CN101579860B - Double-T type waist joint structure of humanoid robot - Google Patents
Double-T type waist joint structure of humanoid robot Download PDFInfo
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- CN101579860B CN101579860B CN2009100993704A CN200910099370A CN101579860B CN 101579860 B CN101579860 B CN 101579860B CN 2009100993704 A CN2009100993704 A CN 2009100993704A CN 200910099370 A CN200910099370 A CN 200910099370A CN 101579860 B CN101579860 B CN 101579860B
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- waist
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- motor
- speed reducer
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000037396 body weight Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 102100031001 Hepatoma-derived growth factor-related protein 2 Human genes 0.000 description 1
- 101710161030 Hepatoma-derived growth factor-related protein 2 Proteins 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Application Number | Priority Date | Filing Date | Title |
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CN2009100993704A CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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CN2009100993704A CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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Publication Number | Publication Date |
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CN101579860A CN101579860A (en) | 2009-11-18 |
CN101579860B true CN101579860B (en) | 2010-09-29 |
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CN2009100993704A Expired - Fee Related CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101934525B (en) * | 2010-09-15 | 2012-07-25 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
US9044865B2 (en) | 2013-03-07 | 2015-06-02 | Engineering Services Inc. | Two joint module |
CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
US10022861B1 (en) | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
CN107507503B (en) * | 2017-09-29 | 2019-10-29 | 北京理工大学 | It is a kind of for train rotation handle method mechanical simulation apparatus |
CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint driving mechanism and robot |
CN108044614A (en) * | 2017-12-30 | 2018-05-18 | 哈尔滨工业大学深圳研究生院 | A kind of redundant mechanical arm based on modularized joint |
CN110253625B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Humanoid robot waist joint and humanoid robot |
CN110815196B (en) * | 2019-10-18 | 2023-06-20 | 平安科技(深圳)有限公司 | Waist structure of robot |
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2009
- 2009-06-04 CN CN2009100993704A patent/CN101579860B/en not_active Expired - Fee Related
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CN101579860A (en) | 2009-11-18 |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20091118 Assignee: Zhejiang Guozi Robot Technology Co., Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Double-T type waist joint structure of humanoid robot Granted publication date: 20100929 License type: Exclusive License Record date: 20130422 |
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LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100929 Termination date: 20210604 |
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CF01 | Termination of patent right due to non-payment of annual fee |