Passive emergency braking device

Abstract

The present invention discloses a non-powered emergency braking device configured to perform emergency braking by a mechanical mechanism in a state where the robot is not rotating. The non-powered emergency braking device may include a load bridge, an actuator configured to generate rotational force, a brake core connected to the actuator and configured to rotate by receiving rotational force from the actuator, a clutch pin provided in the brake core and connected to the load bridge to transmit rotational force of the actuator to the load bridge and configured to release the connection with the load bridge when a torque greater than a preset size is applied to the load bridge, and a brake spring disposed between the brake core and the load bridge, formed to cause downward deformation due to twisting that occurs when the load bridge rotates, formed to engage with the upper part of the clutch pin, and configured to push the clutch pin downward to release the connection between the brake core and the load bridge when a torque greater than a preset size is applied to the load bridge in a state where the load bridge is not rotating.

Description

Technology Field

[0001] The present invention relates to a non-powered emergency braking device for a rotating robot, and more specifically, to a non-powered emergency braking device configured to perform emergency braking by a mechanical mechanism when the robot is not rotating. Background Technology

[0002] Brakes are an essential device for stopping powertrain-based devices. Most devices encounter situations requiring emergency braking. In the case of vehicles, while speed can be reduced by taking one's foot off the accelerator, the vehicle is brought to a stop by pressing the brake pedal in emergency situations where a sudden halt is required.

[0003] On the other hand, unlike vehicles that operate according to the user's intention, devices such as robot manipulators that operate autonomously regardless of the user's intention are placed in situations requiring more braking. For example, if a malfunction occurs in the robot's power system, it may malfunction, causing collisions with nearby people or entrapment, which can result in casualties. In particular, in situations where a person is trapped between a robot and an obstacle such as a wall, the pressure exerted by the robot on the person increases while the robot's joints are not rotating; therefore, there is a need for an emergency braking device capable of handling such situations.

[0004] Conventional emergency braking devices are typically configured to operate based on centrifugal force, requiring rotational speed to activate the braking mechanism, or are fully electronic, requiring the absence of power system abnormalities for operation. Therefore, the development of a powerless emergency braking device that does not require electrical signals or algorithms and can apply braking solely through a mechanical mechanism at a set torque / force, even without rotation of the robot joints, may be considered. The problem to be solved

[0005] One objective of the present invention is to provide a powerless emergency braking device capable of performing braking without electrical power when a force exceeding a limit torque is applied to a robot joint, even when the robot joint is not in a rotated state.

[0006] One objective of the present invention is to provide a non-powered emergency braking device capable of maintaining a locked state without rotating the robot joint when braking of the robot joint is completed.

[0007] One objective of the present invention is to provide a non-powered emergency braking device capable of returning to a pre-braking state after braking of a robot joint is completed. means of solving the problem

[0008] To solve the above problem, a non-powered emergency braking device according to one embodiment of the present invention may include: a load bridge; a drive unit configured to generate rotational force; a brake core connected to the drive unit and configured to rotate by receiving rotational force from the drive unit; a clutch pin provided in the brake core and connected to the load bridge to transmit rotational force of the drive unit to the load bridge, and configured to release the connection with the load bridge when a torque greater than a preset size is applied to the load bridge; and a brake spring disposed between the brake core and the load bridge, formed to cause downward deformation due to twisting that occurs when the load bridge rotates, formed to engage with the upper part of the clutch pin, and configured to push the clutch pin downward to release the connection between the brake core and the load bridge when a torque greater than a preset size is applied to the load bridge while the load bridge is not rotating.

[0009] In one example related to the present invention, the non-powered emergency braking device further comprises: a brake pin formed to surround the upper portion of the clutch pin and provided on the load bridge; and an elastic member formed to elastically press the brake pin outward along the radial direction. The clutch pin is positioned so that its upper portion is surrounded by the brake pin in a state prior to the application of a torque greater than a preset size to the load bridge, thereby maintaining a state of connection with the load bridge. When a torque greater than a preset size is applied to the load bridge, the brake pin is pushed downward by the brake spring, and as the brake pin moves outward along the radial direction by the elastic member, upward movement is restricted by the brake pin, thereby maintaining a state of disconnection from the load bridge.

[0010] In one example related to the present invention, the clutch pin comprises a column portion having a predetermined height; and a protrusion formed to protrude convexly from the upper part of the column portion, and the brake pin is provided with a groove portion formed to correspond to the protrusion portion to surround the protrusion portion, and a contact portion may be provided at the boundary between the column portion and the protrusion portion to provide a seating surface on which the brake spring is engaged.

[0011] In one example related to the present invention, the clutch pin is provided in the column portion and further comprises a plurality of pin springs that are spaced apart from each other at a predetermined interval along the circumference of the column portion and protrude outward by a certain distance in the radial direction, and the brake spring is provided with a clutch groove formed to insert and engage the pin spring, and the clutch pin is engaged in the clutch groove before a torque greater than a predetermined size is applied to the load bridge so that downward movement is restricted, and the clutch pin is elastically deformed while pushed downward by the brake spring so that the state of being engaged in the clutch groove is released.

[0012] In one example related to the present invention, the non-powered emergency braking device may further include a spring fixing bolt that is screw-fastened vertically to the clutch pin and configured to move up and down according to the rotational direction, and configured to press the lower part of the column upward to adjust the degree of radial protrusion of the pin spring.

[0013] In one example related to the present invention, the non-powered emergency braking device further includes a ground that is rotatably connected to the brake core and is fixedly positioned on the outer side of the brake core, and a first gear and a second gear are each provided on a mutually facing surface of the brake pin and the ground to engage with each other, and when the connection between the brake core and the load bridge is released, the first and second gears may be connected to engage with each other to restrict the rotation of the load bridge.

[0014] In one example related to the present invention, the brake spring comprises: a brake spring base formed to be seated on the upper part of the brake core; a deformation plate disposed on the upper part of the brake spring base and spaced apart from the brake spring base at a predetermined distance; and a plurality of elastic cantilever beams, each having both ends connected to mutually facing surfaces of the brake spring base and the deformation plate and spaced apart from each other at a predetermined distance along the circumference of the brake spring, and the upper end of the clutch pin may be disposed through the brake spring base and the deformation plate.

[0015] In one example related to the present invention, the brake core may be provided with a clutch hole into which the lower end of the clutch pin is inserted, and a clutch spring disposed in the clutch hole and formed to elastically press the lower end of the clutch pin upward.

[0016] In one example related to the present invention, the non-powered emergency braking device further includes a pin handle formed to be movable in an up-and-down direction according to the direction of rotation by being screw-fastened to the outer circumference of the load bridge, and the pin handle may be provided with a pressure inclined surface that faces the outer end of the brake pin in a lateral direction and is formed to be inclined downward outward so as to push the brake pin inward along the radial direction as it moves downward. Effects of the invention

[0017] The effects of the present invention obtained through the means of solving the above problem are as follows.

[0018] A non-powered emergency braking device includes a load bridge that rotates by receiving rotational force from a drive, a brake core and a brake spring positioned between the load bridge and the drive to transmit the rotational force of the drive to the load bridge. Here, the brake core is equipped with a clutch pin connected to the load bridge to transmit the rotational force of the drive to the load bridge, and configured to release the connection with the load bridge when a torque greater than a preset size is applied to the load bridge. Additionally, the brake spring may be configured such that when a torque greater than a preset size is applied to the load bridge while the load bridge is not rotating, the brake spring, which causes downward deformation by twisting, pushes the clutch pin downward to release the connection between the brake core and the load bridge.

[0019] According to the configuration of such a non-powered emergency braking device, when a limit torque occurs in the load bridge to which an external load is connected, the connection between the actuator and the load bridge can be released without electrical power even if the load bridge is not in a rotating state. Accordingly, the torque generated by the actuator is prevented from being transmitted externally by the mechanical mechanism alone, thereby enabling stable braking of the load bridge.

[0020] In addition, a first gear is provided on one side of the brake pin that surrounds and secures the clutch pin, and a second gear is provided on one side of the ground that is fixed to the outside of the brake core, and the first and second gears can be formed to mesh with each other. Accordingly, as the first and second gears are arranged to mesh with each other while the connection between the brake core and the load bridge is released, the load bridge can remain locked without rotating. As a result, after emergency braking, the movement of the load bridge, which acts as a joint of the robot, can be reliably blocked, thereby preventing additional accidents.

[0021] In addition, the non-powered emergency braking device may include a pin handle formed to be movable in the up and down direction by being screw-fastened to the outer surface of the load bridge. Here, the pin handle may be provided with a pressure inclined surface formed to be downwardly inclined outward, facing the lateral outer end of the brake pin. Accordingly, by moving the pin handle downward to push the brake pin back to its initial position along the radial direction, the non-powered emergency braking device can be easily switched back to the pre-braking state after braking of the load bridge is completed. Brief explanation of the drawing

[0022] FIG. 1 is a conceptual drawing showing the appearance of a non-powered emergency braking device according to one embodiment of the present invention before and after performing emergency braking. FIG. 2 is a cross-sectional perspective view showing an example of a non-powered emergency braking device illustrated in FIG. 1. FIG. 3 is a perspective view showing the brake core illustrated in FIG. 2 and the state in which a clutch pin is inserted into a clutch hole provided in the brake core. FIG. 4 is a perspective view showing the state in which a brake spring is seated on the upper part of the brake core illustrated in FIG. 3. FIG. 5 is a conceptual drawing showing the appearance of the pin spring of the clutch pin shown in FIG. 2 before and after it is pressed in the vertical direction and protrudes outward. Figure 6 is a drawing for explaining the structure of an elastic cantilever provided in the brake spring shown in Figure 4. FIG. 7 is a perspective view showing the clutch pin being pushed downward by the brake spring shown in FIG. 4. FIG. 8 is a cross-sectional view showing the transition of the clutch pin spring from a state of being engaged in the clutch groove to a state of being released during the process in which the clutch pin shown in FIG. 4 is pushed downward by the brake spring. FIG. 9 is a cross-sectional perspective view showing the state of the non-powered emergency braking device illustrated in FIG. 2 with the actuator excluded. FIG. 10 is a cross-sectional view showing the state in which the brake pin moves outward along the radial direction as the clutch pin shown in FIG. 9 is pushed downward by the brake spring. FIG. 11 is a cross-sectional view showing the brake pin illustrated in FIG. 9 fully moved outward along the radial direction and fixed to the inner circumference of the ground. FIG. 12 is a cross-sectional perspective view showing the pin handle being rotated while the connection between the clutch pin and the load bridge shown in FIG. 9 is released. FIG. 13 is a cross-sectional view showing the process of rotating the pin handle shown in FIG. 12 to move the brake pin to an initial position, and then rotating the pin handle in the opposite direction to return it to the state before moving downward. Specific details for implementing the invention

[0023] Hereinafter, a non-powered emergency braking device (100) according to the present invention will be described in detail with reference to the drawings.

[0024] In this specification, identical or similar reference numbers or reference characters are assigned to identical or similar configurations even for different embodiments, and redundant descriptions thereof may be omitted.

[0025] In addition, unless the context clearly indicates otherwise, singular or plural expressions include the singular and plural expressions.

[0026] FIG. 1 is a conceptual diagram showing the state of a non-powered emergency braking device (100) according to one embodiment of the present invention before and after performing emergency braking. FIG. 1 (a) shows the general operating state before emergency braking is performed, and FIG. 1 (b) shows the state in which emergency braking is performed.

[0027] The non-powered emergency braking device (100) can operate as a mechanism that detects a limit torque applied to the non-powered emergency braking device (100) and determines the braking state according to the detected limit torque. The non-powered emergency braking device (100) may be composed of a load bridge (110) connected to an external load (not shown) as shown in FIG. 1, a clutch pin (140) connected to the load bridge (110) by a brake spring (150), a brake core (130) connected to the output side of the drive (120), a clutch spring (132) applying pressure between the clutch pin (140) and the brake core (130), a ground (160) connected to the ground (121, see FIG. 2) of the drive (120), and a brake pin (111) that fixes the load bridge (110) and the ground (160). A more detailed description of each component of the non-powered emergency braking device (100) described above will be given later with reference to an example of the non-powered emergency braking device (100).

[0028] When external torque (force) is applied to the non-powered emergency braking device (100), a positional change (downward displacement in the case of FIG. 1) occurs in the load bridge (110), and a downward force is applied to the clutch pin (140). At this time, when the spring inside the clutch pin (140) contracts enough to go over the lower edge of the load bridge (110), the clutch pin (140) is pulled downward, releasing the connection between the load bridge (110) and the brake core (130) and pushing the brake pin (111) to both sides to connect the load bridge (110) and the ground (160). Accordingly, even if rotational output of the drive unit (120) is generated, it does not affect the load bridge (110), and the load bridge (110) is fixed to the ground (160) and stabilized.

[0029] In other words, the non-powered emergency braking device (100) is configured such that the rotational force of the drive (120) generating rotational force is transmitted to the load bridge (110) through the clutch pin (140), and the clutch pin (140) is configured to release the connection between the drive (120) and the load bridge (110) when a limit torque (when emergency stop is required) occurs.

[0030] Hereinafter, an example of the non-powered emergency braking device (100) illustrated in FIG. 1 will be described with reference to FIG. 2 to FIG. 5.

[0031] FIG. 2 is a cross-sectional perspective view showing an example of a non-powered emergency braking device (100) illustrated in FIG. 1. FIG. 3 is a perspective view showing the brake core (130) illustrated in FIG. 2 and the state in which a clutch pin (140) is inserted into a clutch hole (131) provided in the brake core (130). FIG. 4 is a perspective view showing the state in which a brake spring (150) is seated on the upper part of the brake core (130) illustrated in FIG. 3. FIG. 5 is a conceptual drawing showing the state before and after the pin spring (144) of the clutch pin (140) illustrated in FIG. 2 is pressed in the vertical direction and protrudes outward.

[0032] Referring to FIGS. 2 to 5, the non-powered emergency braking device (100) may include a load bridge (110), an actuator (120), a brake core (130), a clutch pin (140), and a brake spring (150).

[0033] The load bridge (110) is connected to an external load, such as a manipulator, to transmit the torque and rotation of the actuator (120) to the outside. The load bridge (110) is configured to receive rotational force from the actuator (120) and perform rotational motion. The non-powered emergency braking device (100) is configured to perform emergency braking when a situation occurs in which a torque (rotational force) of a certain magnitude or greater is applied to the load bridge (110). The load bridge (110) is connected to a brake core (130) and a bearing (B1) described later and is fixed in a direction other than the direction of rotation.

[0034] The actuator (120) is configured to generate rotational force. The actuator (120) performs the same function as a motor.

[0035] The brake core (130) is connected to the drive (120) and is configured to rotate by receiving rotational force from the drive (120). The brake core (130) is connected to the load bridge (110) and the clutch pin (140) described later and is fixed in the rotational direction. The brake core (130) is connected to the output side of the drive (120) and is fixed, and at the same time, can be connected to the ground (160) by a bearing (B2).

[0036] A clutch pin (140) may be provided in a brake core (130). The clutch pin (140) may be connected to a load bridge (110) to transmit the rotational force of the drive (120) to the load bridge (110), and may be configured so that the connection with the load bridge (110) is released when a torque greater than a preset size is applied to the load bridge (110).

[0037] The clutch pin (140) serves to connect the load bridge (110) and the brake core (130). Under normal conditions when emergency braking is not required, the clutch pin (140) transmits the rotational force of the drive unit (120) to the load bridge (110). However, if a torque greater than a preset amount is applied to the load bridge (110), the clutch pin (140) is configured to disconnect from the load bridge (110) to block the transmission of rotational force.

[0038] A brake spring (150) is positioned between the brake core (130) and the load bridge (110). The brake spring (150) may be formed to deform downward due to the twisting that occurs when the load bridge (110) rotates. The brake spring (150) is formed to engage with the upper part of the clutch pin (140) and may be configured to push the clutch pin (140) downward to release the connection between the brake core (130) and the load bridge (110) when a torque greater than a preset size is applied to the load bridge (110) while the load bridge (110) is not rotating. That is, the brake spring (150) serves to physically break the connection between the brake core (130) and the load bridge (110) by pushing the clutch pin (140) downward when excessive torque is applied to the load bridge (110).

[0039] The brake spring (150) undergoes downward deformation even during normal operation of the load bridge (110). At this time, a downward pressing force is applied to the clutch pin (140), but the connection with the load bridge (110) is maintained until a force sufficient to release the connection with the load bridge (110) is applied.

[0040] According to the configuration of the non-powered emergency braking device (100) as described above, the non-powered emergency braking device (100) normally transmits the rotational force of the drive unit (120) to the load bridge (110) through the brake core (130) and the clutch pin (140). The load bridge (110) is configured to operate by receiving the rotational force of the drive unit (120). However, if a torque greater than a preset size is applied to the load bridge (110) due to an unexpected overload or collision, the brake spring (150) receives pressure and pushes the clutch pin (140) downward. Accordingly, the non-powered emergency braking device (100) is configured to respond to an emergency situation by automatically stopping as the connection between the clutch pin (140) and the load bridge (110) is severed, thereby blocking the transmission of rotational force between the drive unit (120) and the load bridge (110). That is, the present invention can provide a mechanical emergency braking mechanism that operates automatically by physically detecting excessive torque without external power (electricity, etc.).

[0041] Meanwhile, the non-powered emergency braking device (100) may further include a brake pin (111) and an elastic member (113).

[0042] The brake pin (111) is provided on the load bridge (110) and can be formed to surround the upper part of the clutch pin (140).

[0043] The elastic member (113) can be formed to elastically press the brake pin (111) outward along the radial direction. Accordingly, the brake pin (111) is continuously subjected to an outward escape pressure.

[0044] Here, the clutch pin (140) is positioned so that its upper portion is wrapped by the brake pin (111) before a torque greater than a preset size is applied to the load bridge (110), thereby maintaining a state of being connected to the load bridge (110). Alternatively, when a torque greater than a preset size is applied to the load bridge (110), the clutch pin (140) may be pushed downward by the brake spring (150), and as the brake pin (111) moves outward along the radial direction by the elastic member (113), upward movement is restricted by the brake pin (111), thereby maintaining a state of being disconnected from the load bridge (110).

[0045] Additionally, the clutch pin (140) may include a column portion (141) and a protrusion (142).

[0046] The column portion (141) can be formed to have a predetermined height. The column portion (141) can be formed, for example, in a cylindrical shape.

[0047] The protrusion (142) can be formed to protrude convexly from the upper part of the column (141).

[0048] Additionally, the brake pin (111) may be provided with a groove (111a) formed to correspond to the protrusion (142) so as to surround the protrusion (142). The escape pressure applied to the brake pin (111) while the protrusion (142) of the clutch pin (140) is inserted into the groove (111a) can be mechanically restrained.

[0049] Accordingly, in the initial stage where emergency braking is not engaged, the clutch pin (140) receives only the tensile restoring force of the clutch spring (132) connected to the brake core (130), and when rotational torque is transmitted from the load bridge (110) to the brake spring (150), downward pressure is transmitted from the brake spring (150) and begins to pull the clutch pin (140) downward.

[0050] The clutch spring (132) reaches a point of equilibrium before the clutch pin (140) is inserted into the brake core (130). At this moment, a contact angle is generated at the point of contact between the brake pin (111) and the clutch pin (140), and as a result, the compressive restoring force generated between the brake pin (111) and the load bridge (110) applies a downward force. Therefore, even if the tensile restoring force of the clutch spring (132) is not present, the clutch pin (140) maintains a state of downward displacement, and the pin spring (144) of the clutch pin (140) can pass through the clutch groove (154) and into the brake core (130).

[0051] And as shown in FIG. 5, a contact portion (143) may be provided at the boundary between the column portion (141) and the protrusion (142) so as to be stepped and provide a seating surface on which the brake spring (150) is caught.

[0052] Additionally, the clutch pin (140) may further be provided with a plurality of pin springs (144).

[0053] A plurality of pin springs (144) may be provided in the column portion (141). The plurality of pin springs (144) may be spaced apart from each other at a predetermined interval along the circumference of the column portion (141) and may be formed to protrude outward by a certain distance in the radial direction.

[0054] And the brake spring (150) is provided with a clutch groove (154) formed so that a pin spring (144) is inserted and engaged. The clutch groove (154) can be formed to penetrate the brake spring (150) in the radial direction.

[0055] Here, the clutch pin (140) is engaged in the clutch groove (154) before a torque greater than a preset size is applied to the load bridge (110), thereby restricting downward movement, and the clutch pin (140) is elastically deformed while pushed downward by the brake spring (150) so that the state of being engaged in the clutch groove (154) is released.

[0056] A plurality of pin springs (144) can adjust the limit torque, which is a criterion for releasing the rotational force transmission of the clutch pin (140), by setting the degree of deformation, thickness, area, etc.

[0057] And the pin spring (144) can be formed to be elastically deformed so as to protrude outward as it is pressed in the up and down direction. To this end, the non-powered emergency braking device (100) may further include a spring fixing bolt (145).

[0058] The spring fixing bolt (145) is screwed vertically to the clutch pin (140) so that it can move up and down depending on the rotational direction, and can be configured to control the degree of radial protrusion of the pin spring (144) by pressing the bottom of the column portion (141) upward. That is, when the threads of the spring fixing bolt (145) are all tightened to secure it, upward and downward pressure is applied to the pin spring (144), which is formed as a relatively thin cantilever, and it can spread outward. As a result, the diameter formed by the pin spring (144) increases slightly from the original diameter of the clutch pin (140), and the pin spring (144) is in a state where it must receive a downward force of a certain magnitude or more to pass through the clutch groove (154).

[0059] Meanwhile, the brake spring (150) may be equipped with a brake spring base (151), a deformation plate (152), and a plurality of elastic cantilever beams (153).

[0060] The brake spring base (151) can be formed to be seated on the upper part of the brake core (130).

[0061] The deformation plate (152) is positioned on the upper part of the brake spring base (151) and can be spaced apart from the brake spring base (151) at a predetermined distance.

[0062] A plurality of elastic cantilever beams (153) have their ends connected to the mutually facing surfaces of the brake spring base (151) and the deformation plate (152), respectively, and can be spaced apart from each other at a predetermined interval along the circumference of the brake spring (150).

[0063] Here, the upper portion of the clutch pin (140) can be positioned to penetrate the brake spring base (151) and the deformation plate (152). Accordingly, the lateral movement of the clutch pin (140) is restricted, thereby stably maintaining the assembled state of the clutch pin (140). Additionally, the clutch pin (140) is formed to engage with both the brake core (130) and the brake spring (150), so that the assembled structure of the brake core (130) and the brake spring (150) can be stably maintained by the clutch pin (140) without the need for a separate connecting member for assembly between the brake core (130) and the brake spring (150).

[0064] Meanwhile, the brake core (130) may be provided with a clutch hole (131) into which the lower end of the clutch pin (140) is inserted, and a clutch spring (132) positioned in the clutch hole (131) and formed to elastically press the lower end of the clutch pin (140) upward.

[0065] In other words, the clutch pin (140) can be connected to a clutch hole (131) provided in the brake core (130) by a clutch spring (132). The clutch spring (132) can be formed, for example, as a tension / compression spring that forms axial elasticity. After the clutch pin (140) is inserted into the clutch hole (131), a brake spring (150) is coupled to the upper part of the brake core (130). The brake spring (150) can have the same number of clutch grooves (154) as the clutch hole (131).

[0066] Hereinafter, a structure in which a brake spring (150) pushes the clutch pin (140) downward will be explained in more detail with reference to FIGS. 6 to 8.

[0067] FIG. 6 is a drawing for explaining the structure of an elastic cantilever (153) provided in the brake spring (150) shown in FIG. 4. FIG. 7 is a perspective view showing the clutch pin (140) being pushed downward by the brake spring (150) shown in FIG. 4. FIG. 8 is a cross-sectional view showing the pin spring (144) of the clutch pin (140) transitioning from a state where it is engaged in the clutch groove (154) to a state where it is released, as the clutch pin (140) shown in FIG. 4 is pushed downward by the brake spring (150).

[0068] Referring to FIGS. 6 to 8, the deformation plate (152) of the brake spring (150) may be formed to engage with the contact portion (143) which is formed at a step at the boundary of the column portion (141) and the protrusion portion (142). The deformation plate (152) may be configured to push the contact portion (143) of the clutch pin (140) downward when a torque greater than a preset size is applied to the load bridge (110), thereby releasing the connection between the brake core (130) and the load bridge (110).

[0069] For example, the brake spring (150) may have a cantilever-based torsion spring structure. The degree of elastic deformation of the brake spring (150) can be controlled by utilizing differences in the number, thickness, etc. of the elastic cantilever (153) of the brake spring (150).

[0070] The clutch groove (154) can be formed to engage a pin spring (144) provided on the clutch pin (140). Accordingly, when a downward force is applied to the clutch pin (140), the pin spring (144) engaged in the clutch groove (154) can move toward the brake core (130) and be disengaged from the clutch groove (154). The pin spring (144) of the clutch pin (140) can be formed to have rigidity in the left and right directions so as to cross between the clutch groove (154) and the brake core (130).

[0071] Meanwhile, to transmit downward force to the clutch pin (140), the brake spring (150) is equipped with an elastic cantilever (153). Referring to FIG. 6, in the case of the cantilever, when one side is fixed and a tangential force is applied to the opposite side, it deforms in the tangential direction, and at the same time, the non-fixed side deforms toward the fixed side. The brake spring (150) is composed of a ring-shaped spring based on this cantilever, and a result is produced in which one side of the deformation plate (152) is displaced downward by the rotational torque applied to the deformation plate (152) of the ring structure.

[0072] Accordingly, when the contact portion (143) of the clutch pin (140) comes into contact with the lower surface of the deformation plate (152) of the elastic cantilever (153) and the spring extended outwardly is caught in the clutch groove (154) and fixed, the rotational torque transmitted from the load bridge (110) causes downward displacement of the deformation plate (152) of the brake spring (150), and due to this downward displacement, a force acting downward on the clutch pin (140) is generated.

[0073] Hereinafter, a structure in which the brake pin (111) moves radially as the clutch pin (140) is pushed downward by the brake spring (150) will be explained in more detail with reference to FIGS. 9 to 11.

[0074] FIG. 9 is a cross-sectional perspective view showing the non-powered emergency braking device (100) shown in FIG. 2 with the actuator (120) removed. FIG. 10 is a cross-sectional view showing the state in which the brake pin (111) moves outward along the radial direction as the clutch pin (140) shown in FIG. 9 is pushed downward by the brake spring (150). FIG. 11 is a cross-sectional view showing the state in which the brake pin (111) shown in FIG. 9 has completely moved outward along the radial direction and is fixed to the inner circumference of the ground (160).

[0075] Referring to FIGS. 9 to 11, the non-powered emergency braking device (100) may further include a ground (160).

[0076] The ground (160) is rotatably connected to the brake core (130) and can be positioned in a fixed state on the outside of the brake core (130).

[0077] And on the mutually facing surfaces of the brake pin (111) and the ground (160), a first gear (111b) and a second gear (161) formed to mesh with each other may be provided.

[0078] Here, when the connection between the brake core (130) and the load bridge (110) is released, the first and second gears (161) may be connected to each other in an interlocking manner to limit the rotation of the load bridge (110).

[0079] In other words, in the final stage of emergency braking by the non-powered emergency braking device (100), the first gear (111b) of the brake pin (111) comes into contact with the second gear (161) provided on the inner side of the ground (160). Accordingly, the second gear (161) of the ground (160) and the first gear (111b) of the brake pin (111) mesh together. In this state, the restraint of the load bridge (110) and the brake spring (150) is released, and the load bridge (110) is restrained with the ground (160). Therefore, even if excessive torque that may be applied due to abnormal behavior of the drive unit (120) causes the brake core (130) to rotate, the rotation is not transmitted to the load bridge (110) side but idles internally, and the load bridge (110) is locked in the ground (160) and does not apply rotation to the outside.

[0080] In the final state of locking the load bridge (110), the clutch spring (132) transitions to a state where it applies a compressive restoring force to the clutch pin (140), maintaining a state where the lower plane of the brake pin (111) and the upper plane of the clutch pin (140) are in direct contact, thereby maintaining a state where the compressive restoring force is physically offset.

[0081] Referring to FIGS. 12 and 13 below, a structure for moving the brake pin (111) back to its initial position while the clutch pin (140) is disconnected will be described.

[0082] FIG. 12 is a cross-sectional perspective view showing the pin handle (170) being rotated while the connection between the clutch pin (140) and the load bridge (110) shown in FIG. 9 is released. FIG. 13 is a cross-sectional view showing the process in steps of rotating the pin handle (170) shown in FIG. 12 to move the brake pin (111) to an initial position, and then rotating the pin handle (170) in the opposite direction to return to the state before moving downward.

[0083] Referring to FIGS. 12 and 13, the non-powered emergency braking device (100) may further include a pin handle (170).

[0084] The pin handle (170) can be formed to be screw-fastened to the outer surface of the load bridge (110) and movable in the up and down direction according to the direction of rotation.

[0085] And the pin handle (170) may be provided with a pressure slope surface (171) that faces the lateral outer end of the brake pin (111) and is formed to slope downward outward so as to push the brake pin (111) inward along the radial direction as it moves downward.

[0086] An inclined surface (111c) having an angle of inclination corresponding to the pressurized inclined surface (171) may be provided at the outer end of the brake pin (111) that contacts the pressurized inclined surface (171). That is, the pressurized inclined surface (171) and the inclined surface may be formed to be in surface contact with each other.

[0087] According to this configuration, the pin handle (170) can be configured to move the brake pin (111), which is in a state of being disconnected from the load bridge (110) by rotational movement, to its initial position. More specifically, when the pin handle (170) is rotated, it moves up and down by means of a screw fastening structure.

[0088] Then, when the brake pin (111) is rotated while the inclined surface (111c) and the pressure inclined surface (171) inside the pin handle (170) are in contact, the elastic member (113) is compressed and the brake pin (111) is pushed inward. At this time, when the brake pin (111) is pushed to a point equal to the diameter of the rounded surface of the protrusion (142) of the clutch pin (140), the clutch pin (140) moves upward due to the compression restoring force of the clutch spring (132), the pin spring (144) of the clutch pin (140) engages with the clutch groove (154), and the rounded surface of the protrusion (142) of the clutch pin (140) is inserted into the brake pin (111). Finally, when the pin handle (170) is rotated in the opposite direction to be positioned in contact with the upper surface of the load bridge (110), the brake can be converted to a reusable state.

[0089] Additionally, a contact surface (142a) of a predetermined size formed in a horizontal direction may be provided on the upper part of the protrusion (142) facing the brake pin (111). That is, the protrusion (142) may be formed to make surface contact rather than point contact with the brake pin (111) when the connection with the load bridge (110) is released. Accordingly, the clutch pin (140) has an increased surface area supported by the brake pin (111) when the connection with the load bridge (110) is released by the contact surface (142a), thereby allowing the state of the connection with the load bridge (110) to be maintained more stably.

[0090] Meanwhile, the embodiments described above are intended to illustrate the technical concept of the present invention and are merely illustrative in all respects. Furthermore, it will be apparent from this that various modifications may be made within the scope of the technical concept of the present invention by those skilled in the art. Therefore, the scope of the present invention should not be limited to the embodiments described above, but should be understood to include all equivalents thereof. Explanation of the symbols

[0091] 100: Non-powered emergency braking system 110 : Road Bridge 111 : Brake pin 111a : Home 111b : 1st gear 111c : Inclined surface 112 : Elastic member 120 : Actuator 130 : Brake core 131: Clutch hole 132 : Clutch spring 140: Clutch pin 141 : Column part 142 : Protrusion 142a : Contact surface 143 : Contact part 144 : Pin spring 145: Spring fixing bolt 150 : Brake spring 151: Brake spring base 152 : Deformation Plate 153 : Elastic cantilever 154 : Clutch groove 160 : Ground 161 : 2nd gear 170 : Pin handle 171 : Pressurized slope B1, B2: Bearings

Claims

Claim 1 A non-powered emergency braking device comprising: a load bridge; an actuator configured to generate rotational force; a brake core connected to the actuator and configured to rotate by receiving rotational force from the actuator; a clutch pin provided in the brake core and connected to the load bridge to transmit rotational force of the actuator to the load bridge, and configured to release the connection with the load bridge when a torque greater than a preset size is applied to the load bridge; and a brake spring disposed between the brake core and the load bridge, formed to cause downward deformation due to twisting generated when the load bridge rotates, formed to engage with the upper part of the clutch pin, and configured to push the clutch pin downward to release the connection between the brake core and the load bridge when a torque greater than a preset size is applied to the load bridge while the load bridge is not rotating. Claim 2 A non-powered emergency braking device according to claim 1, further comprising: a brake pin provided on the load bridge and formed to surround the upper portion of the clutch pin; and an elastic member formed to elastically press the brake pin outward along a radial direction, wherein the clutch pin is positioned so that its upper portion is surrounded by the brake pin in a state prior to the application of a torque greater than a preset size to the load bridge, thereby maintaining a state of connection with the load bridge, and when a torque greater than a preset size is applied to the load bridge, the brake pin is pushed downward by the brake spring, and as the brake pin moves outward along a radial direction by the elastic member, upward movement is restricted by the brake pin, thereby maintaining a state in which the connection with the load bridge is released. Claim 3 A non-powered emergency braking device according to paragraph 2, wherein the clutch pin comprises a column portion having a predetermined height; and a protrusion formed convexly protruding from the upper part of the column portion, the brake pin is provided with a groove portion formed to correspond to the protrusion portion to surround the protrusion portion, and a contact portion is provided at the boundary between the column portion and the protrusion portion to provide a seating surface on which the brake spring is engaged. Claim 4 In paragraph 3, the clutch pin is provided in the column portion and further comprises a plurality of pin springs that are spaced apart from each other at a predetermined interval along the circumference of the column portion and are formed to protrude outward by a certain distance in the radial direction; the brake spring is provided with a clutch groove formed to allow the pin spring to be inserted and engaged; the clutch pin is engaged in the clutch groove before a torque greater than a preset size is applied to the load bridge, thereby restricting downward movement, and the clutch pin is elastically deformed while pushed downward by the brake spring, thereby releasing the engaged state in the clutch groove. Claim 5 A non-powered emergency braking device according to claim 4, further comprising a spring fixing bolt that is screw-fastened vertically to the clutch pin and is configured to move up and down according to the rotational direction, and is configured to press the lower part of the column upward to adjust the degree of radial protrusion of the pin spring. Claim 6 A non-powered emergency braking device according to claim 2, further comprising a ground that is rotatably connected to the brake core and fixedly positioned on the outer side of the brake core, wherein a first gear and a second gear are respectively provided on mutually facing surfaces of the brake pin and the ground to engage with each other, and wherein, when the connection between the brake core and the load bridge is released, the first and second gears are engaged with each other to limit the rotation of the load bridge. Claim 7 A non-powered emergency braking device according to claim 1, wherein the brake spring comprises: a brake spring base formed to be seated on the upper part of the brake core; a deformation plate disposed on the upper part of the brake spring base and spaced apart from the brake spring base at a predetermined distance; and a plurality of elastic cantilever beams, each having both ends connected to the mutually facing surfaces of the brake spring base and the deformation plate and spaced apart from each other at a predetermined distance along the circumference of the brake spring, and the upper end of the clutch pin is disposed through the brake spring base and the deformation plate. Claim 8 A non-powered emergency braking device according to claim 7, wherein the brake core is provided with a clutch hole into which the lower end of the clutch pin is inserted, and a clutch spring disposed in the clutch hole and formed to elastically press the lower end of the clutch pin upward. Claim 9 A non-powered emergency braking device according to claim 2, further comprising a pin handle formed to be movable in an up-and-down direction according to the direction of rotation by being screw-fastened to the outer circumference of the load bridge, wherein the pin handle is provided with a pressure inclined surface that faces the lateral outer end of the brake pin and is formed to be inclined downward outward so as to push the brake pin inward along the radial direction as it moves downward.

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