joint actuator body, and a first hip joint actuator housing connected to a side of the first hip joint actuator body close to the waist actuator;

[0065] The second hip joint actuator includes: a second hip joint actuator body, and a second hip joint actuator housing connected to a side of the second hip joint actuator body close to the waist actuator.

[0066] According to another aspect of the present disclosure, a robot is provided, comprising the above-mentioned hip structure.

[0067] The present disclosure provides a hip structure and a robot, including: a first hip joint actuator and a second hip joint actuator for executing the hip movement of the robot; wherein the first hip joint actuator and the second hip joint actuator are arranged at an angle. In the first aspect, the first and second hip joint actuators arranged at an angle are located on both sides of the waist structure, and the inclined arrangement makes the three arranged in a V shape, and the space occupied in the lateral space is significantly reduced. After the lateral width of the hip is reduced, the hip of the robot will be more compact, easier to adapt to a narrow environment, and easier to achieve miniaturization of the robot. In the second aspect, since the hip structure is the core structure connecting the upper body and lower limbs of the robot, the first and second hip joint actuators arranged at an angle are easier to achieve hip movements such as leg extension and bending. When the upper body and thigh are folded more at the hip, the hip joint actuators arranged at an angle can take into account the folding in the lateral and longitudinal directions. In the third aspect, the flexibility of the lower limb movements is improved. The two hip joint actuators arranged at an angle are closer to the root of the thigh. More joint actuators can be connected to the two hip joint actuators to achieve lower limb movements such as forward swing, rotation, and side swing. The space occupied by the hip structure is further reduced, so that the robot can simulate the human leg-lifting action when performing actions such as leg-lifting. Fourthly, the rotation axis of the tilted hip joint actuator is tilted and intersected with the center of the body; the rotation axis of other joint actuators is parallel or perpendicular to the body midline; the tilted and parallel or vertical joint actuators cooperate with each other, so the range of leg and waist movements is not only perpendicular or parallel to the body midline, but can be obtained in a wider range, and its range of activity is greatly expanded.

[0068] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0070] Figure 1 is a schematic structural diagram of a hip structure in an embodiment of the present disclosure;

[0071] Figure 2 is a schematic structural diagram of the architecture of the hip structure in an embodiment of the present disclosure;

[0072] Figure 3 is a schematic diagram of the structure of the hip structure in the embodiment of the present disclosure (including an embodiment of multiple hip joint actuators);

[0073] Figure 4 is an exploded view of a hip structure in an embodiment of the present disclosure;

[0074] Figure 5 is a front view of a hip structure in an embodiment of the present disclosure (including an embodiment of multiple waist actuators);

[0075] Figure 6 is a side view of a hip structure in an embodiment of the present disclosure (including an embodiment of multiple waist actuators);

[0076] Figure 7 Schematic diagram of the structure of the waist actuator of the hip structure in the embodiment of the present disclosure.

[0077] Description of reference numerals:

[0078] 1-first hip joint actuator, 11-first hip joint actuator body, 12-first hip joint actuator housing;

[0079] 2-second hip joint actuator, 21-second hip joint actuator body, 22-second hip joint actuator housing;

[0080] 3-first waist actuator, 31-output end of the first waist actuator, 32-rear end of the first waist actuator;

[0081] 4-a second waist actuator, 41-an output end of the second waist actuator, 42-a rear end of the second waist actuator;

[0082] 5-first connecting component, 51-first sub-connecting member, 52-second sub-connecting member;

[0083] 6-second connecting component, 61-third sub-connecting member, 62-fourth sub-connecting member, 63-fifth sub-connecting member;

[0084] 7- first intermediate connecting member;

[0085] 8-third lumbar actuator;

[0086] 01-Third hip joint actuator;

[0087] 02-Second hip connector;

[0088] 03-first hip connector, 031-first accommodating portion, 032-second fixing portion;

[0089] 04-Fifth hip joint actuator;

[0090] 05-five hip connectors, 051-third accommodating portion, 052-first fixing portion;

[0091] 06-Fourth hip joint actuator;

[0092] 07-Fourth hip connector;

[0093] 08-third hip connector, 081-second accommodating portion, 082-fourth fixing portion;

[0094] 09-6th hip joint actuator;

[0095] 10-sixth hip connector, 101-fourth accommodating portion, 102-third fixing portion;

[0096] S - internal accommodating space; D1 - tilting direction of the first hip joint actuator; D2 - rotation axis direction of the first hip joint actuator; D3 - rotation axis direction of the third hip joint actuator; D4 - rotation axis direction of the fifth hip joint actuator. DETAILED DESCRIPTION

[0097] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0098] In the description of the present disclosure, 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" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0099] It should be noted that the block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities.

[0100] See also Figures 1 to 7 , Figure 1 is a schematic diagram of an exemplary hip structure, Figure 2 is a schematic diagram of an exemplary hip structure architecture, Figure 3 is a schematic diagram of an exemplary hip structure (including multiple hip joint actuator embodiments), Figure 4 is an exploded view of an exemplary hip structure, Figure 5 is a front view of an exemplary hip structure (including an embodiment of multiple waist actuators), Figure 6 is a side view of an exemplary hip structure (including an embodiment of multiple waist actuators), Figure 7 is a schematic structural diagram of a waist actuator of an exemplary hip structure.

[0101] See also Figure 1 and Figure 2 , the present disclosure embodiment discloses a hip structure, including:

[0102] A first hip joint actuator 1 and a second hip joint actuator 2 are used to perform hip movements of the robot.

[0103] The first hip joint actuator 1 and the second hip joint actuator 2 are arranged tilted.

[0104] The tilt setting is specifically: the extension direction of the plane part of the first hip joint actuator 1 (also called the tilt direction of the first hip joint actuator 1) and the extension direction of the plane part of the second hip joint actuator 2 (also called the tilt direction of the second hip joint actuator 2) form an angle, and the angle range is (0°, 180°). In the related art, the hip joint actuator extends in parallel from both sides of the waist actuator and is arranged side by side with the waist actuator. This method has low spatial compactness and a large volume of the hip structure; by tilting the first hip joint actuator 1 and the second hip joint actuator 2, the hip space is folded, thereby reducing the volume of the hip structure, improving the compactness of the space, and facilitating the miniaturization of the robot. In addition, if other hip joint actuators are to be connected, the other hip actuators can be arranged below the tilted parts of the first hip joint actuator 1 and the second hip joint actuator 2, further reducing the occupancy in the lateral space, improving the utilization of the hip space, and thus reducing the mutual interference of the range of motion between the hip joint actuators.

[0105] When the two hip joint actuators are set at an angle, the two hip joint actuators are not parallel to each other.

[0106] When the two hip joint actuators are tilted, the two axes of the two hip joint actuators may be in the same plane or may not be in the same plane.

[0107] When the two hip joint actuators are tilted and the axes of the two hip joint actuators are coplanar, the extended lines of the two axes have an intersection. The intersection can be located on the side of the hip joint away from the waist, or on the side of the hip joint facing the robot's forward direction, or on the side of the hip joint facing the robot's back, or on the left side of the hip joint, or on the right side of the hip joint, or in other directions around the hip joint, and the present invention does not limit this.

[0108] It should be noted that, in the hip structure provided in the present disclosure, the first hip joint actuator 1 and the second hip joint actuator 2 can be symmetrically arranged or asymmetrically arranged. For example, in the application scenario of a humanoid robot, the symmetrical arrangement of the first hip joint actuator 1 and the second hip joint actuator 2 can make the movement balance of the humanoid robot good; in some special application scenarios, the asymmetrical arrangement of the first hip joint actuator 1 and the second hip joint actuator 2 can make the robot simulate a special gait. Specifically, there is no limitation to this. For the sake of convenience in explanation below, the case where the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically arranged is used as an example, but it does not constitute a limitation to this.

[0109] In one possible implementation, see Figure 1-Figure 6 , the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically and tiltedly arranged, and one end of the first hip joint actuator 1 close to the leg of the robot (not shown in the figure) (i.e., the lower end in the figure) and one end of the second hip joint actuator 2 close to the leg of the robot (i.e., the lower end in the figure) are directly connected. In other words, the first hip joint actuator 1 and the second hip joint actuator 2 have a contact connection portion. For example, the first hip joint actuator 1 and the second hip joint actuator 2 are arranged in a V-shape. This connection method makes the space of the hip structure compact and occupies a small volume. For ease of explanation, the drawings of this application are all illustrated by taking the first hip joint actuator 1 and the second hip joint actuator 2 arranged in a V-shape as an example, but it does not constitute a limitation to this application. This application makes the hip space compact and reduces the volume by tilting and gathering the first hip joint actuator 1 and the second hip joint actuator 2 into a V-shape.

[0110] In one possible implementation, see Figure 1-Figure 6The first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically arranged, and there is a gap between one end of the first hip joint actuator 1 close to the waist of the robot (not shown in the figure) (i.e., the upper end in the figure) and one end of the second hip joint actuator 2 close to the waist of the robot (i.e., the upper end in the figure), and there is a gap between one end of the first hip joint actuator 1 close to the leg of the robot (i.e., the lower end in the figure) and one end of the second hip joint actuator 2 close to the leg of the robot (i.e., the lower end in the figure). In other words, there is no contact connection portion at both ends of the first hip joint actuator 1 and the second hip joint actuator 2. In this case, a connecting piece (for example, Figure 2 The first sub-connector 51 and the second sub-connector 52 are connected to connect the first hip joint actuator 1 and the second hip joint actuator 2 from the middle section. For example, the first hip joint actuator 1 and the second hip joint actuator 2 are arranged in an inverted figure eight shape. This connection method makes the structure of the hip structure simple and easy to manufacture.

[0111] In the hip structure provided by the present disclosure, various connection methods can be used between the various separated components, for example, they can be connected by screw fixing and installation. Of course, other connection methods can also be used, which are not limited here. The various separated components can be, for example, a first hip joint actuator 1 and a second hip joint actuator 2. In other words, the first hip joint actuator 1 and the second hip joint actuator 2 can be separately arranged. Of course, the various components can also be integrally formed, so there is no need for splicing. Based on this, in one possible implementation method, the first hip joint actuator 1 and the second hip joint actuator 2 are integrally formed. In this way, the first hip joint actuator 1 and the second hip joint actuator 2 do not need to be spliced, and the installation is simple and the stability is good.

[0112] In one possible implementation, see Figure 3 and Figure 4 The hip structure provided by the present disclosure also includes: a third hip joint actuator 01 and a fourth hip joint actuator 06 .

[0113] The third hip joint actuator 01 is connected to a side of the first hip joint actuator 1 facing away from the second hip joint actuator 2 ; and the fourth hip joint actuator 06 is connected to a side of the second hip joint actuator 2 facing away from the first hip joint actuator 1 .

[0114] Among them, the first hip joint actuator 1 and the second hip joint actuator 2 perform hip movement in the first degree of freedom direction; the third hip joint actuator 01 and the fourth hip joint actuator 06 perform hip movement in the second degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction. The hip of the robot can move in different directions, and one degree of freedom represents movement in one direction, that is, the connected first hip joint actuator 1 and the third hip joint actuator 01 perform hip movement in different directions, and the connected second hip joint actuator 2 and the fourth hip joint actuator 06 perform hip movement in different directions. The degree of freedom direction of hip movement can include multiple directions, such as: rotation direction, forward swing direction, side swing direction, etc., which are not limited here.

[0115] In one possible implementation, see Figure 3 and Figure 4 The hip structure provided by the present disclosure also includes: a fifth hip joint actuator 04 and a sixth hip joint actuator 09 .

[0116] Among them, the fifth hip joint actuator 04 is connected to the third hip joint actuator 01 ; the sixth hip joint actuator 09 is connected to the fourth hip joint actuator 06 .

[0117] The fifth hip joint actuator 04 and the sixth hip joint actuator 09 perform hip movement in the third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

[0118] That is, the connected first hip joint actuator 1, the third hip joint actuator 01 and the fifth hip joint actuator 04 each perform hip movements in different directions, and the connected second hip joint actuator 2, the fourth hip joint actuator 06 and the sixth hip joint actuator 09 each perform hip movements in different directions. The degrees of freedom of hip movement may include multiple directions, such as rotation direction, forward swing direction, side swing direction, etc., which are not limited here.

[0119] It should be noted that the direction of the degrees of freedom and the connection order of the above-mentioned connected first hip joint actuator 1-third hip joint actuator 01-fifth hip joint actuator 04 can be changed, and can be connected in series or in partial parallel, without limitation here; the direction of the degrees of freedom and the connection order of the second hip joint actuator 2-fourth hip joint actuator 06-sixth hip joint actuator 09 can be changed, and can be connected in series or in partial parallel, without limitation here. The technical effect brought about by the above-mentioned features is that each hip joint actuator realizes different hip joint functions such as forward swing, rotation, and side swing respectively. The present invention is compatible with various sequences of hip joint actuator connection sequences, thereby realizing various modes of robot leg movement.

[0120] In a possible implementation, the direction of the first degree of freedom is a forward swing direction. In other words, the first hip joint actuator 1 and the second hip joint actuator 2 may be actuators for performing a forward swing movement of the hip.

[0121] Either the second degree of freedom direction or the third degree of freedom direction is the lateral swing direction, and the other is the rotation direction. In other words, the third hip joint actuator 01 and the fourth hip joint actuator 06 are actuators for executing the rotation movement of the hip, and the fifth hip joint actuator 04 and the sixth hip joint actuator 09 are actuators for executing the lateral swing movement of the hip; or they can be interchanged with each other, which is not limited here. In the accompanying drawings, the third hip joint actuator 01 and the fourth hip joint actuator 06 are actuators for executing the rotation movement of the hip, and the fifth hip joint actuator 04 and the sixth hip joint actuator 09 are actuators for executing the lateral swing movement of the hip as an example for explanation, but this is not limited to this.

[0122] In the related technology, a hip rotation actuator and a hip lateral swing actuator are arranged on both sides of a waist actuator and are arranged parallel to the waist actuator, and a hip forward swing actuator is arranged below the hip rotation actuator and the hip lateral swing actuator, and the knee forward swing actuator is arranged side by side with the hip forward swing actuator. Under this design, on the one hand, when the hip swings forward, the hip forward swing actuator will counteract the hip rotation actuator and the hip lateral swing actuator, resulting in a limited forward swing angle; on the other hand, since the knee forward swing actuator and the hip forward swing actuator are arranged side by side, the volume occupied is relatively large, and the knee forward swing actuator will protrude toward the inside of the leg. Therefore, when doing an inward swing cross step, the inside of the leg is blocked by the protruding knee forward swing actuator, resulting in that when the two legs cross to a certain angle, the protruding knee forward swing actuator on the inside of the leg will counteract each other and cannot continue to cross, thereby limiting the inward swing range. The hip forward swing actuator provided by the present invention In the structure, in an embodiment where the first hip joint actuator 1 and the second hip joint actuator 2 can be actuators for executing the forward swing movement of the hip, the hip forward swing actuator usually has a large range of motion and a large size. By moving the first hip joint actuator 1 and the second hip joint actuator 2 that execute the forward swing movement of the hip upward and placing them at the upper end of the hip structure, and arranging them at an angle, on the one hand, the hip space is contracted and the space compactness is improved, so that other hip joint actuators (such as the third hip joint actuator 01 and the fourth hip joint actuator 06) can be connected below the inclined parts of the first hip joint actuator 1 and the second hip joint actuator 2; on the other hand, when the first hip joint actuator 1 and the second hip joint actuator 2 execute the forward swing movement of the hip, since the other hip actuators move downward, there is no obstruction of other hip actuators in the entire forward swing rotation range, thereby effectively increasing the forward swing range of motion. Furthermore, by moving the larger hip forward swing actuator to the top of the hip structure, and thereby connecting other leg actuators (such as the knee forward swing actuator) to the bottom end of the hip actuator (such as the bottom end of the third hip joint actuator 01 and the fourth hip joint actuator 06), since there are no actuators arranged side by side, there will be no protruding actuators on the inner side of the leg to block the range of the inner swing cross, thereby effectively increasing the inner swing range of the hip, so that the robot using the hip structure provided by the present invention can perform a crossover step.

[0123] It should be noted that the placement of each hip joint actuator includes multiple implementations, which are not limited here. In one possible implementation, see Figure 3 and Figure 4 The included angle between the rotation axis direction D2 of the first hip joint actuator 1 and the tilt direction D1 of the first hip joint actuator 1 is 90 degrees; the rotation axis direction D3 of the third hip joint actuator 01 and the rotation axis direction D2 of the first hip joint actuator 1 form an included angle.

[0124] Correspondingly, the angle between the rotation axis direction of the second hip joint actuator 2 and the tilt direction of the second hip joint actuator 2 is 90 degrees; the rotation axis direction of the fourth hip joint actuator 06 and the rotation axis direction of the second hip joint actuator 2 form an angle.

[0125] In this embodiment, the first hip joint actuator 1 and the second hip joint actuator 2 are arranged at an angle, and the third hip joint actuator 01 and the fourth hip joint actuator 06 connected to the lower outer side thereof can be arranged vertically, and the orthographic projections of the third hip joint actuator 01 and the fourth hip joint actuator 06 in the vertical direction partially overlap with the orthographic projections of the first hip joint actuator 1 and the second hip joint actuator 2 in the vertical direction, further forming a compact hip structure.

[0126] In one possible implementation, see Figure 3 and Figure 4 The included angle between the rotation axis direction D3 of the third hip joint actuator 01 and the rotation axis direction D4 of the fifth hip joint actuator 04 is 90 degrees.

[0127] Correspondingly, the angle between the rotation axis direction of the fourth hip joint actuator 06 and the rotation axis direction of the sixth hip joint actuator 09 is 90 degrees.

[0128] In this embodiment, the third hip joint actuator 01 and the fourth hip joint actuator 06 can be arranged vertically, and the fifth hip joint actuator 04 and the sixth hip joint actuator 09 can be placed horizontally on the sides of the third hip joint actuator 01 and the fourth hip joint actuator 06 respectively, forming a dual actuator vertical output end structure.

[0129] Furthermore, the orthographic projections of the fifth hip joint actuator 04 and the sixth hip joint actuator 09 in the vertical direction partially overlap with the orthographic projections of the first hip joint actuator 1 and the second hip joint actuator 2 in the vertical direction, further forming a compact hip structure.

[0130] It should be noted that the connection method of each hip joint actuator includes multiple implementation methods, which are not limited here. In one possible implementation method, see Figure 3 and Figure 4 The hip structure provided by the present disclosure further includes: a first hip connector 03 and a second hip connector 02 for fixing the third hip joint actuator 01; a third hip connector 08 and a fourth hip connector 07 for fixing the fourth hip joint actuator 06.

[0131] Among them, for one side of the first hip joint actuator 1, the first hip connector 03 is provided with a first accommodating portion 031 for accommodating the third hip joint actuator 01; one end of the second hip connector 02 is connected to the side of the first hip joint actuator 1 away from the second hip joint actuator 2, and the other end of the second hip connector 02 is connected to the outer side of the first accommodating portion 031.

[0132] On one side of the second hip joint actuator 2, the third hip connector 08 is provided with a second accommodating portion 081 for accommodating the fourth hip joint actuator 06; one end of the fourth hip connector 07 is connected to the side of the second hip joint actuator 2 facing away from the first hip joint actuator 1, and the other end of the fourth hip connector 07 is connected to the outer side of the second accommodating portion 081.

[0133] In one possible implementation, see Figure 3 and Figure 4 The hip structure provided by the present disclosure further includes: a fifth hip connector 05 for fixing the fifth hip joint actuator 04 ; and a sixth hip connector 10 for fixing the sixth hip joint actuator 09 .

[0134] Among them, for one side of the first hip joint actuator 1, the fifth hip connector 05 is provided with a third accommodating portion 051 for accommodating the fifth hip joint actuator 04, and the fifth hip connector 05 is provided with a first fixing portion 052, which is connected to the side of the first hip joint actuator 1 away from the second hip joint actuator 2; the first hip connector 03 is provided with a second fixing portion 032, which is connected to the side of the fifth hip joint actuator 04 close to the third hip joint actuator 01.

[0135] On the side of the second hip joint actuator 2, the sixth hip connector 10 is provided with a fourth accommodating portion 101 for accommodating the sixth hip joint actuator 09, and the sixth hip connector 10 is provided with a third fixing portion 102, which is connected to the side of the second hip joint actuator 2 away from the first hip joint actuator 1; the third hip connector 08 is provided with a fourth fixing portion 082, which is connected to the side of the sixth hip joint actuator 09 close to the fourth hip joint actuator 06.

[0136] The above-mentioned accommodating parts and fixing parts can be separately provided or integrally formed, which is not limited here.

[0137] In one possible implementation, see Figure 4-Figure 6 The hip structure provided by the present disclosure also includes: a waist actuator for executing waist movement of the robot (for example: Figure 5-Figure 6 A first lumbar actuator 3 and / or a second lumbar actuator 4);

[0138] The first hip joint actuator 1 and the second hip joint actuator 2 are close to each other on one side (in other words, the inner side) and define an internal accommodation space S together. The lumbar actuator is located in the internal accommodation space S. Furthermore, the horizontal height of the bottom of the lumbar actuator is lower than the horizontal height of the top of the first hip joint actuator 1 and lower than the horizontal height of the top of the second hip joint actuator 2. In addition, the horizontal height of the bottom of the lumbar actuator is higher than the horizontal height of the bottom of the first hip joint actuator 1 and higher than the horizontal height of the bottom of the second hip joint actuator 2. That is, the inner side of the first hip joint actuator 1 and the inner side of the second hip joint actuator 2 are opposite to each other, so that the inner sides of the two enclose an internal accommodation space for placing the lumbar actuator.

[0139] Through this structure, since the lumbar actuator is arranged in the internal accommodating space S formed by the first hip joint actuator 1 and the second hip joint actuator 2 on both sides, in other words, the lumbar actuator is arranged inside the hip structure, the volume of the hip structure is reduced and the spatial compactness is improved. In addition, the first hip joint actuator 1 and the second hip joint actuator 2 can limit the lumbar actuator and protect the lumbar actuator inside to prevent the lumbar actuator from being exposed to the outside and being collided and scratched.

[0140] It should be noted that, according to the overall design of the robot, the internal accommodating space S can also be connected to the mechanisms or actuators of other parts of the robot. For example, the internal accommodating space S can be directly connected to the chest part of the robot, and there is no limitation here.

[0141] In one possible implementation, see Figure 1-Figure 4 The hip structure provided by the present disclosure further includes: a waist actuator connecting member (eg, Figure 3 5, 6, 7), the waist actuator connector is located in the internal accommodating space S, and the waist actuator connector connects the first hip joint actuator 1 and the second hip joint actuator 2. In order to fix the waist actuator in the internal accommodating space S, a waist actuator connector is arranged in the internal accommodating space S, and is connected to the waist actuator and the two hip joint actuators.

[0142] It should be noted that the number of lumbar actuators is one or more and can be set as needed. In an embodiment with multiple lumbar actuators, all lumbar actuators can be placed in the internal accommodating space S, or some lumbar actuators can be placed in the internal accommodating space S, without limitation here.

[0143] It should be noted that in the present disclosure, the lumbar actuator is a rotary actuator having a rotary actuator output end, which rotates around an output shaft. The side of the lumbar actuator away from the output end is the rear end, and a driving component, such as a motor, may be provided, which is not limited here.

[0144] In a possible implementation, the number of the waist actuator is one, based on which the waist actuator connector includes: a first sub-connector 51 and a second sub-connector 52 .

[0145] Among them, the main body of the first sub-connector 51 is connected to the output end of the waist actuator, and the connecting parts of the first sub-connector 51 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2. In other words, the first sub-connector 51 fixes the output end of the waist actuator between the first hip joint actuator 1 and the second hip joint actuator 2.

[0146] The main body of the second sub-connector 52 is connected to the rear end of the waist actuator away from the output end, and the connecting parts of the second sub-connector 52 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2. In other words, the second sub-connector 52 fixes the rear end of the waist actuator between the first hip joint actuator 1 and the second hip joint actuator 2, and the waist actuator is fixed in the internal accommodation space S formed by the first hip joint actuator 1 and the second hip joint actuator 2 through the cooperation of the first sub-connector 51 and the second sub-connector 52. It should be noted that in the above embodiment, the waist actuator can be an actuator for performing waist movements with any degree of freedom, and the degrees of freedom of waist movements include: rotational movement, lateral swing movement, pitch swing movement, etc., which are not limited here.

[0147] In a possible implementation, there are multiple waist actuators. Based on this, the waist actuator connector includes: multiple connection components respectively connected to the multiple waist actuators, that is, the multiple connection components are used to fix the multiple waist actuators; and an intermediate connector connecting the multiple waist actuators, the intermediate connector is used to connect any n waist actuators in series among the multiple waist actuators, where n is an integer greater than or equal to 2.

[0148] In one possible implementation, see Figure 4-Figure 7 The lumbar actuator includes a first lumbar actuator 3 and a second lumbar actuator 4 .

[0149] The waist actuator connecting member includes: a first connecting component 5 for fixing the first waist actuator 3, a second connecting component 6 for fixing the second waist actuator 4, and a first intermediate connecting member 7 connected to the first waist actuator 3 and the second waist actuator 4.

[0150] Wherein, the first connection component 5 comprises:

[0151] The first sub-connector 51 has a main body connected to the output end 31 of the first lumbar actuator 3, and the connecting parts of the first sub-connector 51 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2.

[0152] The second sub-connector 52, the main body of the second sub-connector 52 is connected to the rear end 32 of the first lumbar actuator 3 away from the output end 31, and the connecting parts of the second sub-connector 52 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2.

[0153] The second connection component 6 comprises:

[0154] A third sub-connector 61 is connected to the output end 41 of the second waist actuator 4;

[0155] The fourth sub-connector 62 is connected to the rear end 42 of the second waist actuator 4 away from the output end 41;

[0156] The fifth sub-connector 63, one end of the fifth sub-connector 63 is connected to the third sub-connector 61, the other end of the fifth sub-connector 63 is connected to the fourth sub-connector 62, the fifth sub-connector 63 is used to connect and fix the third sub-connector 61 and the fourth sub-connector 62, and the lower side of the fifth sub-connector 63 is in contact with the second waist actuator 4.

[0157] The first intermediate connector 7 is provided with a first hollow part and a second hollow part, the first hollow part is used to place the first waist actuator 3, the first sub-connector 51 and the second sub-connector 52 are respectively located on both sides of the first hollow part along the axis of the first hollow part; the second hollow part is used to place the second waist actuator 4, the third sub-connector 61 and the fourth sub-connector 62 are respectively located on both sides of the second hollow part along the axis of the second hollow part. Through the connection structure as described above, the first waist actuator 3 is matched with the first sub-connector 51 and the second sub-connector 52, and the first waist actuator 3 and the second waist actuator 4 are connected in series through the first intermediate connector 7, and the second waist actuator 4 is fixed on the first intermediate connector 7 through the third sub-connector 61, the fourth sub-connector 62 and the fifth sub-connector 63, so as to realize the series connection of the first waist actuator 3 and the second waist actuator 4, and the first waist actuator 3 and the second waist actuator 4 are arranged in the internal accommodation space S.

[0158] In one possible implementation, see Figure 5-Figure 7The first waist actuator 3 and the second waist actuator 4 are arranged along the height direction of the robot (i.e., the direction perpendicular to the ground), and the angle between the rotation axis direction of the first waist actuator 3 and the rotation axis direction of the second waist actuator 4 is 90 degrees; and the angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees. Through this structure, the first waist actuator 3 and the second waist actuator 4 are staggered at 90 degrees to form a dual-actuator vertical output module with a vertical output function, and the integration of the waist actuator is improved, and the weight of the hip structure is reduced.

[0159] In a possible implementation, based on the above-mentioned embodiment of the first lumbar actuator 3 and the second lumbar actuator 4 forming a dual-actuator vertical output module, the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically and tilted, for example, arranged in a V-shape, and the center line of the angle formed by the tilt direction of the first hip joint actuator 1 and the tilt direction of the second hip joint actuator 2 is called the first center line, for example, the center line of the V-shaped angle is the first center line, and the arrangement direction of the first lumbar actuator 3 and the second lumbar actuator 4 coincides with the first center line, that is, the first lumbar actuator 3 and the second lumbar actuator 4 forming the vertical output module are arranged on the center line of the V-shaped angle, thereby improving the symmetry of the hip structure, and then improving the movement balance of the robot.

[0160] In a possible implementation, in an embodiment where the waist actuator includes a first waist actuator 3 and a second waist actuator 4, based on the above embodiment, any one of the first waist actuator 3 and the second waist actuator 4 is an actuator for executing the side swing movement of the robot's waist, and the other is an actuator for executing the pitch and swing movement of the robot's waist. In other words, the waist actuator arranged below can be an actuator for side swing movement, or an actuator for pitch and swing movement, which is not limited here. For ease of explanation, the accompanying drawings are all illustrated by taking the first waist actuator 3 arranged below as an actuator for side swing movement as an example. Obviously, when the first waist actuator 3 below is an actuator for pitch and swing movement, the structure of the first sub-connector 51 and the second sub-connector 52 is changed accordingly according to the setting direction of the actuator for pitch and swing movement.

[0161] In one possible implementation, see Figure 4The lumbar actuator may further include: a third lumbar actuator 8; based on the above embodiment, in the second connecting component 6, a connecting and fixing structure adapted to the third lumbar actuator 8 is provided on the side of the fifth sub-connector 63 away from the second lumbar actuator 4, and the third lumbar actuator 8 is fixed on the side of the fifth sub-connector 63 away from the second lumbar actuator 4 through the connecting and fixing structure, thereby realizing the series connection of the first lumbar actuator 3, the second lumbar actuator 4 and the third lumbar actuator 8. The third lumbar actuator 8 may, for example, be an actuator for performing rotational movement of the waist.

[0162] It should be noted that the connection sequence of the first lumbar actuator 3, the second lumbar actuator 4 and the third lumbar actuator 8, and the execution mode of the movement can be set as needed and are not limited here.

[0163] In one possible implementation, see Figure 3 and Figure 4 The first hip joint actuator 1 comprises: a first hip joint actuator body 11, and a first hip joint actuator housing 12 connected to the first hip joint actuator body 11 near the waist actuator side;

[0164] The second hip joint actuator 2 includes: a second hip joint actuator body 21 and a second hip joint actuator housing 22 connected to the second hip joint actuator body 21 at a side close to the waist actuator.

[0165] The present disclosure provides a robot, comprising: a hip structure as described above, so as to improve the spatial compactness of the hip structure of the robot, reduce the volume of the hip structure, and further increase the mobility of the hip structure.

[0166] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0167] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0168] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0169] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A hip structure, comprising: a first hip joint actuator and a second hip joint actuator for performing hip motion of the robot; Wherein, the first hip joint actuator and the second hip joint actuator are arranged tilted.

2. The hip structure according to claim 1, wherein: The first hip joint actuator and the second hip joint actuator are symmetrically arranged; One end of the first hip joint actuator close to the leg of the robot is directly connected to one end of the second hip joint actuator close to the leg of the robot.

3. The hip structure according to claim 1, wherein: The first hip joint actuator and the second hip joint actuator are symmetrically arranged; There is a gap between one end of the first hip joint actuator close to the waist of the robot and one end of the second hip joint actuator close to the waist of the robot; A gap is formed between one end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot.

4. The hip structure according to any one of claims 1 to 3, wherein: The hip structure further comprises: a third hip joint actuator, connected to a side of the first hip joint actuator facing away from the second hip joint actuator; a fourth hip joint actuator, connected to a side of the second hip joint actuator facing away from the first hip joint actuator; wherein the first hip joint actuator and the second hip joint actuator perform hip motion in a first degree of freedom direction; The third hip joint actuator and the fourth hip joint actuator perform hip motion in a second degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction.

5. The hip structure according to claim 4, wherein: The hip structure further comprises: a fifth hip joint actuator, connected to the third hip joint actuator; a sixth hip joint actuator, connected to the fourth hip joint actuator; The fifth hip joint actuator and the sixth hip joint actuator perform hip movement in a third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

6. The hip structure according to claim 5, wherein: The first degree of freedom direction is the forward swing direction; Either one of the second degree of freedom direction and the third degree of freedom direction is a roll direction, and the other is a rotation direction.

7. The hip structure according to claim 6, wherein: The included angle between the rotation axis direction of the first hip joint actuator and the tilt direction of the first hip joint actuator is 90 degrees; the rotation axis direction of the third hip joint actuator and the rotation axis direction of the first hip joint actuator form an included angle; The included angle between the rotation axis direction of the second hip joint actuator and the tilt direction of the second hip joint actuator is 90 degrees; the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the second hip joint actuator form an included angle.

8. The hip structure according to claim 7, wherein: The included angle between the rotation axis direction of the third hip joint actuator and the rotation axis direction of the fifth hip joint actuator is 90 degrees; The included angle between the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the sixth hip joint actuator is 90 degrees.

9. The hip structure according to claim 6, wherein: The hip structure further comprises: a first hip connector and a second hip connector for fixing the third hip joint actuator; a third hip connector and a fourth hip connector for fixing the fourth hip joint actuator; The first hip connector is provided with a first accommodation portion for accommodating the third hip joint actuator; one end of the second hip connector is connected to a side of the first hip joint actuator away from the second hip joint actuator, and the other end of the second hip connector is connected to the outer side of the first accommodation portion; The third hip connector is provided with a second accommodating portion for accommodating the fourth hip joint actuator; one end of the fourth hip connector is connected to a side of the second hip joint actuator away from the first hip joint actuator, and the other end of the fourth hip connector is connected to the outer side of the second accommodating portion.

10. The hip structure according to claim 9, wherein: The hip structure further comprises: a fifth hip connector for fixing the fifth hip joint actuator; a sixth hip connector for fixing the sixth hip joint actuator; The fifth hip connector is provided with a third accommodating portion for accommodating the fifth hip joint actuator; the fifth hip connector is provided with a first fixing portion connected to a side of the first hip joint actuator away from the second hip joint actuator; the first hip connector is provided with a second fixing portion connected to a side of the fifth hip joint actuator close to the third hip joint actuator; The sixth hip connector is provided with a fourth accommodating portion for accommodating the sixth hip joint actuator. The sixth hip connector is provided with a third fixing portion connected to the side of the second hip joint actuator away from the first hip joint actuator; the third hip connector is provided with a fourth fixing portion connected to the side of the sixth hip joint actuator close to the fourth hip joint actuator.

11. The hip structure according to any one of claims 1 to 3, wherein: The hip structure further comprises: a waist actuator for performing waist movements of the robot; Wherein, the sides of the first hip joint actuator and the second hip joint actuator that are close to each other jointly define an internal accommodating space, and the waist actuator is located in the internal accommodating space.

12. The hip structure according to claim 11, wherein: The hip structure further includes: a waist actuator connecting member for fixing the waist actuator, which is located in the internal accommodation space and connects the first hip joint actuator and the second hip joint actuator.

13. The hip structure according to claim 12, wherein: The number of the waist actuator is one; The waist actuator connector includes: a first sub-connector, the main body of which is connected to the output end of the waist actuator, 、 The connection parts located at both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator; A second sub-connector, the main body of the second sub-connector is connected to the rear end of the waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator.

14. The hip structure according to claim 12, wherein: The number of the waist actuators is multiple; The waist actuator connecting member includes: a plurality of connecting components respectively connected to the plurality of waist actuators, and an intermediate connecting member connecting the plurality of waist actuators.

15. The hip structure according to claim 14, wherein: The waist actuator comprises a first waist actuator and a second waist actuator; The waist actuator connecting member includes: a first connecting component for fixing the first waist actuator, a second connecting component for fixing the second waist actuator, and a first intermediate connecting member connected to the first waist actuator and the second waist actuator; Wherein, the first connection component comprises: a first sub-connector, wherein a main body of the first sub-connector is connected to an output end of the first waist actuator, and connecting parts of the first sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator; a second sub-connector, wherein the main body of the second sub-connector is connected to the rear end of the first waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator; The second connection component comprises: a third sub-connector, connected to the output end of the second waist actuator; a fourth sub-connector, connected to a rear end of the second waist actuator away from the output end; a fifth sub-connector, one end of which is connected to the third sub-connector and the other end of which is connected to the fourth sub-connector; The first intermediate connecting member is provided with a first hollow portion and a second hollow portion, wherein the first hollow portion is used for accommodating the first lumbar actuator, and the second hollow portion is used for accommodating the second lumbar actuator.

16. The hip structure according to claim 15, wherein: The first waist actuator and the second waist actuator are arranged along the height direction of the robot, and the angle between the rotation axis direction of the first waist actuator and the rotation axis direction of the second waist actuator is 90 degrees; The included angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees.

17. The hip structure according to claim 16, wherein: The center line of the angle formed by the inclination direction of the first hip joint actuator and the inclination direction of the second hip joint actuator is called the first center line; An arrangement direction of the first lumbar actuator and the second lumbar actuator coincides with the first center line.

18. The hip structure according to claim 15, wherein: Either one of the first waist actuator and the second waist actuator is an actuator for executing a lateral swing movement of the waist of the robot, and the other is an actuator for executing a pitch swing movement of the waist of the robot.

19. The hip structure according to claim 15, wherein: The lumbar actuator also includes: a third lumbar actuator; a connecting and fixing structure adapted to the third lumbar actuator is provided on the side of the fifth sub-connector away from the second lumbar actuator, and the third lumbar actuator is fixed to the side of the fifth sub-connector away from the second lumbar actuator through the connecting and fixing structure.

20. The hip structure according to any one of claims 1 to 3, wherein: The first hip joint actuator comprises: a first hip joint actuator body, and a first hip joint actuator housing connected to the first hip joint actuator body at a side close to the waist actuator; The second hip joint actuator includes: a second hip joint actuator body, and a second hip joint actuator housing connected to the second hip joint actuator body at a side close to the waist actuator.

21. A robot comprising: A hip structure as claimed in any one of claims 1 to 20.

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