Waist structure of bionic robot

The invention discloses a waist structure of a bionic robot, and belongs to the technical field of bionic robots. The waist structure comprises a waist supporting assembly, a first driving unit, a connecting rod assembly, a side swing assembly, a second driving unit, a pitching assembly and a third driving unit. A first driving unit and a connecting rod assembly are installed on the waist supporting assembly. The fixed end of the first driving unit is fixedly connected to the waist supporting assembly, and the output end is connected with the connecting rod assembly. The connecting rod assembly is connected with the first driving unit and the side swing assembly and transmits turnover motion of the first driving unit to the side swing assembly, and then the trunk is driven to turn over. The fixed end of the second driving unit is fixedly connected to the rear portion of the side swing assembly, the output end of the second driving unit is fixedly connected to the pitching assembly, the pitching assembly is co