Longitudinal robot hip structure and robot

Abstract

The invention discloses a longitudinal robot hip structure and a robot, and relates to the field of robots. The robot hip structure comprises a hip joint frame, a waist main frame, a first motor, a second motor and a third motor. The hip joint frame is rotatably mounted at the relative lower part of the waist main frame; the third motor is installed on the relative upper portion of the waist main frame. An upper fixing opening extending in the X-axis direction is formed in the relative upper portion of the upper base, and a lower containing opening is formed in the relative lower portion of the upper base. The lower seat is rotatably mounted in the lower accommodating opening around the X axis; the first motor is installed on the upper fixing opening and used for driving the upper rotating piece to rotate around the X axis and driving the lower rotating piece to rotate through the connecting rod. The second motor is mounted at the lower fixing opening and is used for driving the leg connecting block to rotate around the Y axis; the output end of the third motor is connected to the upper base and used for driving the upper base to rotate around the Z axis. According to the scheme, the problems that the motor connecting structure from the hip to the thigh of the robot on the X-axis, the Y-axis and the Z-axis is complex, large space is occupied, and movement and attractiveness are affected are solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a longitudinally arranged robot hip structure and a robot. Background Art

[0002] Traditional humanoid robots adopt a form with motors placed at the rear. Its design feature is mainly to concentrate the core power unit in the rear area of the hip. This layout requires a large amount of space to be reserved for motors, reducers, and transmission mechanisms, resulting in a significant expansion of the volume of the rear part of the robot's torso, forming a "backpack-style" convex structure. Specifically, the rear-mounted motors will increase the longitudinal depth of the hip area, causing the overall center of gravity of the robot to shift backward, which may affect the compensation efficiency of the balance control algorithm during dynamic movement. At the same time, the mechanical components stacked at the rear will limit the range of motion of the hip joint, reducing the flexibility of lower limb movement and gait coordination. Especially when performing complex actions such as squatting and crossing obstacles, mechanical interference is likely to occur. Summary of the Invention

[0003] The purpose of the present invention is to propose a longitudinally arranged robot hip structure, which distributes the first motor, the second motor, and the third motor in a longitudinally arranged form to achieve the power transmission from the hip to the thigh of the humanoid robot, saving hip space.

[0004] The present invention also proposes a robot that uses the above-mentioned longitudinally arranged robot hip structure.

[0005] To achieve this purpose, the present invention adopts the following technical solutions: A longitudinally arranged robot hip structure, comprising: a hip joint frame, a waist main frame, a first motor, a second motor, and a third motor; At least two of the hip joint frames are rotatably mounted below the waist main frame; the third motor is mounted above the waist main frame; The hip joint frame includes: an upper seat, a lower seat, a tie rod assembly, and a leg connection block; The upper seat is provided with an upper fixing port extending in the X-axis direction at the relative upper part, and a lower receiving port at the relative lower part; the lower seat is rotatably mounted in the lower receiving port around the X-axis; the lower seat is provided with a lower fixing port; The tie rod assembly includes: an upper rotating member, a lower rotating member, and a connecting rod; The upper rotating member is located at the relative rear of the upper fixing port; the lower rotating member is connected to the lower seat, the upper end of the connecting rod is connected to the upper rotating member, and the lower end of the connecting rod is connected to the lower rotating member; The first motor is installed at the upper fixing port, and the output end of the first motor is connected to the upper rotating member, and is used to drive the upper rotating member to rotate around the X axis, and drive the lower rotating member to rotate through the connecting rod; the second motor is installed at the lower fixing port, and the output end of the second motor is connected to the leg connecting block, and is used to drive the leg connecting block to rotate around the Y axis; the output end of the third motor is connected to the upper seat, and is used to drive the upper seat to rotate around the Z axis.

[0006] Optimally, the upper rotating member and the lower rotating member are connected by a pair of the connecting rods, one of the connecting rods is close to the relatively left side of the upper seat, and the other connecting rod is close to the relatively right side of the upper seat.

[0007] Optimally, the upper rotating member is respectively provided with convex surfaces in the left and right side directions of the upper seat, and the upper ends of the connecting rods are connected to the convex surfaces; One end of the lower rotating member facing the middle of the waist main frame is provided with a first driving end, and one end of the lower rotating member far from the middle of the waist main frame is provided with a second driving end; the lower end of one of the connecting rods is connected to the first driving end, and the lower end of the other connecting rod is connected to the second driving end; When the hip joint frame is in an upright state, the convex surface close to the middle of the waist main frame faces obliquely upward, the convex surface far from the middle of the waist main frame faces obliquely downward, and the first driving end is higher than the second driving end; the upper rotating member drives the lower rotating member to rotate around the X axis with limited rotation through the connecting rod.

[0008] Optimally, an adjustment gap is formed between the connecting rod and the upper seat.

[0009] Optimally, the connecting rods are respectively located on the left and right side surfaces of the upper seat. When one of the connecting rods moves to abut against the relatively left side or the relatively right side of the upper seat, the rotation of the lower rotating member is restricted.

[0010] Optimally, the upper rotating member is provided with a mating round hole, and the mating round hole is used for sleeving the outer periphery of the output end of the first motor.

[0011] Optimally, the upper rotating member and / or the lower rotating member is provided with a fixing hole; The fixing hole of the upper rotating member is used for loading a fastener, and is fixed to the output end of the first motor by the fastener; The fixing hole of the lower rotating member is used for loading a fastener, and is fixed to the lower seat by the fastener.

[0012] Optimally, the lower seat is provided with multiple pairs of seat holes along the length direction; one of the seat holes in each pair of seat holes is located on the relatively rear side, and the other seat hole is located on the relatively front side, and the seat holes on the front and rear sides are linearly aligned; the lower seat is rotatably connected to the lower receiving port through any pair of the seat holes.

[0013] Optimally, the upper seat includes a seat main body and an end plate; The seat main body is provided with an L-shaped groove and the upper fixing port; the end plate is installed in the L-shaped groove; the vertical side wall of the L-shaped groove is spaced apart from the end plate, and the lower accommodation port is formed therebetween.

[0014] A robot is provided with a robot thigh and the above-mentioned longitudinal robot hip structure; the robot thigh is installed on the leg connecting block.

[0015] Compared with the prior art, one of the above technical solutions has the following beneficial effects: This solution provides a longitudinal robot hip structure, which distributes the first motor, the second motor and the third motor in a longitudinal arrangement to realize the power transmission from the hip to the thigh of the humanoid robot, saving hip space; at the same time, the transmission between the motors is arranged step by step in the order from top to bottom, and the motion control debugging is more intuitive and convenient. It can be pre-assembled independently and then connected to other parts of the humanoid robot. It has the advantages of simplified structure, fast assembly and high production efficiency, and solves the problems that the motor connection structure of the hip to the thigh of the robot is complex, occupies more space and affects the movement and aesthetics in the X, Y and Z axes. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of one embodiment of the robot hip structure; Figure 2 is a schematic structural diagram of one embodiment of the hip joint frame; Figure 3 is a schematic structural diagram of one embodiment when the hip joint frame installs the motor; Figure 4 is a schematic structural diagram of one embodiment of the hip joint frame; Figure 5 is a schematic structural diagram of one embodiment when the hip joint frame installs the motor.

[0017] Wherein: upper seat 1, lower seat 2, tie rod assembly 3; seat main body 11, end plate 12; upper fixing port 111, lower accommodation port 112; L-shaped groove 113; lower fixing port 21; upper rotating part 31, lower rotating part 32, connecting rod 33; convex surface 311; mating round hole 312; fixing hole 313; adjusting gap 331; seat hole 321; hip joint frame 01, waist main frame 02, first motor 03, second motor 04, third motor 05; leg connecting block 06; first driving end 021, second driving end 022. Detailed implementation mode

[0018] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inner side", "outer side", "inner end", "outer end", "axial direction", "radial direction", "circumferential direction", "X-axis", "Y-axis", "Z-axis", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention 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 should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features, which are used to distinguish and describe features, without order or importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is more than two.

[0020] For example Figures 1-5 , a longitudinally arranged robot hip structure includes: a hip joint frame 01, a waist main frame 02, a first motor 03, a second motor 04, and a third motor 05; At least two of the hip joint frames 01 are rotatably installed below the waist main frame 02 relatively; the third motor 05 is installed above the waist main frame 02 relatively; The hip joint frame 01 includes: an upper seat 1, a lower seat 2, a pull rod assembly 3, and a leg connection block 06; The upper seat 1 is provided with an upper fixing port 111 extending in the X-axis direction at the relatively upper part, and a lower accommodating port 112 at the relatively lower part; the lower seat 2 is rotatably installed in the lower accommodating port 112 around the X-axis; the lower seat 2 is provided with a lower fixing port 21; The pull rod assembly 3 includes: an upper rotating part 31, a lower rotating part 32, and a connecting rod 33; The upper rotating part 31 is located relatively behind the upper fixing port 111; the lower rotating part 32 is connected to the lower seat 2, the upper end of the connecting rod 33 is connected to the upper rotating part 31, and the lower end of the connecting rod 33 is connected to the lower rotating part 32; The first motor 03 is installed at the upper fixed port 111. The output end of the first motor 03 is connected to the upper rotating member 31, and is used to drive the upper rotating member 31 to rotate around the X axis, and drive the lower rotating member 32 to rotate through the connecting rod 33. The second motor 04 is installed at the lower fixed port 21. The output end of the second motor 04 is connected to the leg connection block 06, and is used to drive the leg connection block 06 to rotate around the Y axis. The output end of the third motor 05 is connected to the upper seat 1, and is used to drive the upper seat 1 to rotate around the Z axis.

[0021] This solution provides a longitudinally arranged hip structure for a robot. It distributes the first motor 03, the second motor 04, and the third motor 05 in a longitudinally arranged form to realize the power transmission from the hip to the thigh of the humanoid robot, saving hip space. At the same time, the transmission between the motors is arranged step by step in the order from top to bottom, making the motion control debugging more intuitive and convenient. It can be pre-assembled independently and then connected to other parts of the humanoid robot, with the advantages of simplified structure, fast assembly, and high production efficiency, solving the problems that the motor connection structure from the hip to the thigh of the robot is complex, occupies more space, and affects the movement and aesthetics in the X, Y, and Z axes.

[0022] Specifically, the waist main frame 02 is the main body of the robot's waist. A pair of hip joint frames 01 can be installed on it, and corresponding third motors 05 are also installed on the hip joint frames 01. The third motors 05 are located above the waist main frame 02, and the hip joint frames 01 are installed below the waist main frame 02. The output ends of the third motors 05 are connected to the hip joint frames 01 to drive the hip joint frames 01 to rotate around the Z axis; the hip joint frames 01 are provided with an upper seat 1, a lower seat 2, a tie rod assembly 3, and a leg connection block 06; the upper seat 1 is provided with an upper fixing port 111 for installing the first motor 03 and a lower accommodating port 112 for installing the lower seat 2, and the lower fixing port 21 of the lower seat 2 is used for installing the second motor 04; the upper seat 1 drives the lower seat 2 to rotate through the tie rod assembly 3, driving the second motor 04 of the lower seat 2 to rotate; the upper rotating part 31 is located relatively behind the upper fixing port 111, and the upper rotating part 31 is used to connect the output end of the first motor 03; the lower rotating part 32 is connected to the lower seat 2 of the lower accommodating port 112; the connecting rod 33 connects the upper rotating part 31 and the lower rotating part 32; since the upper fixing port 111 faces the X axis, the lower seat 2 rotates around the X axis when rotating, and the lower fixing port 21 faces the Y axis when horizontally oriented, and the X axis is perpendicular to the Y axis; when the output end of the first motor 03 rotates, it drives the upper end of the connecting rod 33 to rotate, and the connecting rod 33 drives the lower rotating part 32 at the lower end to rotate, thereby driving the lower seat 2 to rotate, driving the second motor 04 of the lower seat 2 to rotate around the X axis; the output end of the second motor 04 can drive other joints to rotate around the Y axis. In this way, the hip joint frame 01 of this solution can simultaneously accommodate the first motor 03 facing the X axis, the second motor 04 facing the Y axis, and the third motor 05 facing the Z axis, and the first motor 03 controls the angle of the second motor 04 through the vertical driving action of the tie rod assembly 3. The output end of the second motor 04 is connected to the leg connection block 06 to drive the leg connection block 06 to rotate around the Y axis; the leg connection block 06 is used to connect the legs of the robot, that is, the legs can rotate around the Y axis.

[0023] Thus, the third motor 05, the first motor 03, and the second motor 04 are arranged step by step in a top-down order. There is no excessive transfer structure in the horizontal direction for the connection between motors, saving the hip space of the humanoid. The transmission between motors will not interfere with the position of the humanoid's hip, thus enabling a larger range of leg movement. For example, the third motor 05 can directly drive one of the hip joint frames 01 to move independently, and the relative movement between the hip joint frames 01 is not disturbed. Another example is that when the second motor 04 drives the leg connection block 06 to rotate forward around the Y-axis, due to the lack of hip space, the leg connection block 06 can rotate relatively more than 90°, enabling the robot to be in a bent state with a greater bending amplitude. For the first motor 03, the output end of the first motor 03 is connected to the upper rotating part 31 at the relatively rear position, and the upper rotating part 31 and the lower rotating part 32 are connected by a connecting rod 33. Since the horizontal space occupied by the connecting rod 33 is limited and the connecting rod 33 is located at the relatively rear position, the transmission of the pull rod assembly 3 will not interfere with the forward movement of the robot's joints. Thus, this solution solves the problem that the motor connection structure of the hip to the thigh of the robot in the X, Y, and Z axes is complex, occupies more space, and affects movement and aesthetics.

[0024] Optimally, the upper rotating part 31 and the lower rotating part 32 are connected by a pair of the connecting rods 33, one of the connecting rods 33 is close to the relatively left side of the upper seat 1, and the other connecting rod 33 is close to the relatively right side of the upper seat 1.

[0025] This solution preferably uses two connecting rods 33 to provide transmission for the upper rotating part 31 and the lower rotating part 32. The connecting rods 33 are respectively located on the relatively left side and the relatively right side of the upper rotating part 31. When the upper rotating part 31 rotates, it can simultaneously drive the two connecting rods 33 to move up and down. When the upper rotating part 31 rotates clockwise or counterclockwise, one of the two connecting rods 33 can move relatively upward, and the other can move relatively downward, thereby providing balance for the transmission between the upper rotating part 31 and the lower rotating part 32 and ensuring the stability of the adjustment of the hip joint frame 01.

[0026] Optimally, the upper rotating part 31 is respectively provided with convex surfaces 311 in the left and right side directions of the upper seat 1, and the upper ends of the connecting rods 33 are connected to the convex surfaces 311; One end of the lower rotating part 32 facing the middle part of the waist main frame 02 is provided with a first driving end 021, and one end of the lower rotating part 32 far from the middle part of the waist main frame 02 is provided with a second driving end 022; the lower end of one of the connecting rods 33 is connected to the first driving end 021, and the lower end of the other connecting rod 33 is connected to the second driving end 022; When the hip joint frame 01 is in the upright state, the convex surface 311 near the middle of the waist main frame 02 faces obliquely upward, and the convex surface 311 away from the middle of the waist main frame 02 faces obliquely downward, and the first driving end 021 is higher than the second driving end 022; the upper rotating member 31 drives the lower rotating member 32 to rotate with limited movement around the X axis through the connecting rod 33.

[0027] This solution preferably designs the structure of the robot hip structure in the upright state; specifically, when the upper rotating member 31 is in the upright state, the convex surfaces 311 on both sides thereof face different angles respectively, one convex surface 311 near the middle of the waist main frame 02 faces obliquely upward, and the other convex surface 311 away from the middle of the waist main frame 02 faces obliquely downward; thus, when the connecting rod 33 of the same length correspondingly connects the convex surface 311 and the first driving end 021 (the second driving end 022), the connecting rod 33 on the side of the second driving end 022 is relatively lower in height position than the connecting rod 33 on the side of the first driving end 021; thus, in terms of transmission, the connecting rod 33 on the side of the second driving end 022 has more upward movement space, that is, the angle when the leg connecting blocks 06 of two adjacent hip joint frames 01 move away from each other is larger; while the connecting rod 33 on the side of the first driving end 021 has less upward movement space, which can avoid collision when the legs of the leg connecting blocks 06 move towards each other, or avoid excessive inward movement and affect the force balance of the sole; especially when the upper rotating member 31 rotates clockwise and counterclockwise, the connecting rod 33 moves to lean against another connecting rod 33, and there is a position resistance between the connecting rod 33 and the connecting rod 33, so that the upper rotating member 31 has an activity end point for the connecting rod 33 in the clockwise and counterclockwise directions, thereby restricting the excessive movement of the connecting rod 33, thereby restricting the angle of the lower rotating member 32 and its lower seat 2, so as to limit the rotation angle of the second motor 04, and further avoid the excessive movement of the leg connecting block 06 and keep the legs corresponding to the two leg connecting blocks 06 balanced.

[0028] In one embodiment, the connecting rod 33 may not be in the same plane as the left and right side surfaces of the upper seat 1, that is, the movement of the connecting rod 33 may not contact the left and right side surfaces of the upper seat 1, and when the connecting rods 33 at the left and right positions abut or approach each other, the rotation of the lower rotating member 32 can be positioned.

[0029] In another embodiment, an adjustment gap 331 is formed between the connecting rod 33 and the upper seat 1.

[0030] The convex surface 311 protrudes relatively from the left and right sides of the upper rotating member 31, which can make the connection position of the connecting rod 33 closer to the left and right sides of the upper seat 1, and the horizontal position of the connecting rod 33 is far from the center of the upper seat 1. Furthermore, an adjustment gap 331 is formed between the connecting rod 33 and the upper seat 1, and the connecting rod 33 can have more space for adjustment in the horizontal direction, thereby increasing the movement range of the lower rotating member 32 to improve the movement range of the lower seat 2.

[0031] Optimally, the connecting rods 33 are respectively located on the left and right sides of the upper seat 1. When one of the connecting rods 33 moves to abut against the relative left or relative right side of the upper seat 1, the rotation of the lower rotating member 32 is restricted.

[0032] One of the connecting rods 33 in this solution can be driven to abut against the relative left or relative right side of the upper seat 1. The relative left or relative right side of the upper seat 1 positions the connecting rod 33, thereby serving as the moving end point of the connecting rod 33. The lower rotating member 32 has end points both when rotating clockwise and counterclockwise. The lower rotating member 32 is rotationally limited within a specific angular range, thereby preventing the leg connecting block 06 from excessive movement and keeping the legs corresponding to the two leg connecting blocks 06 balanced. In this embodiment, due to the large contact area between the connecting rod 33 and the left and right sides of the upper seat 1, the controllability of the rotation angle of the lower rotating member 32 is high, and the angle of the robot hip structure on the X-axis is always within a stable angular range, improving the stability.

[0033] Optimally, the upper rotating member 31 is provided with a mating circular hole 312 for sleeving around the outer periphery of the output end of the first motor 03.

[0034] Preferably, the upper rotating member 31 in this solution is provided with a mating circular hole 312 which can be sleeved on the output end of the first motor 03. When any position of the upper rotating member 31 is fixed to the output end of the first motor 03, the mating circular hole 312 surrounds the outer edge of the output end of the first motor 03, and the centers of the mating circular hole 312 of the upper rotating member 31 and the output end of the first motor 03 overlap. Therefore, the upper rotating member 31 can rotate around the center of the mating circular hole 312. The mating circular hole 312 can improve the rotational stability and smoothness of the upper rotating member 31, and also improve the connection stability between the upper rotating member 31 and the first motor 03.

[0035] Optimally, the upper rotating member 31 and / or the lower rotating member 32 is provided with a fixing hole 313; The fixing hole 313 of the upper rotating member 31 is used for loading a fastener and is fixed to the output end of the first motor 03 by the fastener; The fixing hole 313 of the lower rotating member 32 is used for loading a fastener and is fixed to the lower seat 2 by the fastener.

[0036] After the fastener is loaded into the fixing hole 313, it can be connected to the output end of the first motor 03, thereby connecting the upper rotating member 31 to the output end of the first motor 03 and connecting the lower rotating member 32 to the lower seat 2. The hip joint frame 01 in this solution has the advantage of quick motor assembly. The pull rod assembly 3 is a modular installation structure. After the pull rod assembly 3 is assembled, it is respectively fixed to the output end of the first motor 03 and the lower seat 2 by fasteners.

[0037] Fasteners are a type of mechanical parts that are used for fastening connections in common knowledge and are extremely widely applied. For example, they can be bolts, studs, screws, nuts, washers, pins, etc.

[0038] The positions and distributions of the fixing holes 313 can be determined as needed. In some embodiments, multiple said fixing holes 313 are distributed in a surrounding manner.

[0039] The fixing holes 313 are preferably distributed in a surrounding manner. For example, they are distributed around the outer periphery of the mating round hole 312. Multiple fixing holes 313 can install more fasteners, thereby increasing the fixing stability of the pull rod assembly 3 to the first motor 03 and the lower seat 2.

[0040] Optimally, the lower seat 2 is provided with multiple pairs of seat holes 321 along the length direction. One of the seat holes 321 in each pair of seat holes 321 is located at the relatively rear side, and the other seat hole 321 is located at the relatively front side. The seat holes 321 at the front and rear sides are linearly aligned. The lower seat 2 is rotatably connected to the lower receiving opening 112 through any pair of said seat holes 321.

[0041] Multiple seat holes 321 are arranged along the length direction of the lower seat 2 and are respectively located at the relatively front side and the relatively rear side of the lower seat 2, forming multiple pairs of seat holes 321. When installing the lower seat 2, one pair of linearly aligned seat holes 321 can be selected according to needs to connect to the lower seat 2. In this way, since the seat holes 321 are arranged along the length direction of the lower seat 2, selecting one pair of seat holes 321 for connection will make one end of the lower seat 2 closer to or farther from the relative left side (or right side), so that the horizontal position where the second motor 04 of the lower seat 2 is installed can be adjusted, improving the installation flexibility of the second motor 04 to adapt to the complex joint structure of the robot.

[0042] In some embodiments, the upper seat 1 can be designed as an integral structure according to needs. In a preferred embodiment, a split assembly structure can be used. The upper seat 1 includes: a seat main body 11 and an end plate 12. The seat main body 11 is provided with an L-shaped groove 113 and the upper fixing opening 111. The end plate 12 is installed in the L-shaped groove 113. The vertical side wall of the L-shaped groove 113 is spaced apart from the end plate 12, and the lower receiving opening 112 is formed therebetween.

[0043] The upper seat 1 of this solution can mainly be composed of a seat main body 11 and an end plate 12. The seat main body 11 is the main part of the upper seat 1, which is provided with an L-shaped groove 113 and an upper fixing port 111; the L-shaped groove 113 is a partial structure of the lower accommodating port 112. When the end plate 12 is installed in the L-shaped groove 113, the vertical side wall of the L-shaped groove 113 and the end plate 12 form a complete lower accommodating port 112. In this way, during the installation process of the upper seat 1, the assembly sequence can be selected according to needs. For example, after installing the lower seat 2 and its second motor 04 first, then assemble the end plate 12. This improves the installation flexibility of the hip joint frame 01.

[0044] A robot is provided with a robot thigh and the above-mentioned longitudinal robot hip structure; the robot thigh is installed on the leg connecting block 06.

[0045] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A longitudinally arranged robot hip structure, characterized in that, Comprising: A hip joint frame, a lumbar main frame, a first motor, a second motor, and a third motor; At least two of the hip joint frames are rotatably mounted below the lumbar main frame relatively; The third motor is mounted above the lumbar main frame relatively; The hip joint frame includes: an upper seat, a lower seat, a tie rod assembly, and a leg connecting block; The upper seat is provided with an upper fixing opening extending in the X-axis direction relatively above, and a lower accommodating opening relatively below; the lower seat is rotatably mounted in the lower accommodating opening around the X-axis; the lower seat is provided with a lower fixing opening; The tie rod assembly includes: an upper rotating member, a lower rotating member, and a connecting rod; The upper rotating member is located relatively behind the upper fixing opening; the lower rotating member is connected to the lower seat, the upper end of the connecting rod is connected to the upper rotating member, and the lower end of the connecting rod is connected to the lower rotating member; The first motor is mounted in the upper fixing opening, and the output end of the first motor is connected to the upper rotating member for driving the upper rotating member to rotate around the X-axis, and driving the lower rotating member to rotate through the connecting rod; the second motor is mounted in the lower fixing opening, and the output end of the second motor is connected to the leg connecting block for driving the leg connecting block to rotate around the Y-axis; the output end of the third motor is connected to the upper seat for driving the upper seat to rotate around the Z-axis.

2. The longitudinal robot hip structure according to claim 1, characterized in that, The upper rotating member and the lower rotating member are connected by a pair of the connecting rods, one of the connecting rods is close to the relatively left side of the upper seat, and the other connecting rod is close to the relatively right side of the upper seat.

3. The longitudinal robot hip structure according to claim 2, characterized in that, The upper rotating member is respectively provided with convex surfaces in the left and right side directions of the upper seat, and the upper end of the connecting rod is connected to the convex surfaces; One end of the lower rotating member facing the middle of the lumbar main frame is provided with a first driving end, and one end of the lower rotating member away from the middle of the lumbar main frame is provided with a second driving end; the lower end of one of the connecting rods is connected to the first driving end, and the lower end of the other connecting rod is connected to the second driving end; When the hip joint frame is in an upright state, the convex surface close to the middle of the lumbar main frame faces obliquely upward, the convex surface away from the middle of the lumbar main frame faces obliquely downward, and the first driving end is higher than the second driving end; the upper rotating member drives the lower rotating member to rotate around the X-axis with limited rotation through the connecting rod.

4. The longitudinal robot hip structure according to claim 3, characterized in that, An adjustment gap is formed by separating between the connecting rod and the upper seat.

5. A longitudinal robot hip structure according to any one of claims 1-4, characterized in that, The connecting rods are respectively located on the left and right side surfaces of the upper seat. When one of the connecting rods moves to abut against the relatively left side or the relatively right side of the upper seat, the rotation of the lower rotating member is restricted.

6. The longitudinal robot hip structure according to claim 1, characterized in that, The upper rotating member is provided with a mating round hole for sleeving on the outer periphery of the output end of the first motor.

7. A longitudinal robot hip structure according to claim 1, characterized in that, The upper rotating member and / or the lower rotating member is provided with a fixing hole; The fixing hole of the upper rotating member is used for loading a fastener and is fixed to the output end of the first motor by the fastener; The fixing hole of the lower rotating member is used for loading a fastener and is fixed to the lower seat by the fastener.

8. The longitudinal robot hip structure according to claim 1, characterized in that, The lower seat is provided with multiple pairs of seat holes along the length direction; one of the seat holes in each pair of seat holes is located relatively behind, and the other seat hole is located relatively in front, and the seat holes on the front and rear sides are linearly aligned; the lower seat is rotatably connected to the lower accommodating opening through any one pair of the seat holes.

9. A longitudinally arranged robot hip structure according to claim 1 or 8, characterized in that, The upper seat includes: a seat main body and an end plate; The seat main body is provided with an L-shaped groove and the upper fixing port; the end plate is installed in the L-shaped groove; the vertical side wall of the L-shaped groove is spaced apart from the end plate, and the lower accommodating port is formed therebetween.

10. A robot, characterized in that, A robot thigh and a longitudinal robot hip structure according to any one of claims 1-9 are provided; the robot thigh is installed on the leg connecting block.

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