PL449109A1 - Trispherical joint - Google Patents

Trispherical joint

Info

Publication number
PL449109A1
PL449109A1 PL449109A PL44910924A PL449109A1 PL 449109 A1 PL449109 A1 PL 449109A1 PL 449109 A PL449109 A PL 449109A PL 44910924 A PL44910924 A PL 44910924A PL 449109 A1 PL449109 A1 PL 449109A1
Authority
PL
Poland
Prior art keywords
elastic
side arms
middle arm
flexible
upper member
Prior art date
Application number
PL449109A
Other languages
Polish (pl)
Inventor
Wojciech Kacalak
Zbigniew Budniak
Stanisław Duer
Rafał Rzepka
Monika Szada-Borzyszkowska
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 PL449109A priority Critical patent/PL449109A1/en
Publication of PL449109A1 publication Critical patent/PL449109A1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

Przedmiotem zgłoszenia jest przegub trójsferyczny przeznaczony do wielonożnych robotów kroczących oraz budowy węzłów kinematycznych współpracujących z elementami egzoszkieletów. Przegub trójsferyczny charakteryzuje się tym, że posiada człon dolny (1) z dwoma sprężystymi ramiona bocznymi (4) i sprężystym ramieniem środkowym (5) i człon górny (2) z dwoma sprężystymi ramiona bocznymi (6) i sprężystym ramieniem środkowym (7). Sprężyste ramiona boczne (4) i sprężyste ramię środkowe (5) stanowią fragment czaszy kulistej posiadającej wewnętrzne powierzchnie kuliste o promieniu R. Sprężyste ramiona boczne (6) i sprężyste ramię środkowe (7) stanowią fragment czaszy kulistej posiadającej wewnętrzną powierzchnię kulistą o promieniu R. Między sprężystymi ramionami bocznymi (4), sprężystym ramieniem środkowym (5) członu dolnego (1) i sprężystymi ramionami bocznymi (6), sprężystym ramieniem środkowym (7) członu górnego (2) jest osadzona kula (3) o promieniu R. Zakończenia sprężystych ramion bocznych (4) członu dolnego (1) i sprężystego ramienia środkowego (5) członu dolnego (1) rozmieszczone są z luzem pomiędzy zakończeniami sprężystych ramion bocznych (6) członu górnego (2) i sprężystego ramienia środkowego (7) członu górnego (2).The subject of the application is a three-spherical joint designed for multi-legged walking robots and the construction of kinematic nodes cooperating with exoskeletons. The three-spherical joint is characterized by having a lower member (1) with two flexible side arms (4) and a flexible middle arm (5), and an upper member (2) with two flexible side arms (6) and a flexible middle arm (7). The elastic side arms (4) and the elastic middle arm (5) constitute a fragment of a spherical cap having internal spherical surfaces of radius R. The elastic side arms (6) and the elastic middle arm (7) constitute a fragment of a spherical cap having internal spherical surface of radius R. A ball (3) of radius R is mounted between the elastic side arms (4), the elastic middle arm (5) of the lower member (1) and the elastic side arms (6), the elastic middle arm (7) of the upper member (2). The ends of the elastic side arms (4) of the lower member (1) and the elastic middle arm (5) of the lower member (1) are arranged with clearance between the ends of the elastic side arms (6) of the upper member (2) and the elastic middle arm (7) of the upper member (2).

PL449109A 2024-07-03 2024-07-03 Trispherical joint PL449109A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL449109A PL449109A1 (en) 2024-07-03 2024-07-03 Trispherical joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL449109A PL449109A1 (en) 2024-07-03 2024-07-03 Trispherical joint

Publications (1)

Publication Number Publication Date
PL449109A1 true PL449109A1 (en) 2026-01-05

Family

ID=98264500

Family Applications (1)

Application Number Title Priority Date Filing Date
PL449109A PL449109A1 (en) 2024-07-03 2024-07-03 Trispherical joint

Country Status (1)

Country Link
PL (1) PL449109A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2444695A1 (en) * 1978-12-22 1980-07-18 Pennwalt Corp HALOGENATED PLASTIC RESIN COMPOSITION WITH DELAYED COMBUSTION BY ADDITION OF A TETRAHALOGENOPHTHALATE AND PROCESS FOR PRODUCING THE SAME
JP2003021133A (en) * 2001-07-09 2003-01-24 Nakao:Kk Three dimensional universal joint and support base using it
WO2008055918A2 (en) * 2006-11-08 2008-05-15 Abb Ab A joint for industrial robots
CN102152315A (en) * 2011-02-01 2011-08-17 赵德政 Bionic joint device of closed lubrication

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2444695A1 (en) * 1978-12-22 1980-07-18 Pennwalt Corp HALOGENATED PLASTIC RESIN COMPOSITION WITH DELAYED COMBUSTION BY ADDITION OF A TETRAHALOGENOPHTHALATE AND PROCESS FOR PRODUCING THE SAME
JP2003021133A (en) * 2001-07-09 2003-01-24 Nakao:Kk Three dimensional universal joint and support base using it
WO2008055918A2 (en) * 2006-11-08 2008-05-15 Abb Ab A joint for industrial robots
CN102152315A (en) * 2011-02-01 2011-08-17 赵德政 Bionic joint device of closed lubrication

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