Rotating assembly, hip joint structure and humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, and discloses a rotating assembly, a hip joint structure and a humanoid robot. The rotating unit is rotationally connected with the supporting unit, one of the rotating unit and the supporting unit is connected with a limiting block, the other one of the rotating unit and the supporting unit is provided with a limiting groove, the limiting block is movably arranged in the limiting groove, and flexible pads are arranged on the two end faces of the limiting groove and / or the two end faces of the limiting block in the rotating direction of the rotating unit. The limiting groove is suitable for abutting against the limiting block through the flexible pad so as to form flexible limiting on the rotating angle of the rotating unit. According to the rotating assembly, the limiting block moves in the limiting groove along with rotation of the rotating unit, when the limiting block moves to the end face of the limiting groove, the limiting block abuts against the limiting groove through the flexible pad, and therefore the limiting groove flexibly limits the rotating angle of the rotating unit; and structural damage caused by rigid collision between the limiting block and the limiting groove is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to humanoid robot technical field, concretely relates to a rotating assembly and hip joint structure and humanoid robot. BACKGROUND

[0002] A humanoid robot is a robot designed to imitate the appearance and behavior of a human. The humanoid robot has a plurality of joint assemblies, and the joint assemblies are driven by motors to rotate the structures connected thereto to simulate the joint action of a human. In order to avoid the structures from colliding with themselves or other structures outside due to excessive rotation angle, a limiting structure is arranged to limit the rotation angle of the rotor of the motor. However, the limiting structure usually achieves the limiting effect through rigid collision, and the limiting structure is easily damaged during long-term operation, resulting in the inability to achieve the limiting function. SUMMARY

[0003] Therefore, the utility model provides a rotating assembly and hip joint structure and humanoid robot to solve the problem that the limiting structure is easily damaged during long-term operation of the humanoid robot, resulting in the inability to achieve the limiting function.

[0004] In the first aspect, the utility model provides a rotating assembly, which comprises:

[0005] a supporting unit;

[0006] a rotating unit rotatably connected with the supporting unit, one of the rotating unit and the supporting unit being fixedly connected with a limiting block, the other being provided with a limiting slot, the limiting block being movably arranged in the limiting slot at least in a partial region, the two end faces of the limiting slot and / or the two end faces of the limiting block being provided with flexible pads along the rotation direction of the rotating unit, the limiting slot being adapted to abut against the limiting block through the flexible pads to form flexible limiting of the rotation angle of the rotating unit.

[0007] Beneficial effects: the limiting block moves in the limiting slot along with the rotation of the rotating unit, and when the limiting block moves to the end face of the limiting slot along the rotation direction of the rotating unit, the limiting block abuts against the end face of the limiting slot through the flexible pads, so that the limiting slot forms flexible limiting of the rotation angle of the rotating unit, avoiding rigid collision between the limiting block and the limiting slot and structural damage, and further avoiding affecting the limiting function.

[0008] In the second aspect, the utility model further provides a hip joint structure for connecting the trunk assembly and the thigh assembly of a robot, the hip joint structure comprising the rotating assembly.

[0009] Because the hip joint structure comprises the rotating assembly, has the same effect as the rotating assembly, and the beneficial effects are not repeated here.

[0010] In an alternative embodiment, the rotating assembly comprises:

[0011] A first motor base adapted to be connected to the trunk assembly;

[0012] A first degree of freedom motor, the rotor of which is rotationally connected to the first motor base, the first degree of freedom motor rotor being fixedly connected with a first limiting block, the first motor base being provided with a first limiting slot, the first limiting block being movably arranged in the first limiting slot at least in part, and along the rotation direction of the first degree of freedom motor rotor, the two end faces of the first limiting slot being fixedly connected with a first flexible pad respectively.

[0013] In an alternative embodiment, a first rotating disc is arranged between the first degree of freedom motor rotor and the first limiting block, the first rotating disc being coaxially fixedly connected to the first degree of freedom motor rotor, and the first limiting block being fixed to the outer circumferential surface of the first rotating disc.

[0014] In an alternative embodiment, the rotating assembly further comprises:

[0015] A second motor base;

[0016] A second degree of freedom motor, the rotor of which is rotationally connected to the second motor base, the second degree of freedom motor rotor being fixedly connected with a second limiting block, the second motor base being provided with a second limiting slot, the second limiting block being movably arranged in the second limiting slot, and along the rotation direction of the second degree of freedom motor rotor, the two end faces of the second limiting block being fixedly connected with a second flexible pad respectively.

[0017] In an alternative embodiment, the rotating assembly further comprises:

[0018] A third motor base fixedly connected to the second degree of freedom motor rotor, and the second limiting block being fixedly arranged on the third motor base.

[0019] In an alternative embodiment, a second rotating disc is arranged between the second degree of freedom motor rotor and the third motor base, the second rotating disc being coaxially fixedly connected to the second degree of freedom motor rotor and fixedly connected to the third motor base.

[0020] In an alternative embodiment, the rotating assembly further comprises:

[0021] A third degree of freedom motor, the stator of which is provided with a third limiting slot, the third degree of freedom motor rotor being fixedly connected with a third limiting block, the third limiting block being movably arranged in the third limiting slot, and along the rotation direction of the third degree of freedom motor rotor, the two end faces of the third limiting slot being fixedly connected with a third flexible pad respectively.

[0022] In an alternative embodiment, a fixed disc is arranged between the third degree of freedom motor rotor and the third limiting block, the fixed disc being coaxially fixedly connected to the third degree of freedom motor rotor, and the third limiting block being fixedly arranged on the outer circumferential surface of the fixed disc.

[0023] In a third aspect, the utility model also provides a humanoid robot, including:

[0024] Because the humanoid robot includes the hip joint structure, has the same effect with the hip joint structure, its beneficial effect does not repeat here. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in prior art, the following will be briefly introduced the drawing needed to be used in the specific embodiment or prior art description, obviously, the drawing in the following description is some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, other drawings can also be obtained according to these drawings.

[0026] Figure 1 It is a structural schematic diagram of the leg of the humanoid robot of the utility model embodiment;

[0027] Figure 2 It is the first degree of freedom motor at the place of the explosion schematic diagram shown in figure 1; Figure 1

[0028] It is the second degree of freedom motor at the place of the explosion schematic diagram shown in figure 2; Figure 3 Figure 1 Figure 1 It is the second degree of freedom motor at the place of the explosion schematic diagram shown in figure 3;

[0029] Figure 4 It is the second degree of freedom motor at the place of the explosion schematic diagram shown in figure 4; Figure 1 Figure 2

[0030] Figure 5 It is the third degree of freedom motor at the place of the explosion schematic diagram shown in figure 5. Figure 4

[0031] Figure 6 It is the third degree of freedom motor at the place of the explosion schematic diagram shown in figure 6. Figure 1 REFERENCE SIGNS:

[0032]

[0033] ​​​​​​11, first degree of freedom motor; 111, first rotary table; 12, second degree of freedom motor; 121, second rotary table; 13, third degree of freedom motor; 131, fixed disc; 132, third limit slot; 14, first motor seat; 141, first limit slot; 15, second motor seat; 151, second limit slot; 16, third motor seat; 161, first support plate; 162, second support plate; 163, connecting plate; 1621, fixed shaft; 31, first flexible pad; 32, second flexible pad; 33, third flexible pad; 41, first limit block; 42, second limit block; 43, third limit block; 2, thigh assembly; 21, first web; 22, second web; 3, calf assembly; 4, foot assembly; 5, support seat; 6, second bearing; 7, protruding shaft; 8, positioning lug; 9, positioning hole; 10, third bearing; 17, fourth bearing; 18, first through hole; 19, second through hole; 20, third through hole. DETAILED DESCRIPTION

[0034] To make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] The embodiments of the present application are described below in combination with Figures 1 to 6

[0036] According to the embodiments of the present application, on one hand, a rotating assembly is provided, which comprises:

[0037] a support unit;

[0038] a rotating unit, which is rotationally connected with the support unit, one of the rotating unit and the support unit is fixedly connected with a limit block, and the other is provided with a limit slot, the limit block is movably arranged in the limit slot at least in a partial region, two end faces of the limit slot and / or two end faces of the limit block are provided with flexible pads along the rotating direction of the rotating unit, and the limit slot is adapted to abut against the limit block through the flexible pads to form flexible limiting for the rotating angle of the rotating unit.

[0039] The rotating assembly provided by the embodiments has the advantages that the limit block moves in the limit slot along with the rotation of the rotating unit, when the limit block moves to the end face of the limit slot along the rotating direction of the rotating unit, the limit block abuts against the end face of the limit slot through the flexible pads, so that the limit slot forms flexible limiting for the rotating angle of the rotating unit, and rigid collision between the limit block and the limit slot is avoided to prevent structural damage and further prevent the limiting function from being affected.​

[0040] Specifically, the rotating unit is rotationally connected to the supporting unit, and the supporting unit is used for supporting the rotating unit to rotate around its own axis. In the rotating direction of the rotating unit, the limiting grooves are annularly arranged, and the limiting blocks can be a whole piece or can be composed of a plurality of sub-limiting blocks. When a limiting groove has a plurality of sub-limiting blocks, the plurality of sub-limiting blocks are arranged at intervals in the rotating direction of the rotating unit, and the end faces of the two sub-limiting blocks at both ends and / or the two end faces of the limiting groove are provided with flexible pads to adapt to the flexible abutment when one of the two sub-limiting blocks and the end face of the limiting groove close to it abut. Since there are gaps between the plurality of limiting blocks, compared with a whole piece, the structure weight is reduced.

[0041] According to the embodiment of the utility model, on the other hand, a hip joint structure is also provided for connecting the torso assembly and the upper leg assembly 2 of the robot, and the hip joint structure comprises the rotating assembly.

[0042] In one embodiment, in combination Figures 1 to 4 As shown in the figure, the rotating assembly comprises:

[0043] The first motor seat 14 is adapted to be connected with the torso assembly;

[0044] The rotor of the first degree-of-freedom motor 11 is rotationally connected with the first motor seat 14, the first degree-of-freedom motor 11 rotor is fixedly connected with the first limiting block 41, the first motor seat 14 is provided with the first limiting groove 141, the first limiting block 41 is movably arranged in the first limiting groove 141 at least in part, in the rotating direction of the rotor of the first degree-of-freedom motor 11, the two end faces of the first limiting groove 141 are fixedly connected with the first flexible pad 31 respectively.

[0045] Specifically, the first motor seat 14 is used for fixedly connecting with the torso assembly, the stator of the first degree-of-freedom motor 11 is fixedly connected with the first motor seat 14, the first limiting groove 141 is annularly arranged around the axis of the rotor of the first degree-of-freedom motor 11, the first limiting block 41 is movably arranged in the first limiting groove 141 at least in part, and moves in the first limiting groove 141 along with the rotation of the rotor of the first degree-of-freedom motor 11, the first limiting block 41 is adapted to abut with the end face of the first limiting groove 141 in the rotating direction of the rotor of the first degree-of-freedom motor 11 through the first flexible pad 31, so that the first limiting groove 141 forms flexible limiting to the rotating angle of the rotor of the first degree-of-freedom motor 11 through the first flexible pad 31 and the first limiting block 41. The first motor seat 14 is used as a supporting unit for supporting the rotor of the first degree-of-freedom motor 11 as a rotating unit to rotate around its own axis. Wherein, the first degree-of-freedom motor 11 is adapted to drive the upper leg assembly 2 to perform side swing action.

[0046] In one embodiment, in combinationFigures 2 to 4 As shown, a first rotating disc 111 is arranged between the first degree of freedom motor 11 rotor and the first limit block 41, the first rotating disc 111 is coaxially fixedly connected with the first degree of freedom motor 11 rotor, and the first limit block 41 is fixed to the outer circumferential surface of the first rotating disc 111.

[0047] Specifically, a first through hole 18 is formed on the first motor base 14, a first limit groove 141 is formed by locally recessing the inner circumferential wall of the first through hole 18, the first rotating disc 111 is located in the first through hole 18 and rotationally connected therewith, and the first limit block 41 on the outer circumferential surface of the first rotating disc 111 is movably arranged in the first limit groove 141.

[0048] In one embodiment, in combination with Figures 3 to 5 As shown, the rotating assembly further comprises:

[0049] A second motor base 15;

[0050] A second degree of freedom motor 12, the rotor of which is rotationally connected with the second motor base 15, the second degree of freedom motor 12 rotor is fixedly connected with a second limit block 42, the second motor base 15 is provided with a second limit groove 151, the second limit block 42 is movably arranged in the second limit groove 151, and along the rotation direction of the second degree of freedom motor 12 rotor, the two end faces of the second limit block 42 are respectively fixedly connected with a second flexible pad 32.

[0051] Specifically, the second motor base 15 is fixedly connected with the first degree of freedom motor 11 rotor. Further, the side of the first rotating disc 111 away from the first degree of freedom motor 11 stator is fixedly connected with the second motor base 15, so that the first degree of freedom motor 11 rotor is fixedly connected with the second motor base 15 through the first rotating disc 111. The second degree of freedom motor 12 stator is fixedly connected with the second motor base 15, the second limit groove 151 is arranged in a ring shape around the axis of the second degree of freedom motor 12 rotor, the second limit block 42 is arranged at least partially in the second limit groove 151 and moves in the second limit groove 151 along with the rotation of the second degree of freedom motor 12 rotor, and the second limit block 42 is adapted to abut against the end face of the second limit groove 151 along the rotation direction of the second degree of freedom motor 12 rotor through the second flexible pad 32, so that the second limit groove 151 forms flexible limiting of the rotation angle of the second degree of freedom motor 12 rotor through the second flexible pad 32 and the second limit block 42. The second motor base 15 serves as a support unit for supporting the second degree of freedom motor 12 rotor as a rotating unit to rotate around its own axis. The second degree of freedom motor 12 is adapted to drive the thigh assembly 2 to deflect.

[0052] In combination with Figures 2 to 4As shown, the hip joint structure further comprises a support seat 5, which is spaced apart from the first motor seat 14 along the axis direction of the first degree of freedom motor 11 and is located on the side of the second motor seat 15 away from the stator of the first degree of freedom motor 11. The side of the second motor seat 15 away from the stator of the first degree of freedom motor 11 is fixedly provided with a protruding shaft 7, and the support seat 5 is provided with a first mounting hole corresponding to the protruding shaft 7. The protruding shaft 7 is sleeved with a first bearing, and is rotatably connected to the first mounting hole through the first bearing, so that the first motor seat 14 and the support seat 5 form a support at both ends of the second motor seat 15 along the axis direction of the rotor of the first degree of freedom motor 11, thereby avoiding unilateral stress on the second motor seat 15, improving the stress stability of the second motor seat 15, and improving the reliability of the hip joint structure.

[0053] In one embodiment, in combination with Figures 3 to 5 As shown, the rotating assembly further comprises:

[0054] The third motor seat 16 is fixedly connected with the rotor of the second degree of freedom motor 12, and the second limiting block 42 is fixedly arranged on the third motor seat 16.

[0055] Specifically, the third motor seat 16 is located on the side of the second motor seat 15 away from the stator of the second degree of freedom motor 12, and the end face of the second motor seat 15 towards the third motor seat 16 is partially recessed to form a second limiting groove 151, and the second limiting block 42 on the third motor seat 16 is movably arranged in the second limiting groove 151 at least in part.

[0056] In one embodiment, in combination with Figures 3 to 5 As shown, the second degree of freedom motor 12 rotor and the third motor seat 16 are provided with a second rotating disc 121, which is coaxially fixedly connected with the rotor of the second degree of freedom motor 12 and is fixedly connected with the third motor seat 16.

[0057] Specifically, the second motor seat 15 is provided with a third through hole 20, and the second rotating disc 121 is provided with a second bearing 6 coaxially arranged thereon. The second rotating disc 121 is at least partially located in the second through hole 19 and is rotatably connected with the second through hole 19 through the second bearing 6. The side of the second rotating disc 121 away from the stator of the second degree of freedom motor 12 is fixedly connected with the third motor seat 16. Additionally, the end face of the second rotating disc 121 towards the third motor seat 16 is fixedly provided with a positioning protrusion 8, and the third motor seat 16 is provided with a positioning hole 9 corresponding to the positioning protrusion 8. When the second rotating disc 121 is fixedly connected with the third motor seat 16, the positioning protrusion 8 is embedded in the positioning hole 9. The cross-sectional shape of the positioning protrusion 8 and the positioning hole 9 along the direction perpendicular to the axis of the second rotating disc 121 is non-circular, for example, triangular or rectangular, thereby improving the connection reliability of the second rotating disc 121 and the third motor seat 16.

[0058] In one embodiment, in combination withFigure 1 、 Figure 2 and Figure 6 As shown, the rotating assembly also includes:

[0059] The third degree of freedom motor 13 has a third limiting slot 132 on its stator, and the rotor of the third degree of freedom motor 13 is fixedly connected to a third limiting block 43. The third limiting block 43 is movably arranged in the third limiting slot 132. Along the rotation direction of the rotor of the third degree of freedom motor 13, the two end faces of the third limiting slot 132 are respectively fixedly connected to the third flexible pad 33.

[0060] Specifically, the rotor of the third-DOF motor 13 is fixedly connected to the third motor base 16 and rotationally connected to the thigh assembly 2. The stator of the third-DOF motor 13 is fixedly connected to the thigh assembly 2. Therefore, when the third-DOF motor 13 is in operation, the stator of the third-DOF motor 13 drives the thigh assembly 2 to rotate relative to the third motor base 16, thereby achieving forward or backward swing of the thigh assembly 2. A third limiting groove 132 is arranged in an annular shape around the axis of the third-DOF motor 13 rotor. At least a portion of the third limiting block 43 is movably disposed within the third limiting groove 132. When the third-DOF motor 13 stator rotates relative to its rotor, the third limiting block 43 moves within the third limiting groove 132. The third limiting block 43 is adapted to abut against the end face of the third limiting groove 132 along the rotational direction of the third-DOF motor 13 stator via the third flexible pad 33. This allows the third limiting groove 132 to flexibly limit the rotational angle of the third-DOF motor 13 stator through the third flexible pad 33 and the third limiting block 43. The rotor of the third-degree-of-freedom motor 13 serves as a supporting unit, and is used to support the stator of the third-degree-of-freedom motor 13 serving as a rotating unit to rotate around its own axis.

[0061] In one embodiment, combined Figure 1 、 Figure 2 and Figure 6 As shown, a fixed disk 131 is provided between the rotor of the third degree of freedom motor 13 and the third limit block 43 . The fixed disk 131 is coaxially fixedly connected to the rotor of the third degree of freedom motor 13 , and the third limit block 43 is fixedly provided on the outer peripheral surface of the fixed disk 131 .

[0062] Specifically, the third motor base 16 includes a first support plate 161 and a second support plate 162, and the first support plate 161 and the second support plate 162 are spaced apart along the axis direction of the rotor of the third degree of freedom motor 13. The third motor base 16 also includes a connecting plate 163 fixedly connected between the first support plate 161 and the second support plate 162, and the rotor of the second degree of freedom motor 12 is fixedly connected to the connecting plate 163.

[0063] The thigh assembly 2 comprises a first web plate 21 and a second web plate 22 fixedly spliced, and a containing space is formed between the first web plate 21 and the second web plate 22, and other structures of the thigh assembly 2 are arranged in the containing space, and the first web plate 21 and the second web plate 22 serve as a main support structure of the thigh and protect the other structures of the thigh assembly 2 in the containing space.

[0064] The first web plate 21 and the second web plate 22 are arranged between the first support plate 161 and the second support plate 162 at one end close to the second motor base 15. The third-degree-of-freedom motor 13 stator part region is located in the containing space and fixedly connected with the first web plate 21 and / or the second web plate 22. The third-degree-of-freedom motor 13 rotor is arranged close to the first web plate 21, the first web plate 21 is provided with a third through hole 20, the fixed disc 131 is coaxially provided with a third bearing 10, the fixed disc 131 is rotatably connected in the third through hole 20 through the third bearing 10, and the first support plate 161 is located on the side of the first web plate 21 away from the third-degree-of-freedom motor 13 stator, and the side of the fixed disc 131 away from the third-degree-of-freedom motor 13 stator is fixedly connected with the first support plate 161. The second web plate 22 is located on the side of the third-degree-of-freedom motor 13 away from the fixed disc 131, the second support plate 162 is fixedly provided with a fixed shaft 1621 towards the side of the second web plate 22, the fixed shaft 1621 is coaxially provided with a fourth bearing 17, and the second web plate 22 is provided with a second mounting hole corresponding to the fixed shaft 1621, the fixed shaft 1621 is rotatably connected in the second mounting hole through the fourth bearing 17, so that the second web plate 22 and the second support plate 162 are rotatably connected.

[0065] According to the embodiment of the utility model, on the other hand, a humanoid robot is also provided, which comprises the hip joint structure.

[0066] Specifically, the axis of the rotor of the first-degree-of-freedom motor 11 is parallel to the direction of the humanoid robot towards the front or back of the body, the axis of the rotor of the second-degree-of-freedom motor 12 is parallel to the height direction of the humanoid robot, and the axis of the rotor of the third-degree-of-freedom motor 13 is parallel to the direction of the body of the humanoid robot towards the side. The lower end of the hip joint structure is sequentially connected with the thigh assembly 2, the lower leg assembly 3 and the foot assembly 4, and the hip joint structure, the thigh assembly 2, the lower leg assembly 3 and the foot assembly form a leg structure, and the humanoid robot has two leg structures.

[0067] Obviously, the above embodiment is only an example for clearly illustrating, and does not limit the implementation. Although the embodiment of the utility model is described in combination with the drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the utility model, and such modifications and variations all fall within the scope defined by the utility model.

Claims

1. A rotating assembly, comprising: The utility model relates to a rotating assembly for connecting the torso component and the thigh component (2) of a robot, and the hip joint structure comprises the rotating assembly of claim 1. The rotating assembly comprises: a first motor base (14) adapted to be connected with the torso component; 2. A hip joint structure characterized by comprising: a first degree-of-freedom motor (11) having a rotor rotatably connected with the first motor base (14), the rotor of the first degree-of-freedom motor (11) being fixedly connected with a first limiting block (41), and the first motor base (14) being provided with a first limiting slot (141), the first limiting block (41) being movably arranged in the first limiting slot (141) at least in part, and two end faces of the first limiting slot (141) being respectively fixedly connected with first flexible pads (31) in the direction of rotation of the rotor of the first degree-of-freedom motor (11).

3. The hip joint structure according to claim 2, characterized in that, A first rotating disc (111) is arranged between the rotor of the first degree-of-freedom motor (11) and the first limiting block (41), the first rotating disc (111) being coaxially fixedly connected with the rotor of the first degree-of-freedom motor (11), and the first limiting block (41) being fixed to the outer circumferential surface of the first rotating disc (111). The rotating assembly further comprises: a second motor base (15); 4. The hip joint structure according to claim 3, characterized by a second degree-of-freedom motor (12) having a rotor rotatably connected with the second motor base (15), the rotor of the second degree-of-freedom motor (12) being fixedly connected with a second limiting block (42), and the second motor base (15) being provided with a second limiting slot (151), the second limiting block (42) being movably arranged in the second limiting slot (151), and two end faces of the second limiting block (42) being respectively fixedly connected with second flexible pads (32) in the direction of rotation of the rotor of the second degree-of-freedom motor (12).

5. The hip joint structure according to claim 3, characterized by The rotating assembly further comprises: a third motor base (16) fixedly connected with the rotor of the second degree-of-freedom motor (12), and the second limiting block (42) being fixedly arranged on the third motor base (16). A second rotating disc (121) is arranged between the rotor of the second degree-of-freedom motor (12) and the third motor base (16), the second rotating disc (121) being coaxially fixedly connected with the rotor of the second degree-of-freedom motor (12) and fixedly connected with the third motor base (16).

6. The hip joint structure according to claim 5, characterized in that, The rotating assembly further comprises: ​ 7. The hip joint structure according to claim 6, characterized in that, ​ 8. The hip joint structure according to claim 6, characterized by ​ A third degree of freedom motor (13) is provided with a third limiting slot (132) on the stator, a third limiting block (43) is fixedly connected with the rotor of the third degree of freedom motor (13), the third limiting block (43) is movably arranged in the third limiting slot (132), and two end faces of the third limiting slot (132) are fixedly connected with third flexible pads (33) in the rotation direction of the rotor of the third degree of freedom motor (13).

9. The hip joint structure according to claim 8, characterized in that, A fixing disc (131) is arranged between the rotor of the third degree of freedom motor (13) and the third limiting block (43), the fixing disc (131) is coaxially fixedly connected with the rotor of the third degree of freedom motor (13), and the third limiting block (43) is fixedly arranged on the outer circumferential surface of the fixing disc (131).

10. A humanoid robot, characterized by, Comprising: A hip joint structure according to any one of claims 2 to 9.

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