PL433921A1 - Ball-and-socket joint - Google Patents

Ball-and-socket joint

Info

Publication number
PL433921A1
PL433921A1 PL433921A PL43392120A PL433921A1 PL 433921 A1 PL433921 A1 PL 433921A1 PL 433921 A PL433921 A PL 433921A PL 43392120 A PL43392120 A PL 43392120A PL 433921 A1 PL433921 A1 PL 433921A1
Authority
PL
Poland
Prior art keywords
ball
joint
robots
turn spring
pair
Prior art date
Application number
PL433921A
Other languages
Polish (pl)
Other versions
PL241392B1 (en
Inventor
Wojciech Kacalak
Zbigniew Budniak
Maciej Majewski
Original Assignee
Politechnika Koszalińska
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Politechnika Koszalińska filed Critical Politechnika Koszalińska
Priority to PL433921A priority Critical patent/PL241392B1/en
Publication of PL433921A1 publication Critical patent/PL433921A1/en
Publication of PL241392B1 publication Critical patent/PL241392B1/en

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Abstract

Wynalazkiem jest przegub kulowy o wysokim stopniu ruchliwości przeznaczony do wykorzystania w przegubach robotów, a w szczególności robotów kroczących, egzoszkieletów oraz robotów humanoidalnych pracujących w warunkach wysokiej stabilności pozostawania w określonej pozycji i zmniejszenia oporów ruchu podczas przemieszczania się. Pierwszą parę ślizgową stanowi sworzeń kulowy (1) zakończony kulistym łbem (2), który osadzony jest w gnieździe kulowym (4). Drugą parę stanowi kula (23), do której przylega pierwsza wielozwojowa sprężyna (21) i druga wielozwojowa sprężyna (25). Dzięki elementom sprężystym cięgnom (17), po ustaniu działania obciążenia, możliwe jest samoczynne ustawienie się przegubu do położenia początkowego. Dzięki wykorzystaniu elastycznych cięgien (17) w konstrukcji przegubu możliwe jest zwiększenie kąta wychylenia całego przegubu.The invention is a ball joint with a high degree of mobility intended for use in the joints of robots, in particular walking robots, exoskeletons and humanoid robots operating in conditions of high stability of staying in a certain position and reducing resistance to movement during movement. The first sliding pair is a ball pin (1) ended with a spherical head (2), which is embedded in the ball socket (4). The second pair is a ball (23) against which a first multi-turn spring (21) and a second multi-turn spring (25) rest. Thanks to the elastic elements, the tension members (17), after the load has ceased to act, it is possible for the joint to set itself back to its initial position. Due to the use of elastic tendons (17) in the joint structure, it is possible to increase the swing angle of the entire joint.

PL433921A 2020-05-12 2020-05-12 Ball-and-socket joint PL241392B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL433921A PL241392B1 (en) 2020-05-12 2020-05-12 Ball-and-socket joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL433921A PL241392B1 (en) 2020-05-12 2020-05-12 Ball-and-socket joint

Publications (2)

Publication Number Publication Date
PL433921A1 true PL433921A1 (en) 2021-11-15
PL241392B1 PL241392B1 (en) 2022-09-19

Family

ID=78595477

Family Applications (1)

Application Number Title Priority Date Filing Date
PL433921A PL241392B1 (en) 2020-05-12 2020-05-12 Ball-and-socket joint

Country Status (1)

Country Link
PL (1) PL241392B1 (en)

Also Published As

Publication number Publication date
PL241392B1 (en) 2022-09-19

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