A hip frame, a hip structure, and a humanoid robot thereof

Abstract

A hip frame, hip structure, and humanoid robot thereof; the hip frame includes: a main hip frame, a support frame, a lower limb frame, and a first motor module; a pair of support frames are rotatably disposed on the left and right sides of the main hip frame, and the support frames rotate about the X-axis; the main hip frame has a motor receiving station at its front; one first motor module is installed above the motor receiving station, and the other first motor module is installed below the motor receiving station; the first motor module is used to drive the support frame to rotate about the X-axis; the first motor module has a quasi-cylindrical shell, and the two quasi-cylindrical shells are arranged parallel and abutting each other; the outer surface of the quasi-cylindrical shell is a cylindrical curved surface; the cylindrical curved surfaces of the two first motor modules abut each other and form a hollow area within the motor receiving station; the support frame and / or the lower limb frame rotate about the X-axis to extend into the hollow area. This solution solves the problem that the large space occupied by the actuator in the hip of the humanoid robot leads to a small range of motion of the lower limbs.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a hip frame, hip structure and humanoid robot thereof. Background Technology

[0002] Traditional humanoid robots employ a rear-mounted motor design, primarily characterized by concentrating the core power unit in the rear hip area. This layout requires ample space for the motor, reducer, and transmission mechanism, resulting in a significant expansion of the robot's rear torso, forming a "backpack-like" protrusion. This is particularly problematic for the hip structure, which connects to the robot's thigh. The portion of the hip structure connecting to the thigh may abut against internal components within the hip structure during its Y-axis swing range, thus affecting the thigh's range of motion. Therefore, the hip structure needs to allocate more horizontal space to increase the thigh's Y-axis swing range, leading to a large horizontal space occupation. Furthermore, due to the limited space within the hip structure, the components are connected by wires, which may obstruct the movement of the robot's thigh. Utility Model Content

[0003] The purpose of this invention is to propose a hip frame for a humanoid robot, which is based on the reasonable spatial distribution of two first motor modules in the motor housing position, and combined with the cylindrical shell structure and shape of the first motor modules, can accommodate a support frame and / or lower limb frame that rotates around the X-axis through the hollow area, thereby making the lower limb frame have a larger range of motion.

[0004] This utility model also proposes a hip structure for a humanoid robot, which is provided with the above-mentioned hip frame.

[0005] This utility model also proposes a humanoid robot, which has the above-mentioned hip structure.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A hip frame for a humanoid robot includes: a hip main frame, a support frame, a lower limb frame, and a first motor module;

[0008] A pair of support frames are rotatably disposed on the left and right sides of the hip main frame, and the support frames rotate about the X-axis; the lower limb frame is rotatably mounted on the support frames about the Y-axis;

[0009] The hip main frame has a motor receiving station at the front; one of the first motor modules is installed above the motor receiving station, and the other first motor module is installed below the motor receiving station; the output end of one of the first motor modules is connected to one of the support frames to drive the support frame to rotate around the X-axis.

[0010] The first motor module has a cylindrical shell, and the two cylindrical shells are arranged in parallel and close to each other; the outer surface of the cylindrical shell is a cylindrical curved surface; the cylindrical curved surfaces of the two first motor modules are close to each other and form a hollow area in the motor receiving station; the support frame and / or lower limb frame rotate around the X-axis to extend into the hollow area.

[0011] Optimally, the first motor module has its output end passing through the hip main frame at one end and extending to the opposite rear of the hip main frame; the quasi-cylindrical housing has a first motor port at the other end of the first motor module, the first motor port being located between the two support frames.

[0012] Alternatively, the first motor ports of the two first motor modules can be connected by wires.

[0013] Optimally, it may also include: a second motor module;

[0014] The second motor module is mounted on the lower limb frame, and the output end of the second motor module is connected to the support frame to drive the lower limb frame to rotate relative to the support frame around the Y-axis.

[0015] Optimally, the second motor module is provided with a second motor port, which is located at the end of the second motor module away from the lower limb frame; the interior of the second motor module is hollow, forming a motor wiring channel from the second motor port to the lower limb frame; the lower limb frame is provided with a lower limb cutout, one end of which exposes the motor wiring channel, and the other end of which faces the motor receiving station.

[0016] Alternatively, a portion of the wire may pass through the motor wiring channel, with one end of the wire connected to the second motor port and the other end connected to the first motor port.

[0017] Optimally, it may also include: a third motor module;

[0018] The third motor module is installed on the lower limb frame, and the output end of the third motor module rotates around the Z-axis; the third motor module may be provided with a third module port, and the third module port is connected to the second motor port through a wire.

[0019] Alternatively, the hip main frame may be provided with multiple frame cutouts.

[0020] A hip structure for a humanoid robot, comprising the aforementioned hip frame for a humanoid robot.

[0021] A humanoid robot includes: a robot thigh and the hip structure of the aforementioned humanoid robot;

[0022] The robot's thigh is rotatably mounted on the lower limb frame around the Z-axis.

[0023] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0024] This solution provides a hip frame for a humanoid robot, which is applied to the hip structure of the humanoid robot to support multiple mechanisms in the hip. Based on the reasonable spatial distribution of two first motor modules in the motor housing position, and combined with the cylindrical shell structure and shape of the first motor modules, a support frame and / or lower limb frame that rotates around the X-axis can be accommodated through the hollow area, thereby increasing the range of motion of the lower limb frame and solving the problem that the large space occupied by the actuator in the hip of the humanoid robot leads to a small range of motion of the lower limb. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of one embodiment of the support frame and lower limb frame on one side of the hip structure when they rotate;

[0026] Figure 2 This is a schematic diagram of one embodiment of the hip structure;

[0027] Figure 3 This is a schematic diagram of one embodiment of the hip structure;

[0028] Figure 4 This is a structural schematic diagram of one embodiment of the drive arm, turntable, and driven plate.

[0029] in:

[0030] Hip main frame 1, support frame 2, lower limb frame 3, first motor module 4, second motor module 5; third motor module 6;

[0031] Motor housing station 11; frame cutout 12; lower limb cutout 31;

[0032] First motor 41, drive swing arm 42; turntable 43, driven plate 44;

[0033] First motor port 411; cylindrical shell 412; cylindrical curved surface 413; hollow area 414;

[0034] Fixing hole 431, fastener 432; convex surface 441;

[0035] Second motor port 51; motor wiring channel 52; third module port 61. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, it should be understood that the terms "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," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0038] like Figure 1-4 A hip frame for a humanoid robot includes: a hip main frame 1, a support frame 2, a lower limb frame 3, and a first motor module 4;

[0039] A pair of support frames 2 are rotatably disposed on the left and right sides of the hip main frame 1, and the support frames 2 rotate about the X-axis; the lower limb frame 3 is rotatably mounted on the support frames 2 about the Y-axis;

[0040] The hip main frame 1 has a motor receiving station 11 at the front; one of the first motor modules 4 is installed above the motor receiving station 11, and the other first motor module 4 is installed below the motor receiving station 11; the output end of one of the first motor modules 4 is connected to one of the support frames 2 for driving the support frame 2 to rotate around the X-axis.

[0041] The first motor module 4 is provided with a cylindrical shell 412, and two cylindrical shells 412 are arranged in parallel and close to each other; the outer surface of the cylindrical shell 412 is a cylindrical curved surface 413; the cylindrical curved surfaces 413 of the two first motor modules 4 are close to each other and form a hollow area 414 in the motor receiving station 11; the support frame 2 and / or the lower limb frame 3 rotate around the X-axis to extend into the hollow area 414.

[0042] This solution provides a hip frame for a humanoid robot, which is applied to the hip structure of the humanoid robot to support multiple mechanisms in the hip. It is based on the reasonable spatial distribution of two first motor modules 4 in the motor housing station 11, and combined with the cylindrical shell 412 structure and shape of the first motor module 4, the support frame 2 and / or lower limb frame 3 that rotate around the X-axis can be accommodated through the hollow area 414, thereby making the range of motion of the lower limb frame 3 larger, which solves the problem that the large space occupied by the actuator in the hip of the humanoid robot leads to a small range of motion of the lower limb.

[0043] Specifically, the hip main frame 1 is the hip body of the humanoid robot, and a pair of support frames 2 can be installed on it. The support frames 2 can rotate around the X-axis. The hip main frame 1 is used to connect the upper body of the humanoid robot, and the lower limb frame 3 is used to connect the robot's thighs. The hip main frame 1 is provided with a motor receiving station 11. One of the first motor modules 4 is installed above the motor receiving station 11, and another first motor module 4 is installed below the motor receiving station 11. The first motor module 4 is a known mechanism with a driving function, which only needs to directly or indirectly drive the support frames 2 to rotate around the X-axis. Figure 1 In this design, the first motor module 4 has a cylindrical shell 412, which resembles a cylindrical structure. Therefore, the cylindrical shell 412 has a cylindrical curved surface 413 on its outer side. The cylindrical shell 412 is horizontally oriented, specifically horizontally towards the X-axis, and the cylindrical curved surface 413 surrounds the X-axis. When the cylindrical curved surfaces 413 of two cylindrical shells 412 are placed vertically, they form a figure-eight shape, thus creating a hollow area 414 within the motor housing station 11. The hollow area 414 is located between the two first motor modules 4, allowing the support frame 2 and / or lower limb frame 3 to extend into it when rotating around the X-axis. This increases the range of motion of the support frame 2 and lower limb frame 3 when rotating around the X-axis. It can expand the range of motion of the support frame 2 and lower limb frame 3 within the limited space of the hip main frame 1, and can reduce the horizontal space required for the motor housing station 11 when the two first motor modules 4 are distributed vertically. The motor housing station 11 does not need to extend the horizontal dimension to provide clearance for the support frame 2 and lower limb frame 3, thus solving the problem that the large space occupied by the actuator in the hip of the humanoid robot leads to a small range of motion of the robot's thigh.

[0044] Optimally, the first motor module 4 has its output end passing through the hip main frame 1 and extending to the opposite rear of the hip main frame 1; the quasi-cylindrical shell 412 has a first motor port 411 at the other end of the first motor module 4, and the first motor port 411 is located between the two support frames 2.

[0045] The first motor module 4 of this design is provided with a first motor port 411, which is located within the motor receiving station 11. Thus, since the two first motor modules 4 are distributed vertically on the hip main frame 1, the hip main frame 1 itself does not move. The first motor port 411 is located between the two support frames 2, at the end of the first motor module 4. The rotation range of the support frames 2 is offset from that of the first motor port 411. The first motor port 411 between the first motor modules 4 is not affected by the movement of the hip structure in the X, Y, and Z axes. The first motor port 411 is used to connect wires for power supply, data transmission, and other purposes of the first motor module 4.

[0046] Alternatively, the first motor ports 411 of the two first motor modules 4 can be connected by wires.

[0047] Since the first motor module 4 drives the support frame 2 to rotate around the X-axis, that is, the first motor module 4 is the axis of rotation in the X-axis direction; and the first motor module 4 is distributed vertically, the wires between the first motor ports 411 of the two first motor modules 4 are distributed vertically as a whole; the support frame 2 is located on both sides of the first motor module 4, so when the support frame 2 extends into the hollow area 414, it will not interfere with the first motor port 411 at the end of the first motor module 4 and its connecting wires.

[0048] Optimally, it also includes: a second motor module 5;

[0049] The second motor module 5 is installed on the lower limb frame 3, and the output end of the second motor module 5 is connected to the support frame 2 to drive the lower limb frame 3 to rotate relative to the support frame 2 around the Y-axis.

[0050] The second motor module 5 is mounted on the support frame 2 at its fixed end. The output end of the second motor module 5 is connected to the lower limb frame 3, which can drive the lower limb frame 3 to rotate around the Y-axis. The second motor module 5 is a known mechanism with a driving function, which can simply drive the lower limb frame 3 to rotate around the Y-axis directly or indirectly.

[0051] Optimally, the second motor module 5 is provided with a second motor port 51, which is located at the end of the second motor module 5 away from the lower limb frame 3; the interior of the second motor module 5 is hollow, and a motor wiring channel 52 is formed between the second motor port 51 and the lower limb frame 3; the lower limb frame 3 is provided with a lower limb cutout 31, one end of which exposes the motor wiring channel 52, and the other end of which faces the motor receiving station 11.

[0052] The second motor module 5 is equipped with a second motor port 51 for connecting wires, serving purposes such as power supply and data transmission. Some wires can connect to the second motor port 51 and transition from both sides of the hip structure to the center through the motor wiring channel 52 inside the second motor module 5, with one end of the lower limb cutout 31 exposed in the motor wiring channel 52. The wires pass through the lower limb cutout 31 and extend out of the motor receiving station 11, connecting to the first motor port 411 for easy electrical connection and linkage. Because the wires are made of a flexible material, their movement along the X, Y, and Z axes of the motor wiring channel 52 is synchronized with the movement of the second motor module 5, allowing for adaptive angle adjustment without affecting the wiring of the second motor module 5. In this way, the wires of the hip structure can converge from both sides to the center, resulting in a more organized wire arrangement and preventing wires from tangling around the joints and affecting the smoothness of movement and function.

[0053] Alternatively, a portion of the wires may pass through the motor wiring channel 52, with one end of the wires connected to the second motor port 51 and the other end connected to the first motor port 411.

[0054] The second motor module 5 can be connected to the first motor module 4 via wires. Specifically, one end of the wire is connected to the second motor port 51, and the other end is connected to the first motor port 411. Part of the wire can pass through the motor wiring channel 52. The wires do not need to be exposed on the outer surface of the second motor module 5 and can pass through the interior of the second motor module 5. Since the two first motor modules 4 are distributed vertically on the hip main frame 1, and the first motor port 411 is far from the rotation range of the support frame 2 and / or the lower limb frame 3, the connection between the second motor port 51 and the first motor port 411 is not affected by the rotation of the support frame 2. At the same time, the motor wiring channel 52 can provide guidance for the wires, allowing the wires to adaptively adjust within a limited space as the support frame 2 rotates.

[0055] Optimally, it also includes: a third motor module 6;

[0056] The third motor module 6 is installed on the lower limb frame 3, and the output end of the third motor module 6 rotates around the Z-axis; the third motor module 6 may be provided with a third module port 61, and the third module port 61 is connected to the second motor port 51 through a wire.

[0057] In this design, the third motor module 6 is located in the lower limb frame 3. Its output end can be directly or indirectly connected to the robot's thigh. The output end of the third motor module 6 rotates around the Z-axis, meaning that the third motor module 6 can directly or indirectly drive the robot's thigh to rotate around the Z-axis. Furthermore, the third motor module 6 may be equipped with a third module port 61 for connecting wires, serving purposes such as power supply and data transmission. The lower limb frame 3 and its third motor module 6 are located on the left and right sides of the hip structure, so the third module port 61 of the third motor module 6 can be connected to the second motor port 51 of the second motor module 5. The second motor module 5 can then be wired through its motor wiring channel 52 to achieve linkage with the first motor module 4. In this way, the first motor module 4, the second motor module 5, and the third motor module 6 of the hip structure can be connected sequentially with wiring, greatly simplifying the wiring structure of the hip structure. The first motor module 4, the second motor module 5, and the third motor module 6 of the hip structure can be selected as frameless torque motors as needed. By omitting the outer shell, the volume and weight are greatly reduced, and the torque density per unit volume is significantly improved. This makes it easy to embed into the narrow space inside the machine and meets the wiring requirements of the robot joint in this solution.

[0058] The second motor module 5 is a known mechanism with a driving function, which can directly or indirectly drive the lower limb frame 3 to rotate around the Y-axis.

[0059] Alternatively, the hip main frame 1 may be provided with multiple frame cutouts 12.

[0060] The cutout 12 in the frame can reduce the weight of the hip main frame 1 on the one hand, and on the other hand, it can make multiple positions of the hip main frame 1 cut out, which facilitates heat dissipation and wiring.

[0061] A hip structure for a humanoid robot, comprising the aforementioned hip frame for a humanoid robot.

[0062] A humanoid robot includes: a robot thigh and a hip structure of a humanoid robot according to any of the above embodiments;

[0063] The robot's thigh is rotatably mounted on the lower limb frame 3 around the Z-axis.

[0064] The third motor module 6 can directly or indirectly drive the robot's thigh to rotate around the Z-axis.

[0065] In the hip structure of this solution, the first motor module 4 can drive the lower limb frame 3 to rotate around the X-axis in a known manner; this solution provides a preferred embodiment:

[0066] The hip structure includes: a hip main frame 1, a support frame 2, a lower limb frame 3, and a second motor module 5;

[0067] The first motor module 4 includes: a first motor 41 and a drive swing arm 42;

[0068] One of the first motor modules 4 has its first motor 41 mounted on the upper side of the motor receiving station 11, and the other first motor module 4 has its first motor 41 mounted on the lower side of the motor receiving station 11. One end of the drive arm 42 is connected to the support frame 2, and the other end of the drive arm 42 is connected to the output end of the first motor 41. The first motor 41 is used to drive one end of the drive arm 42 to rotate, thereby causing the support frame 2 at the other end of the drive arm 42 to rotate around the X-axis.

[0069] The second motor module 5 is installed on the lower limb frame 3, and the output end of the second motor module 5 is connected to the support frame 2 to drive the lower limb frame 3 to rotate relative to the support frame 2 around the Y-axis.

[0070] The hip frame 1 is provided with a motor receiving station 11; a first motor 41 of one first motor module 4 is installed above the motor receiving station 11, and a first motor 41 of another first motor module 4 is installed below the motor receiving station 11; the first motor 41 is connected to one of the support frames 2 through a drive swing arm 42; thus, the output end of the first motor 41 can drive the drive swing arm 42 to rotate around the X-axis; the second motor module 5 is installed on the support frame 2 at a fixed end, and the output end of the second motor module 5 is connected to the lower limb frame 3, which can drive the lower limb frame 3 to rotate around the Y-axis. In this embodiment, the first motor 41 is not directly connected to the support frame 2, but is indirectly connected to the support frame 2 through the drive arm 42. Therefore, there are not many horizontal transition structures between the first motor 41 and the support frame 2, saving space in the humanoid hip area. The transmission of the first motor 41 will not interfere with the position of the humanoid hip, thus allowing for a greater range of motion in the legs. At the same time, since the first motor 41 is located between the two second motor modules 5 and is distributed vertically, the hip structure does not occupy too much space in the Z-axis direction. In this way, the problem of complex motor connection structures from the hip to the thigh in the X, Y, and Z axes, which occupy a lot of space and affect movement and aesthetics, is solved.

[0071] Optimally, the first motor module 4 further includes: a turntable 43 and a driven disk 44; the output end of the first motor 41 is connected to the turntable 43 for driving the turntable 43 to rotate; the driven disk 44 is fixed to the support frame 2 and is rotatably connected to the hip main frame 1 around the X-axis; each first motor module 4 is provided with a pair of drive swing arms 42, one end of the two drive swing arms 42 is connected to the driven disk 44, and the other end of the two drive swing arms 42 is respectively connected to the turntable 43.

[0072] The first motor 41 drives the turntable 43 to rotate, which in turn drives one end of the drive swing arm 42 to rotate, causing the driven disk 44 at the other end of the drive swing arm 42 to rotate, thereby causing the support frame 2 to rotate around the X-axis. Preferably, this design uses two drive swing arms 42 in the first motor module 4 to drive the support frame 2 to rotate around the X-axis. The two drive swing arms 42 are respectively connected to different positions on the turntable 43 and the driven disk 44. This enhances the transmission stability and balance between the turntable 43 and the driven disk 44, and also reduces the load on a single drive swing arm 42.

[0073] Optimally, the driven disk 44 is provided with a pair of convex surfaces 441, and a distance difference is formed between the two convex surfaces 441. One end of one drive swing arm 42 is connected to one of the convex surfaces 441, and one end of the other drive swing arm 42 is connected to the other convex surface 441. The other ends of the two drive swing arms 42 are respectively connected to different positions of the turntable 43. When the turntable 43 rotates clockwise or counterclockwise, causing the two drive swing arms 42 to swing close to each other, the drive swing arms 42 restrict the driven disk 44 from continuing to rotate.

[0074] like Figure 4 The driven disk 44 has two convex surfaces 441. One convex surface 441 can be used to connect one end of one of the drive swing arms 42. The other end of the drive swing arms 42 is connected to different positions on the same turntable 43. The distance difference between the two convex surfaces 441 allows sufficient space between the two drive swing arms 42 during movement. In the initial state, the two convex surfaces 441 and the turntable 43 provide a large range of motion between the two drive swing arms 42. When the turntable 43 rotates clockwise, the drive swing arms 42 swing until the range of motion gradually decreases, and the drive swing arms 42 eventually come close together or abut against each other, restricting the driven disk 44 from continuing to rotate. This serves as the endpoint of the clockwise rotation of the support frame 2 around the X-axis. Similarly, when the turntable 43 rotates counterclockwise, the drive swing arms 42 swing until the range of motion gradually decreases, and the drive swing arms 42 eventually come close together or abut against each other, restricting the driven disk 44 from continuing to rotate. This serves as the endpoint of the counterclockwise rotation of the support frame 2 around the X-axis.

[0075] Optimally, the turntable 43 is provided with annularly distributed fixing holes 431; one end of the drive swing arm 42 is fixed to one of the fixing holes 431 by a fastener 432. After the fastener 432 is inserted into the fixing hole 431, one end of the drive swing arm 42 can be connected to the turntable 43, thereby connecting the drive swing arm 42 to the output end of the first motor 41; and in this solution, the turntable 43 is provided with multiple annularly distributed fixing holes 431, which can select the installation position of one end of the drive swing arm 42 on the turntable 43 as needed, thereby adjusting the activity space of the drive swing arm 42 to adjust the rotation range of the support frame 2 around the X-axis; for example Figure 4As shown, one end of each of the two drive arms 42 is installed at a symmetrical position on the turntable 43. The space between the drive arms 42 is the largest, and the rotation range of the support frame 2 is the largest.

[0076] Fasteners 432 are a class of mechanical parts that are commonly known to be used for fastening connections and are widely used, such as bolts, studs, screws, nuts, washers, pins, etc.

[0077] Optimally, the first motor 41 is located at the motor receiving station 11; the output end of the first motor 41 passes through the hip main frame 1 and extends to the rear of the hip main frame 1; the turntable 43, the driven plate 44 and the drive swing arm 42 are respectively located to the rear of the hip main frame 1.

[0078] This design places the turntable 43 and driven plate 44 at the rear of the hip main frame 1, while the main part of the first motor 41 is located at the front of the hip main frame 1. Only the output end of the first motor 41 extends to the rear of the hip main frame 1. The first motor 41 is not entirely placed at the rear of the hip structure, which significantly saves space in the human-shaped buttocks area. At the same time, the turntable 43, driven plate 44, and drive arm 42 are located at the rear of the hip main frame 1. Since one end of the drive arm 42, the turntable 43, and the driven plate 44 rotate around the X-axis, the thickness of the three can be designed to be very small. Therefore, the first motor module 4 will not be excessively exposed at the rear, thus avoiding the problem of rear-mounted motors.

[0079] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hip frame for a humanoid robot, characterized in that, include: Hip main frame, support frame, lower limb frame, and first motor module; A pair of support frames are rotatably disposed on the left and right sides of the hip main frame, and the support frames rotate about the X-axis; the lower limb frame is rotatably mounted on the support frames about the Y-axis; The hip main frame has a motor receiving station at the front; one of the first motor modules is installed above the motor receiving station, and the other first motor module is installed below the motor receiving station; the output end of one of the first motor modules is connected to one of the support frames to drive the support frame to rotate around the X-axis. The first motor module has a cylindrical shell, and the two cylindrical shells are arranged in parallel and close to each other; the outer surface of the cylindrical shell is a cylindrical curved surface; the cylindrical curved surfaces of the two first motor modules are close to each other and form a hollow area in the motor receiving station; the support frame and / or lower limb frame rotate around the X-axis to extend into the hollow area.

2. The hip frame of a humanoid robot according to claim 1, characterized in that, The first motor module has its output end passing through the hip main frame at one end and extending to the opposite rear of the hip main frame; the quasi-cylindrical shell has a first motor port at the other end of the first motor module, and the first motor port is located between the two support frames.

3. The hip frame of a humanoid robot according to claim 2, characterized in that, The first motor ports of the two first motor modules are connected by wires.

4. The hip frame of a humanoid robot according to claim 2, characterized in that, Also includes: Second motor module; The second motor module is mounted on the lower limb frame, and the output end of the second motor module is connected to the support frame to drive the lower limb frame to rotate relative to the support frame around the Y-axis.

5. The hip frame of a humanoid robot according to claim 4, characterized in that, The second motor module is provided with a second motor port, which is located at the end of the second motor module away from the lower limb frame; the interior of the second motor module is hollow, and a motor wiring channel is formed between the second motor port and the lower limb frame; the lower limb frame is provided with a lower limb cutout, one end of which exposes the motor wiring channel, and the other end of which faces the motor receiving station.

6. The hip frame of a humanoid robot according to claim 5, characterized in that, A portion of the wires passes through the motor wiring channel, with one end of the wire connected to the second motor port and the other end connected to the first motor port.

7. The hip frame of a humanoid robot according to claim 6, characterized in that, Also includes: Third motor module; The third motor module is mounted on the lower limb frame, and the output end of the third motor module rotates around the Z-axis; The third motor module may be provided with a third module port, which is connected to the second motor port via a wire.

8. The hip frame of a humanoid robot according to claim 1, characterized in that, The hip frame has multiple cutouts.

9. A hip structure for a humanoid robot, characterized in that, The invention comprises a hip frame for a humanoid robot as described in any one of claims 1-8.

10. A humanoid robot, characterized in that, include: Robot thigh and hip structure of a humanoid robot as described in claim 9; The robot's thigh is rotatably mounted on the lower limb frame around the Z-axis.

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