Hip joint structure

The invention provides a hip joint structure that comprises a back base body connecting piece, a waist connecting piece, a hip fixed shaft, a hip pin shaft, a driving device and hip thighs. The hip fixed shaft can rotate relative to the waist connecting piece under the action of an external force so as to realize the inward rotation and outward rotation actions of the hip thighs; the hip pin shaftcan rotate relative to the hip fixed shaft under the action of an external force so as to realize the abduction and adduction actions of the hip thighs; the hip thighs can be driven by the driving device to complete forward bending and backward stretching actions. According to the hip joint structure provided by the invention, the hip fixed shaft can rotate relative to the waist connecting pieceunder the action of the external force, the hip pin shaft can rotate relative to the hip fixed shaft under the action of the external force, and said two rotation modes are passive, so that the rotation coordination is better,