US 12,330,293 B1Granted

Braking assembly for applying a controllable braking force to a rotatable joint

AssigneeAmazon Technologies, Inc.

InventorsPhil Churchill, Beth A. Marcus, Hunter Sawyer

Life of this patent

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Abstract

Rotatable joints may include one or more braking assemblies. The one or more braking assemblies may control a degree of movement of the rotatable joint to provide a range of damping. In some instances, the braking assemblies may include brake band(s) that tighten and loosen around a hub, or other rotatable member of the rotatable joint. The amount of braking, or tautness of the brake band(s), may be variably controlled to arrest the hub by different amounts. In some instances, the tightening of the brake band(s) around the hub may be controlled using linear actuator(s) and/or magnetic element(s). Implementing braking assemblies having controlled actuation may improve control of rotatable joints without adding cost, complexity, weight, or bulk.

Claims20

Dependent claims

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.

11 more elements

A device comprising:

a housing including:
a first end,
a second end opposite the first end,
a first side,
a second side opposite the first side,
a top, and
a bottom opposite the top;
a rotatable member located closer to the first end than the second end;
a first braking assembly disposed within the housing, the first braking assembly including:
a first brake band wrapped around the rotatable member, the first brake band having a first fixed end and a first free end;
and
a first actuator for controllably tightening the first free end around the rotatable member, the first free end being located closer to the first side than the second side, wherein actuating the first actuator in a first direction causes the first brake band to tighten around the rotatable member and actuating the first actuator in a second direction that is different than the first direction causes the first brake band to loosen around the rotatable member;
and
a second braking assembly disposed within the housing, closer to the bottom than the first braking assembly, the second braking assembly including:
a second brake band wrapped around the rotatable member, the second brake band having a second fixed end and a second free end;
and
a second actuator for controllably tightening the second free end around the rotatable member, the second free end being located closer to the second side than the first side, wherein actuating the second actuator in the first direction causes the second brake band to tighten around the rotatable member and actuating the second actuator in the second direction causes the second brake band to loosen around the rotatable member.

14 more elements

A mechanical joint comprising:

a first brake band including:
a first length that surrounds at least a first portion of a hub, and
a first free end;
a first actuator configured to actuate in a first direction to displace a first magnetic element to apply a first force to the first free end in a second direction, the second direction being opposite the first direction;
a second brake band including:
a second length that surrounds at least a second portion of the hub, and
a second free end;
and
a second actuator configured to actuate in a third direction to displace a second magnetic element to apply a second force to the second free end in a fourth direction, the fourth direction being opposite the third direction.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/915,423Filed 29 Jun 2020
Granted: 17 Jun 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

B25J 19/0004
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection…
B25J 9/0009
Program-controlled manipulators: constructional details, e.g. manipulator supports, bases
B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons
B25J 9/109
Characterised by positioning means for manipulator elements: comprising mechanical programming means, e.g. cams