A wet friction disc includes a lubrication groove and a plurality of lands defined by the lubrication groove. The lubrication groove has a plurality of circumferential groove portions that extends in a circumferential direction and has a predetermined groove width in a radial direction, and a plurality of intersecting groove portions that extends in directions intersecting the circumferential direction. At least some of the circumferential groove portions have an arc shape such that an end in the circumferential direction is located adjacent to one of the lands in the circumferential direction and that the groove width is entirely contained within a range in the radial direction spanned by that land.

Mechanisms to realize lightweight rotational joints having passive, high torque braking in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more rotational joints with passive, high torque braking as described herein are also presented. Each degree of freedom includes a spring element to preload the braking assembly to maintain high torque braking. The force generated by the spring is multiplied to a much larger force applied to the braking elements by a lever structure and an eccentric mechanism. A human user manually displaces the spring element and effectively reduces braking torque to a desired amount. In a further aspect, a two degree of freedom mechanical shoulder joint and brake device is disposed in a structural path between the harness assembly of an upper body support system and a surface of a working environment.

Mechanisms to realize lightweight rotational joints having passive, high torque braking in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more rotational joints with passive, high torque braking as described herein are also presented. Each degree of freedom includes a spring element to preload the braking assembly to maintain high torque braking. The force generated by the spring is multiplied to a much larger force applied to the braking elements by a lever structure and an eccentric mechanism. A human user manually displaces the spring element and effectively reduces braking torque to a desired amount. In a further aspect, a two degree of freedom mechanical shoulder joint and brake device is disposed in a structural path between the harness assembly of an upper body support system and a surface of a working environment.

A brake device, configured to be installed directly on a driving axle or through a hub, wherein said device includes a first brake disc joined to the axle sharing rotary motion, a first container disc and a second container disc configured to be moved in the axial direction of said axle. The container discs are positioned on each side of the brake disc, such that both are configured to be moved in the axial direction towards the linings of the first brake disc and to exert a pushing pressure thereon, producing the braking of the brake disc and, therefore, of the driving axle whereon it is assembled. Furthermore, the container discs comprise an inner circuit configured to accommodate the passage of a coolant configured to cool them.

A brake device, configured to be installed directly on a driving axle or through a hub, wherein said device includes a first brake disc joined to the axle sharing rotary motion, a first container disc and a second container disc configured to be moved in the axial direction of said axle. The container discs are positioned on each side of the brake disc, such that both are configured to be moved in the axial direction towards the linings of the first brake disc and to exert a pushing pressure thereon, producing the braking of the brake disc and, therefore, of the driving axle whereon it is assembled. Furthermore, the container discs comprise an inner circuit configured to accommodate the passage of a coolant configured to cool them.

A powered axle for a work vehicle with a dual wheel arrangement includes an axle housing, an axle hub mounted to the axle housing, and an output hub having opposite axial ends supported by one or more wheel bearings for rotation about the axle hub along a rotation axis. An electric drive is disposed, at least in part, within the axle housing, and a hub gear set is disposed, at least in part, within the axle hub and configured to transmit power from the electric drive to the output hub for rotation of the dual wheel arrangement. A wheel brake disposed radially between the axle hub and the output hub and axially between the ends of the output hub is configured to selectively permit and arrest rotation of the output hub.

A powered axle for a work vehicle with a dual wheel arrangement includes an axle housing, an axle hub mounted to the axle housing, and an output hub having opposite axial ends supported by one or more wheel bearings for rotation about the axle hub along a rotation axis. An electric drive is disposed, at least in part, within the axle housing, and a hub gear set is disposed, at least in part, within the axle hub and configured to transmit power from the electric drive to the output hub for rotation of the dual wheel arrangement. A wheel brake disposed radially between the axle hub and the output hub and axially between the ends of the output hub is configured to selectively permit and arrest rotation of the output hub.

The disclosure provides a friction disk and a brake including a magnetic yoke iron core, a first movable plate, a friction disk, a first coil, at least one second coil, an armature and an elastic part; the magnetic yoke iron core includes a first mounting space, a second mounting space and at least one third mounting space distributed coaxially; the first movable plate is located in the first mounting space and close to a first shaft end; the friction disk is located in the first mounting space; the first coil is arranged in the second mounting space; the at least one second coil correspondingly is arranged in the at least one third mounting space; the armature is located at the second shaft end; the elastic part has a pre-tightening force that enables the armature to be far away from the magnetic yoke iron core.

The disclosure provides a magnetic yoke iron core and a brake including a magnetic yoke iron core, a first movable plate, a plurality of friction disks, at least one second movable plate, a coil, an armature and an elastic part; the first movable plate is located in a first mounting space and close to a first shaft end; a plurality of friction disks are sequentially arranged in the first mounting space along an axial direction of the magnetic yoke iron core and located at a side of the first movable plate close to a second shaft end; the coil is arranged in a second mounting space; the armature is connected with the first movable plate through a connector; the second movable plate is connected with the connector; and the elastic part having a pre-tightening force which enables the armature to be far away from the magnetic yoke iron core.

The disclosure provides a brake including a magnetic yoke iron core, a movable plate, a friction disk, a coil, an armature and an elastic part; a first mounting space penetrates through a center position of the magnetic yoke iron core in the axial direction; an opening of a second mounting space faces a second shaft end; the movable plate is located in the first mounting space and close to a first shaft end; the friction disk is arranged in the first mounting space and located at a side of the movable plate close to the second shaft end; the coil is arranged in the second mounting groove; the armature is located at the second shaft end, and the armature is connected with the movable plate through a connector; and the elastic part has pre-tightening force that enables the armature to be far away from the magnetic yoke iron core.