US 12,330,293 B1
Braking assembly for applying a controllable braking force to a rotatable joint
Phil Churchill, Hubbardston, MA (US); Beth A. Marcus, Bedford, MA (US); and Hunter Sawyer, Beverly, MA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Jun. 29, 2020, as Appl. No. 16/915,423.
Int. Cl. B25J 19/00 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 17/00 (2006.01); F16D 49/10 (2006.01); F16D 65/06 (2006.01); F16D 65/28 (2006.01); B25J 9/16 (2006.01); F16D 121/24 (2012.01); F16D 125/60 (2012.01); F16D 125/64 (2012.01)
CPC B25J 19/0004 (2013.01) [B25J 9/0009 (2013.01); B25J 9/104 (2013.01); B25J 9/109 (2013.01); B25J 9/123 (2013.01); B25J 17/00 (2013.01); F16D 49/10 (2013.01); F16D 65/065 (2013.01); F16D 65/28 (2013.01); B25J 9/0006 (2013.01); B25J 9/161 (2013.01); F16D 2121/24 (2013.01); F16D 2125/60 (2013.01); F16D 2125/64 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A brake mechanism for applying a selective braking force to a rotatable joint, comprising:
a first brake including:
a first brake band having a first fixed end and a first free end, the first brake band being configured to apply a first braking torque to at least a first portion of a hub of the rotatable joint in a clockwise direction, the first fixed end and the first free end being disposed on a first plane,
a first linear actuator configured to supply a first force to tighten the first brake band around the hub in the clockwise direction, and
a first lever arm having:
a first arm coupled to the first free end, and
a second arm coupled to the first linear actuator;
a second brake including:
a second brake band having a second fixed end and a second free end, the second brake band being configured to apply a second braking torque to at least a second portion of the hub of the rotatable joint in a counter-clockwise direction, the second fixed end and the second free end being disposed on a second plane spaced apart from the first plane,
a second linear actuator configured to supply a second force to tighten the second brake band around the hub in the counter-clockwise direction, and
a second lever arm having:
a third arm coupled to the second free end, and
a fourth arm coupled to the second linear actuator;
and
a controller for selectively controlling the first linear actuator and the second linear actuator to apply a desired braking force to the hub.