XPeng Motors Robot Waist Mechanism Patent Granted

On September 2nd, according to Tianyancha, Guangzhou Xiaopeng Automobile Technology Co., Ltd. recently had its patent for "waist mechanisms and robots" granted.

The utility model relates to the field of robotics. It includes: a support; a first mounting shaft, comprising a first inner shaft and a first outer shaft arranged in a nested manner, the first inner shaft being connected to the support; a second mounting shaft, arranged at a predetermined angle to the first mounting shaft, the second mounting shaft comprising a second inner shaft and a second outer shaft arranged in a nested manner, the second outer shaft being connected to the first outer shaft; a driving structure, whose fixed portion is connected to the second inner shaft; and a linkage structure, the first end of the linkage structure being hinged to the support, and the second end being hinged to the driving portion of the driving structure.

In summary, this utility model enables the robot to perform pitching or swaying motions. Moreover, the waist mechanism features a simple overall structure, occupies little space, and is relatively lightweight. When the waist mechanism performs pitching or swaying movements, only the drive structure needs to be rotated, thereby reducing rotational inertia and lowering the torque requirements for the linkage structure.

Image source: XPeng Motors

In the field of AI humanoid robots, XPeng Motors developed "IRON," which made its debut on November 6, 2024; it also appeared at this year's Chengdu Auto Show.

According to publicly available information, this robot uses a life-size bionic structure with a height of 178 cm and a weight of 70 kg. It is equipped with 62 active degrees of freedom throughout the body and 15 movable degrees of freedom in the hands. It features a Turing AI chip with a computing power of 3000T and a 720° eagle-eye vision system. Through end-to-end large models and reinforcement learning.IRONCapable of autonomous walking, environmental perception, and smooth conversation.

As of 2025,IRONAlready participated in practical training at XPeng's Guangzhou factory, with plans for large-scale mass production in 2026 and application in factory automation and store service sectors.