Locking module and self-moving device

Abstract

The present application specifically relates to a locking module and a self-moving device. The locking module comprises a mounting frame and at least one locking mechanism. The locking mechanisms are arranged on the mounting frame, each locking mechanism is provided with a latch member movably connected to the mounting frame, and a locking position exists in a movement stroke of each latch member. The mounting frame is provided with access points allowing for engagement of external structures, the positions of the access points correspond to the locking positions, and the latch members at the locking positions are used for locking the external structures. Each locking mechanism is provided with a force applying member serving as a position for external force application, and the force applying member is transmittingly connected to the corresponding latch member to control, in a transmission mode, the latch member to move into or out of the corresponding locking position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, and more specifically, to a locking module and a self-moving device. BACKGROUND

[0002] Self-moving devices, such as garden robots, can help users perform daily garden maintenance tasks, such as mowing, snow removal, and leaf blowing. In related art, the various functional actuators of a self-moving device robot can be designed separately as independent vehicle head modules, while adopting a universal vehicle body design. This universal vehicle body can be compatible with different vehicle head modules. The purpose of this is to improve the freedom of functional replacement, maintainability and upgradeability of the self-moving device. The inventors have recognized that the fixed connection between the vehicle head module and the universal vehicle body in the related art makes installation and removal cumbersome and difficult, preventing users from installing the module themselves and hindering flexible replacement of the vehicle head module. This requires improvement. Furthermore, the vehicle head module is equipped with a locking mechanism, which enables quick connection and quick removal between the vehicle head module and the universal vehicle body. However, in actual use, the inventors discovered that the transmission assembly that controls the movement of the locking member by transmission in the locking mechanism may fail, making it impossible to control the unlocking, causing the locking mechanism to get stuck and preventing the vehicle head module and the universal vehicle body from separating properly, and users or maintenance personnel are forced to disassemble the entire assembly, making maintenance difficult. This requires urgent improvement.

[0003] The above content is provided solely to assist in understanding the technical solution of the present application and does not constitute an admission that the content is prior art. SUMMARY

[0004] In view of this, the present application provides a locking module and a self-moving device, which are used to solve the problem that the vehicle head module and the universal vehicle body are fixedly connected in the related art, which is cumbersome and difficult to install and remove, preventing users from installing by themselves, and hindering flexible replacement of the vehicle head module; and the problem that when the locking mechanism of the related art fails, the vehicle head module and the universal vehicle body cannot be separated properly, and the user or maintenance personnel need to disassemble the two as a whole, which makes maintenance difficult.

[0005] To achieve one, some, or all of the above-mentioned purpose, or other purpose, the present application provides a locking module, including an installation rack and at least one set of locking mechanism;

[0006] the locking mechanism is provided at the installation rack, the locking mechanism is provided with a locking member movably connected to the installation rack, and a locking position is provided within a movement stroke of the locking member;

[0007] an intervention portion is provided at the installation rack for an external structure to intervene, the position of the intervention portion corresponds to the locking position, and the locking member at the locking position is configured to lock the external structure; and

[0008] the locking mechanism is provided with a guide seat and a force-applying member rotatably connected to the guide seat, the force-applying member serving as a force-applying position for an external force, the force-applying member is in transmission connection with the locking member, and the force-applying member is configured to control the locking member to enter or disengage from the locking position by transmission.

[0009] To achieve one, part, or all of the above purposes or other purposes, the present application provides a standby unlocking structure, including an installation rack and at least one set of locking mechanism provided at the installation rack;

[0010] the locking mechanism is provided with a locking member movably connected to the installation rack; the locking member is in a locking position when no external force is applied to lock an external structure; and

[0011] an inspection port is provided at the installation rack; an interference portion is provided at the locking member; the interference portion is aligned with the inspection port to allow an external force to act on the interference portion after passing through the inspection port to disengage the locking member from the locking position; an intervention portion is provided at the installation rack to allow an external structure to intervene, a position of the intervention portion corresponds to the locking position, the locking member in the locking position is configured to lock the external structure, and the locking member is controlled to enter or disengage from the locking position by the force-applying member.

[0012] The present application further provides a self-moving device, including a vehicle head and a vehicle body, one end of the vehicle head facing the vehicle body is provided with the locking module or / and the end of the vehicle head facing the vehicle body is provided with a hook lock module, and the hook lock module is provided with the standby unlocking structure; one end of the vehicle body facing the vehicle head is provided with a latch, and the latch is configured to enter the intervention portion and be locked by the locking member.

[0013] Implementing embodiments of the locking module of the present application provides the following beneficial effects.

[0014] The intervention portion of the locking module in the present application allows the external structure to intervene, and the interventional external structure is locked by the locking member, an external force can be applied by a force-applying member to control the locking member to enter or disengage from a locking position, thereby controlling the locking member to lock or release the external structure, thereby enabling the locking module to have the functions of quick locking and quick unlocking. The locking module of the present application can be used to connect devices, enabling quick connection and quick removal between devices. For example, the locking module of the present application can be provided at the vehicle head, and a corresponding intervening structure, such as a latch, can be provided at the vehicle body. The latch can be locked or unlocked with a locking member, thereby enabling quick connection and quick removal between the vehicle head and the vehicle body, and improving assembly and disassembly flexibility.

[0015] This solves the problem in the related art where the vehicle head module and the universal vehicle body are fixedly connected, which makes installation and removal cumbersome and difficult, and users cannot install it by themselves, which is not conducive to the flexible replacement of the vehicle head module.

[0016] Implementing the standby unlocking structure of the embodiments of the present application provides the following beneficial effects.

[0017] The locking member of the present application is used to directly lock with an external structure. The present application exposes the interference portion on the locking member to the outside by providing an inspection port, which makes it easy for users or maintenance personnel to intervene in the interference portion manually or with tools, so that the locking member is displaced and disengaged from the locking position, thereby quickly achieving unlocking. The present application has a simple structure and low improvement cost, and at the same time provides a standby unlocking function, which is convenient for equipment maintenance.

[0018] This solves the problem in the related art where the vehicle head module and the universal vehicle body cannot be separated normally when the locking mechanism fails, and the user or maintenance personnel need to disassemble the two as a whole, causing maintenance difficulties. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to explain the embodiments of the present application or the technical solutions in the related art more clearly, the accompanying drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, other accompanying drawings can be obtained based on the provided accompanying drawings without exerting creative efforts for those skilled in the art.

[0020] FIG. 1 is a front view of an internal structure of a locking module in an embodiment.

[0021] FIG. 2 is a perspective view of a locking mechanism in an embodiment.

[0022] FIG. 3 is an exploded view of the locking mechanism in an embodiment.

[0023] FIG. 4 is a cross-sectional view of the locking module in an embodiment.

[0024] FIG. 5 is a top view of a self-moving device in an embodiment.

[0025] FIG. 6 is a perspective view of a vehicle head in an embodiment.

[0026] FIG. 7 is a perspective view of a vehicle body in an embodiment.

[0027] FIG. 8 is an exploded view of a standby unlocking structure in an embodiment.

[0028] FIG. 9 is a rear view of a standby unlocking structure in an embodiment.

[0029] FIG. 10 is an exploded view of an installation seat, a positioning seat, and a reinforcement member in an embodiment.

[0030] Description of reference signs: 1. installation rack; 11. second load-bearing member; 12. intervention portion; 121. latch hole; 14. assembly surface; 2. locking mechanism; 21. transmission assembly; 211. guide seat; 2111. first guide groove; 2112. first fastener member; 2113. first guide member; 212. force-applying member; 2121. force-applying portion; 2122. first rotating shaft; 213. connecting rod member; 2131. second rotating shaft; 2132. third rotating shaft; 22. locking member; 221. locking arm; 222. second guide groove; 224. second guide member; 225. first load-bearing member; 226. fourth rotating shaft; 23. elastic member; 24. sensing member; 3. sensor; 01. vehicle head; 02. vehicle body; 021. latch; 0211. buckle groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions in the embodiments according to the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments according to the present application, and it is clear that the described embodiments are only a part of the embodiments according to the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative labor fall within the scope of the present application.

[0032] An embodiment of the present application provides a locking module that can be applied to the connection of devices to realize the quick connection and quick removal functions between devices.

[0033] Referring to FIG. 1, the embodiment of the locking module includes an installation rack 1 and at least one set of locking mechanisms 2.

[0034] The locking mechanism 2 is provided at the installation rack 1, the locking mechanism 2 is provided with a locking member 22 movably connected to the installation rack 1, and a locking position is provided within a movement stroke of the locking member 22.

[0035] The locking member 22 is in movable connection with the installation rack 1. The movable connection can be a rotation connection, a linear motion connection, etc. In the case of the rotation connection, the locking position may be a position on the rotation trajectory of the locking member 22. In the case of a linear motion connection, the locking position may be a position on the linear stroke of the locking member 22. Other movably connected methods are also available and are not described here.

[0036] An intervention portion 12 is provided at the installation rack 1 for an external structure to intervene, the position of the intervention portion 12 corresponds to the locking position, and the locking member 22 at the locking position is configured to lock the external structure. The external structure can be a latch 021 or a connecting structure such as a connecting rod or hook lock, which can be adapted to the locking member 22 and locked by the locking member 22.

[0037] The locking mechanism 2 is provided with a force-applying member 212 serving as a force-applying position for an external force, the force-applying member 212 is in transmission connection with the locking member 22, and the force-applying member 212 is configured to control the locking member 22 to enter or disengage from the locking position by transmission. The force-applying member 212 serves as the object to which the user applies force, the user can manually control force-applying member 212 to move, thereby controlling the locking member 22. It is convenient for users to quickly control the locking module to lock and unlock.

[0038] The force-applying member 212 is in transmission connection with the locking member 22, which can be direct or indirect transmission.

[0039] In this embodiment, the intervention portion 12 allows the external structure to intervene, and the interventional external structure is locked by the locking member 22. As shown in FIG. 4, an external force can be applied by a force-applying member 212 to control the locking member 22 to enter or disengage from a locking position, thereby controlling the locking member 22 to lock or release the external structure, thereby enabling the locking module to have the functions of quick locking and quick unlocking.

[0040] The locking module of this embodiment can be used to connect devices, enabling quick connection and quick removal between devices. For example, referring to FIG. 5 to FIG. 7, the locking module of the present application can be provided at the vehicle head 01, and a corresponding intervening structure, such as a latch 021, can be provided at the vehicle body 02. The latch 021 can be locked or unlocked with a locking member 22, thereby enabling quick connection and quick removal between the vehicle head 01 and the vehicle body 02. In some embodiments, the locking module can also be provided at the vehicle body 02, and the intervening structure is provided at the vehicle head 01.

[0041] In some embodiments, the installation rack 1 is provided with an assembly surface 14, and the locking mechanism 2 and the intervention portion 12 are both provided at the assembly surface 14. This arrangement saves space occupied by the locking mechanism 2. When the locking module is applied to an external device, the locking module does not need to occupy too much space, and can achieve quick connection and quick removal while avoiding excessive increase in the size of the device.

[0042] In some embodiments, as shown in FIG. 1, the installation rack 1 is provided with an assembly surface 14, the locking module includes two sets of locking mechanisms 2, the two sets of locking mechanisms 2 are symmetrically provided at the assembly surface 14, the installation rack 1 is provided with two intervention portions 12, the two intervention portions 12 correspond to the two sets of locking mechanisms 2, and the two intervention portions 12 and the two sets of locking mechanisms 2 are both provided at the assembly surface 14. This arrangement saves space occupied by the locking mechanism 2. When the locking module is applied to an external device, it can achieve quick connection and quick removal while avoiding excessive increase in the size of the device. In addition, the two symmetrical sets of locking mechanisms 2 can make the force between the two connected devices more uniform, making the whole more stable.

[0043] In another embodiment, an installation rack 1 is provided with a first end surface (not shown in the figures) and two side installation surfaces (not shown in the figures) perpendicular to the first end surface, and two side installation surfaces are located on the left and right sides of the first end surface respectively. The locking module includes two sets of locking mechanisms 2, two sets of locking mechanisms 2 are respectively provided at the two side installation surfaces. Two intervention portions 12 are provided at the first end surface. The two intervention portions 12 correspond to the two sets of locking mechanisms 2 respectively. This embodiment provides another assembly structure, the locking mechanisms 2 is located on the side surfaces. Compared to the embodiments described in the previous and second paragraphs, this embodiment occupies a larger space.

[0044] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, the locking mechanism 2 includes the locking member 22, and further includes a transmission assembly 21 and an elastic member 23. The elastic member 23 is connected to the locking member 22, and the locking member 22 is configured to move toward the locking position under an elastic force of the elastic member 23. The transmission assembly 21 is provided with the force-applying member 212, and the transmission assembly 21 is connected to and configured to transmit and control movement of the locking member 22. In this way, the elastic member 23 automatically resets the locking member 22 to the locking position, so that the locking module is locked when there is no external force control, and the locking module is unlocked only when there is an external force intervening, thereby improving the stability of the locking.

[0045] The elastic member 23 can be, but is not limited to, a spring, a torsion spring, or a spring clip, as long as the elastic member 23 can provide the locking member 22 with an elastic force to return to the locking position.

[0046] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, the transmission assembly 21 includes the force-applying member 212 and the guide seat 211, and further includes a connecting rod member 213.

[0047] The guide seat 211 is provided at the installation rack 1, and the force-applying member 212 is rotatably connected to the guide seat 211.

[0048] A first guide member 2113 is rotatably connected to the force-applying member 212, a first guide groove 2111 is provided at the guide seat 211, and the first guide member 2113 is slidably connected to the first guide groove 2111. First guide groove 2111 may be arc-shaped.

[0049] One end of the connecting rod member 213 is rotatably connected to the force-applying member 212, and the other end of the connecting rod member 213 is rotatably connected to the locking member 22.

[0050] The locking member 22 is rotatably connected to the installation rack 1, the locking member 22 is provided with a second guide groove 222, the installation rack 1 is connected to a second guide member 224, and the second guide member 224 is slidably connected to the second guide groove 222. The second guide groove 222 may be arc-shaped.

[0051] The locking position is provided within a rotation trajectory of the locking member 22.

[0052] One end of the elastic member 23 is connected to the locking member 22, and the other end of the elastic member 23 is connected to the installation rack 1.

[0053] In the absence of external force, the locking member 22 is in the locked position, and the locking module is in the locked state. When unlocking is required, an external force controls the force-applying member 212 to rotate, the force-applying member 212 drives the first guide member 2113 to slide along the first guide groove 2111. The first guide member 2113 drives the connecting rod member 213 to move, the connecting rod member 213 drives the locking member 22 to rotate. The second guide groove 222 on the locking member 22 rotates along the second guide member 224, the locking member 22 disengages from the locking position, thus achieving unlocking, and the locking module enters the unlocked state.

[0054] In some embodiments, as shown in FIG. 1 to FIG. 3, the guide seat 211 is I-shaped (in the shape of the Chinese character “X”), a first fastener member 2112 is provided at the guide seat 211, the first fastener member 2112 fastens the guide seat 211 to the installation rack 1, and the force-applying member 212 is located inside the guide seat 211.

[0055] In some embodiments, the force-applying member 212 is plate-shaped. A forceapplying portion 2121 may be formed on the force-applying member 212. The force-applying portion is used to interact with the outside. The force-applying portion 2121 may be handle-shaped to increase torque and facilitate user applying force. The force-applying portion 2121 may be exposed to the outside. For example, the force-applying portion 2121 may be disposed at the top of the installation rack 1 and exposed to the outside to facilitate user operation and interaction.

[0056] In some embodiments, the locking member 22 is plate-shaped. The locking member 22 may be a fan-shaped plate, the side near the center of a circle is rotatably connected to the installation rack 1, the side near the circumference forms a second guide groove 222, the upper end of the side near the circumference is rotatably connected to the connecting rod member 213, and the lower end of the side near the circumference is connected to the elastic member 23.

[0057] In some embodiments, the first guide groove 2111 and the connecting rod member 213 may be configured so that when the force-applying member 212 rotates to its highest position, the force-applying member 212 remains suspended after the external force is removed. In this way, when disassembling, the user only needs to rotate the force-applying member 212 to the highest position and then release the force without continuous force application. When locking is required, the external force controls the force-applying member 212 to disengage from the highest position, and under the action of the elastic member 23, the locking member 22 is reset to the locking position.

[0058] In some embodiments, as shown in FIG. 4, the locking module includes a sensor 3 and a sensing member 24, and the sensor 3 is configured to sense the sensing member 24. One of the sensor 3 and the sensing member 24 is provided at the locking member 22 and is configured to move with the locking member 22, and the other of the sensor 3 and the sensing member 24 is provided at the installation rack 1. In this way, the sensor 3 can be used to sense whether the locking member 22 is in a locked state or an unlocked state.

[0059] The sensor 3 can be a Hall effect sensor, and the sensing member 24 can be a magnet.

[0060] In some embodiments, as shown in FIG. 1, the installation rack 1 is provided with a latch hole 121, the latch hole 121 being the intervention portion 12, for allowing the external structure to be inserted into the latch hole 121 and locked by the locking member 22.

[0061] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, a first rotating shaft 2122 is provided between the force-applying member 212 and the guide seat 211 for rotational connection.

[0062] A second rotating shaft 2131 is provided between one end of the connecting rod member 213 and the force-applying member 212 for rotational connection, and a third rotating shaft 2132 is provided between the other end of the connecting rod member 213 and the locking member 22 for rotational connection.

[0063] A fourth rotating shaft 226 is provided between the locking member 22 and the installation rack 1 for rotational connection.

[0064] One or more of the first rotating shaft 2122, the second rotating shaft 2131, the third rotating shaft 2132, the fourth rotating shaft 226, the first guide member 2113, and the second guide member 224 are rivets. Compared to the solution of using screws, using rivets for riveting can prevent the connection structure from falling off during movement, thus improving stability and extending service life.

[0065] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, a first load-bearing member 225 is provided at the locking member 22, a second load-bearing member 11 is provided at the installation rack 1, and the elastic member 23 is a tension spring, two ends of the elastic member 23 are connected to the first load-bearing member 225 and the second loadbearing member 11 respectively. The first load-bearing member 225 and the second load-bearing member 11 may be, but are not limited to, screws, rivets, etc.

[0066] The standby unlocking structure of the embodiment of the present application is used to manually intervene in the locking member 22 to disengage it from the external structure when the locking mechanism 2 fails, thereby achieving rapid unlocking. It can be applied to the hook lock module 03 as a standby unlocking solution.

[0067] Referring to FIG. 1, FIG. 8, and FIG. 9 for a comprehensive review, the standby unlocking structure of this embodiment includes an installation rack 1 and at least one set of locking mechanism 2 provided at the installation rack 1.

[0068] The locking mechanism 2 is provided with a locking member 22 movably connected to the installation rack 1; and the locking member 22 is in a locking position when no external force is applied to lock an external structure.

[0069] The external structure can be a latch 021 or a connecting rod, hook, or other connecting structure, which mates with the locking member 22 and is locked by the locking member 22.

[0070] The locking member 22 is in movable connection with the installation rack 1. The movable connection can be a rotation connection, a linear motion connection, etc. In the case of the rotation connection, the locking position may be a position on the rotation trajectory of the locking member 22. In the case of external force acting on the interference portion 223, the external force causes the locking member 22 to rotate out of the locking position. In the case of a linear motion connection, the locking position may be a position on the linear stroke of the locking member 22. In the case of external force acting on the interference portion 223, the external force causes the locking member 22 to move linearly and out of the locking position. Other movably connected methods are also available and are not described here.

[0071] An inspection port 15 is provided at the installation rack 1; an interference portion 223 is provided at the locking member 22; the interference portion 223 is aligned with the inspection port 15 to allow an external force to act on the interference portion 223 after passing through the inspection port 15 to disengage the locking member 22 from the locking position; an intervention portion 12 is provided at the installation rack 1 to allow an external structure to intervene, a position of the intervention portion 12 corresponds to the locking position, the locking member 22 in the locking position is configured to lock the external structure, and the locking member 22 is controlled to enter or disengage from the locking position by the force-applying member 212.

[0072] The embodiment exposes the interference portion 223 of the locking member 22 to the outside by providing an inspection port 15, when the transmission assembly 21 originally used to control the movement of the locking member 22 fails, the user or maintenance personnel can intervene in the interference portion 223 via the inspection port 15 manually or by using tools. Because the locking member 22 is used to directly lock with an external structure, such as the latch 021, the failed transmission assembly 21 can be skipped to directly interfere with and control the movement of the locking member 22, thereby disengaging the locking member 22 from the locked position and releasing the external structure, thereby quickly unlocking the device. The present application has a simple structure and low improvement cost, and provides a standby unlocking function to facilitate equipment maintenance.

[0073] In some embodiments, as shown in FIG. 1 to FIG. 3, a hook hole 2231 is provided at the interference portion 223. A user or maintenance personnel can hook a tool into the hook hole 2231 and pull the locking member 22 out of the locking position.

[0074] In some embodiments, the interference portion 223 can be configured as a hook type, a slot type, or a boss to facilitate external interference, which is not described here.

[0075] In some embodiments, as shown in FIG. 1, the inspection port 15 is detachably covered with a cover body 6. The cover body 6 is used to prevent foreign matter from entering the device interior.

[0076] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, the locking mechanism 2 includes the aforementioned locking member 22, and further includes a transmission assembly 21 and an elastic member 23. The elastic member 23 is connected to the locking member 22, and the locking member 22 is configured to move toward the locking position under an elastic force of the elastic member 23. The transmission assembly 21 is connected to and configured to transmit and control movement of the locking member 22. In this way, the elastic member 23 automatically resets the locking member 22 to the locking position, so that the locking module is locked when there is no external force control, and the locking module is unlocked only when there is an external force intervening, thereby improving the stability of the locking.

[0077] The elastic member 23 can be, but is not limited to, a spring, a torsion spring, or a spring clip, as long as the elastic member 23 can provide the locking member 22 with an elastic force to return to the locking position.

[0078] In some embodiments, as shown in FIG. 1 to FIG. 3 for a comprehensive review, the transmission assembly 21 includes a guide seat 211, a force-applying member 212, and a connecting rod member 213.

[0079] The guide seat 211 is provided at the installation rack 1, and the force-applying member 212 is rotatably connected to the guide seat 211.

[0080] A first guide member 2113 is rotatably connected to the force-applying member 212, the first guide groove 2111 is provided at the guide seat 211, and the first guide member 2113 is slidably connected to the first guide groove 2111.

[0081] One end of the connecting rod member 213 is rotatably connected to the force-applying member 212, and the other end of the connecting rod member 213 is rotatably connected to the locking member 22.

[0082] The locking member 22 is rotatably connected to the installation rack 1, the locking member 22 is provided with a second guide groove 222, the installation rack 1 is connected to a second guide member 224, and the second guide member 224 is slidably connected to the second guide groove 222.

[0083] The locking position is provided within a rotation trajectory of the locking member 22.

[0084] One end of the elastic member 23 is connected to the locking member 22, and the other end of the elastic member 23 is connected to the installation rack 1.

[0085] The force-applying member 212 is used as the location for applying the external force. The force-applying member 212 serves as the object to which the user applies force, the user can manually control force-applying member 212 to move, thereby controlling the locking member 22. It is convenient for users to quickly control the locking module to lock and unlock.

[0086] In the absence of external force, the locking member 22 is in the locked position, and the locking module is in the locked state. When normal unlocking is required, an external force controls the force-applying member 212 to rotate, the force-applying member 212 drives the first guide member 2113 to slide along the first guide groove 2111. The first guide member 2113 drives the connecting rod member 213 to move, the connecting rod member 213 drives the locking member 22 to rotate. The second guide groove 222 on the locking member 22 rotates along the second guide member 224, the locking member 22 disengages from the locking position, thus achieving unlocking, and the locking module enters the unlocked state.

[0087] In some embodiments, as shown in FIG. 1 to FIG. 3, the guide seat 211 is I-shaped (in the shape of the Chinese character “X”),, a first fastener member 2112 is provided at the guide seat 211, the first fastener member 2112 fastens the guide seat 211 to the installation rack 1, and the force-applying member 212 is located inside the guide seat 211.

[0088] In some embodiments, the force-applying member 212 is plate-shaped. A forceapplying portion 2121 may be formed on the force-applying member 212. The force-applying portion is used to interact with the outside. The force-applying portion 2121 may be handle-shaped to increase torque and facilitate user applying force. The force-applying portion 2121 may be exposed to the outside. For example, the force-applying portion 2121 may be disposed at the top of the installation rack 1 and exposed to the outside to facilitate user operation and interaction.

[0089] In some embodiments, the locking member 22 is plate-shaped. The locking member 22 may be a fan-shaped plate, the side near the center of a circle is rotatably connected to the installation rack 1, the side near the circumference forms a second guide groove 222, the upper end of the side near the circumference is rotatably connected to the connecting rod member 213; the upper end of the side near the circumference is provided with an interference portion 223, and a hook hole 2231 is opened in the interference portion 223; the lower end of the side near the circumference is connected to the elastic member 23.

[0090] In some embodiments, the first guide groove 2111 and the connecting rod member 213 may be configured so that when the force-applying member 212 rotates to its highest position, the force-applying member 212 remains suspended after the external force is removed. In this way, when disassembling, the user only needs to rotate the force-applying member 212 to the highest position and then release the force without continuous force application. When locking is required, the external force controls the force-applying member 212 to move away from the highest position, and under the action of the elastic member 23, the locking member 22 is reset to the locking position.

[0091] In some embodiments, as shown in FIG. 4, a sensor 3 and a sensing member 24 are included, and the sensor 3 is configured to sense the sensing member 24. One of the sensor 3 and the sensing member 24 is provided at the locking member 22 and is configured to move with the locking member 22, and the other of the sensor 3 and the sensing member 24 is provided at the installation rack 1. In this way, the sensor 3 can be used to sense whether the locking member 22 is in a locked state or an unlocked state.

[0092] The sensor 3 can be a Hall effect sensor, and the sensing member 24 can be a magnet.

[0093] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, a first rotating shaft 2122 is provided between the force-applying member 212 and the guide seat 211 for rotational connection.

[0094] A second rotating shaft 2131 is provided between one end of the connecting rod member 213 and the force-applying member 212 for rotational connection, and a third rotating shaft 2132 is provided between the other end of the connecting rod member 213 and the locking member 22 for rotational connection.

[0095] A fourth rotating shaft 226 is provided between the locking member 22 and the installation rack 1 for rotational connection.

[0096] One or more of the first rotating shaft 2122, the second rotating shaft 2131, the third rotating shaft 2132, the fourth rotating shaft 226, the first guide member 2113, and the second guide member 224 are rivets. Compared to the solution of using screws, using rivets for riveting can prevent the connection structure from falling off during movement, thus improving stability and extending service life.

[0097] In some embodiments, referring to FIG. 1 to FIG. 3 for a comprehensive review, a first load-bearing member 225 is provided at the locking member 22, a second load-bearing member 11 is provided at the installation rack 1, and the elastic member 23 is a tension spring, two ends of the elastic member 23 are connected to the first load-bearing member 225 and the second loadbearing member 11 respectively. The first load-bearing member 225 and the second load-bearing member 11 may be, but are not limited to, screws, rivets, etc.

[0098] Referring to FIG. 1, FIG. 2, FIG. 3, FIG. 4, FIG. 8, FIG. 9 and FIG. 10 for a comprehensive review, an intervention portion 12 is provided at the installation rack 1 for an external structure to intervene, a position of the intervention portion 12 corresponding to the locking position, and the locking member 22 at the locking position is configured to lock the external structure.

[099] The intervention portion 12 allows the external structure to intervene, and the interventional external structure is locked by the locking member 22. As shown in FIG. 4, an external force can be applied by a force-applying member 212 to control the locking member 22 to enter or disengage from a locking position, thereby controlling the locking member 22 to lock or release the external structure, thereby enabling the locking module to have the functions of quick locking and quick unlocking.

[0100] The embodiment can be used to connect devices, enabling quick connection and quick removal between devices.

[0101] For example, referring to FIG. 5 to FIG. 7, the embodiment can be applied to the hook lock module 03, the hook lock module 03 can be provided at the vehicle head 01, and a corresponding intervening structure, such as a latch 021, can be provided at the vehicle body 02. The latch 021 can be locked or unlocked with a locking member 22, thereby enabling quick connection and quick removal between the vehicle head 01 and the vehicle body 02. In some embodiments, the hook lock module 03 can also be provided at the vehicle body 02, and the intervening structure is provided at the vehicle head 01.

[0102] It should be noted that when the locking mechanism 2 is in effect, it is normally unlocked by the force-applying member 212. When the locking mechanism 2 fails, the standby unlocking function can be realized by directly interfering with the locking member 22 via the standby inspection port 15, pulling the locking member 22 upward to release the external structure.

[0103] In some embodiments, as shown in FIG. 1, FIG. 2, FIG. 3, FIG. 8, FIG. 9, and FIG. 10, the intervention portion 12 includes a positioning seat 4, the installation rack 1 is provided with a seat hole 121, and the positioning seat 4 is provided at the seat hole 121; and the positioning seat 4 is provided with a positioning through hole 40, one end of the positioning through hole 40 is configured to face the locking member 22, and the other end of the positioning through hole 40 is configured to face an outside. An external structure, such as a latch 21, can be inserted via the positioning through hole 40 and locked by the locking member 22.

[0104] In some embodiments, as shown in FIG. 10, one end of the positioning through hole 40 facing the outside is formed with a guide ring wall 411, and a diameter of the guide ring wall 411 is configured to gradually expand toward the outside. The guide ring wall 411 is used to guide the external structure, improving the alignment tolerance between the external structure and the positioning through hole 40. The external structure can move along the guide ring wall 411 into the positioning through hole 40.

[0105] To further stabilize the positioning seat 4, in some embodiments, as shown in FIG. 10, the installation rack 1 is provided with an assembly wall 14, the seat hole 121 and the locking member 22 are both provided at the assembly wall 14. A side surface of the assembly wall 14 facing the locking member 22 is a first wall surface, and a side surface of the assembly wall 14 facing the outside is a second wall surface. The positioning seat 4 is fixed at the first wall surface, a positioning cylinder 41 is provided at the positioning seat 4, the positioning through hole 40 is provided in the positioning cylinder 41, and the positioning cylinder 41 is configured to pass through the seat hole 121. The intervention part 12 further includes a reinforcement member 5, the reinforcement member 5 is fixed at the second wall surface, and the reinforcement member 5 is configured to hold the positioning cylinder 41.

[0106] In some embodiments, as shown in FIG. 10, the positioning cylinder 41 is provided with a recessed retaining groove 42, and the reinforcement member 5 is provided with a retaining opening 51, and the retaining opening 51 is retained within the retaining groove 42.

[0107] In some embodiments, as shown in FIG. 10, the second fastener member 43 is used to fix the positioning seat 4 at the first wall surface, the third fastener member 52 is used to fix the reinforcement member 5 at the second wall surface, and the third fastener member 52 can be fixed together with the positioning seat 4.

[0108] In some embodiments, as shown in FIG. 10, the installation rack 1 is provided with an assembly wall 14, the assembly wall 14 is provided with side end surfaces 16 on both sides, the side end surfaces 16 are provided with side assembly holes 13, and the side assembly holes 13 communicate with the seat hole 121. The side assembly holes 13 can facilitate the assembly of the positioning seat 4 and the reinforcement member 5.

[0109] In some embodiments, the installation rack 1 is provided with an assembly wall 14, and the locking mechanism 2 and the intervention portion 12 are both provided at the assembly wall 14. This arrangement reduces the space occupied by the locking mechanism 2. When this embodiment is applied to an external device, it does not need to occupy too much space, and can achieve quick connection and quick removal while avoiding excessive increase in the size of the device.

[0110] In some embodiments, as shown in FIG. 1, two sets of locking mechanisms 2 are included, the installation rack 1 is provided with an assembly surface 14, the two sets of locking mechanisms 2 are symmetrically provided at the assembly surface 14, the installation rack 1 is provided with two intervention portions 12, the two intervention portions 12 correspond to the two sets of locking mechanisms 2, and the two intervention portions 12 and the two sets of locking mechanisms 2 are both provided at the assembly surface 14. This arrangement saves space occupied by the locking mechanisms 2. When this embodiment is applied to an external device, quick connection and quick removal can be achieved while avoiding excessive increase in the size of the device. In addition, the two sets of locking mechanisms 2 arranged symmetrically can make the force between the two connected devices more uniform and the whole more stable.

[0111] As another embodiment, an installation rack 1 is provided with a first end surface (not shown in the figures) and two side installation surfaces (not shown in the figures) perpendicular to the first end surface, and two side installation surfaces are located on the left and right sides of the first end surface respectively. The locking module includes two sets of locking mechanisms 2, two sets of locking mechanisms 2 are respectively provided at the two side installation surfaces. Two intervention portions 12 are provided at the first end surface. The two intervention portions 12 correspond to the two sets of locking mechanisms 2 respectively. This embodiment provides another assembly structure, the locking mechanisms 2 is located on the side surfaces. Compared to the embodiments described in the previous and second paragraphs, this embodiment occupies a larger space.

[0112] The present application discloses a self-moving device, as described in conjunction with FIG. 1 to FIG. 3. The device includes a vehicle head 01 and a vehicle body 02. One end of the vehicle head 01 facing the vehicle body 02 is provided with any of the locking modules described above or / and the end of the vehicle head 01 facing the vehicle body 02 is provided with a hook lock module 03, and the hook lock module 03 is provided with the standby unlocking structure described above; one end of the vehicle body 02 facing the vehicle head 01 is provided with a latch 021, and the latch 021 is configured to enter the intervention portion 12 and be locked by the locking member 22. In this way, the vehicle head 01 on the universal vehicle body 02 can be quickly replaced, enabling rapid replacement of vehicle heads 01 with different functions. The hook lock module 03 has any of the above-mentioned standby unlocking structures, the end of the vehicle body 02 facing the vehicle head 01 is provided with a latch 021, and the latch 021 is used to be locked by a locking member 22. In this way, the vehicle head 01 on the universal vehicle body 02 can be quickly replaced, enabling rapid replacement of vehicle heads 01 with different functions.

[0113] When the locking mechanism 2 fails and gets stuck, the maintenance personnel can insert a tool into the gap between the vehicle body 02 and the hook lock module 03, and then pull the interference portion 223 through the inspection port 15 to release the locking member 22 from the latch 021, thereby unlocking the device and realizing the standby unlocking function, which is convenient for equipment maintenance.

[0114] In some embodiments, as shown in FIG. 10, a locking arm 221 is provided at the locking member 22, and a buckle groove 0211 is provided at the latch 021, and the locking arm 221 is buckled into the buckle groove 0211 in response to the locking member 22 being in a locking position.

[0115] In some embodiments, as shown in FIG. 2, a locking arm 221 is provided at the locking member 22, and a buckle groove 0211 is provided at the latch 021, and the locking arm 221 is buckled into the buckle groove 0211 in response to the locking member 22 being in a locking position.

[0116] As another embodiment, the self-moving device includes a vehicle head 01 and a vehicle body 02, a latch 021 is provided at one end of the vehicle head 01 facing the vehicle body 02, a locking module described above is provided at one end of the vehicle body 02 facing the vehicle head 01, and the latch 021 is configured to enter the intervention portion 12 and be locked by the locking member 22.

[0117] The above description is only some embodiments of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as some embodiments, it is not intended to limit the present application. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of the present application by using the technical content disclosed above without departing from the technical solution of the present application. However, any simple modification, equivalent change and modification of the above embodiment based on the technical essence of the present application that does not depart from the content of the technical solution of the present application still falls within the scope of the present application.

Claims

1. A locking module, comprising:an installation rack (1); andat least one set of locking mechanism (2) provided at the installation rack (1),wherein the locking mechanism (2) is provided with a locking member (22) movably connected to the installation rack (1), and a locking position is provided within a movement stroke of the locking member (22);an intervention portion (12) is provided at the installation rack (1) for an external structure to intervene, a position of the intervention portion (12) corresponds to the locking position, and the locking member (22) at the locking position is configured to lock the external structure; andthe locking mechanism (2) is provided with a guide seat (211) and a force-applying member (212) rotatably connected to the guide seat (211), the force-applying member (212) serving as a force-applying position for an external force, the force-applying member (212) is in transmission connection with the locking member (22), and the force-applying member (212) is configured to control the locking member (22) to enter or disengage from the locking position by transmission.

2. The locking module according to claim 1, wherein the locking mechanism (2) comprises the locking member (22), a transmission assembly (21) and an elastic member (23);the elastic member (23) is connected to the locking member (22), and the locking member (22) is configured to move toward the locking position under an elastic force of the elastic member (23); andthe transmission assembly (21) is provided with the force-applying member (212), and the transmission assembly (21) is connected to and configured to transmit and control movement of the locking member (22).

3. The locking module according to claim 2, wherein the transmission assembly (21)comprises the force-applying member (212), the guide seat (211) and a connecting rod member (213);the guide seat (211) is provided at the installation rack (1), and the force-applying member (212) is rotatably connected to the guide seat (211);a first guide member (2113) is rotatably connected to the force-applying member (212), a first guide groove (2111) is provided at the guide seat (211), and the first guide member (2113) is slidably connected to the first guide groove (2111);one end of the connecting rod member (213) is rotatably connected to the force-applying member (212), and the other end of the connecting rod member (213) is rotatably connected to the locking member (22);the locking member (22) is rotatably connected to the installation rack (1), the locking member (22) is provided with a second guide groove (222), the installation rack (1) is connected to a second guide member (224), and the second guide member (224) is slidably connected to the second guide groove (222);the locking position is provided within a rotation trajectory of the locking member (22); andone end of the elastic member (23) is connected to the locking member (22), and the other end of the elastic member (23) is connected to the installation rack (1).

4. The locking module according to claim 3, further comprising a sensor (3) and a sensing member (24), wherein the sensor (3) is configured to sense the sensing member (24); andone of the sensor (3) and the sensing member (24) is provided at the locking member (22) and is configured to move with the locking member (22), and the other of the sensor (3) and the sensing member (24) is provided at the installation rack (1).

5. The locking module according to claim 3, wherein the installation rack (1) is provided with a latch hole (121), the latch hole (121) being the intervention portion (12), for allowing the external structure to be inserted into the latch hole (121) and locked by the locking member (22).

6. The locking module according to claim 3, wherein a first rotating shaft (2122) is provided between the force-applying member (212) and the guide seat (211) for rotational connection;a second rotating shaft (2131) is provided between one end of the connecting rod member (213) and the force-applying member (212) for rotational connection, and a third rotating shaft (2132) is provided between the other end of the connecting rod member (213) and the lockingmember (22) for rotational connection;a fourth rotating shaft (226) is provided between the locking member (22) and the installation rack (1) for rotational connection; andone or more of the first rotating shaft (2122), the second rotating shaft (2131), the third rotating shaft (2132), the fourth rotating shaft (226), the first guide member (2113), and the second guide member (224) are rivets.

7. The locking module according to claim 1, wherein the installation rack (1) is provided with an assembly surface (14), and the locking mechanism (2) and the intervention portion (12) are both provided at the assembly surface (14).

8. The locking module according to any one of claims 1 to 6, wherein the installation rack (1) is provided with an assembly surface (14), the locking module includes two sets of locking mechanisms (2), the two sets of locking mechanisms (2) are symmetrically provided at the assembly surface (14), the installation rack (1) is provided with two intervention portions (12), the two intervention portions (12) correspond to the two sets of locking mechanisms (2), and the two intervention portions (12) and the two sets of locking mechanisms (2) are both provided at the assembly surface (14).

9. A standby unlocking structure, comprising an installation rack (1) and at least one set of locking mechanism (2) provided at the installation rack (1),wherein the locking mechanism (2) is provided with a locking member (22) movably connected to the installation rack (1); and the locking member (22) being in a locking position when no external force is applied to lock an external structure; andan inspection port (15) is provided at the installation rack (1), and an interference portion (223) is provided at the locking member (22); the interference portion (223) is aligned with the inspection port (15) to allow an external force to act on the interference portion (223) after passing through the inspection port (15) to disengage the locking member (22) from the locking position; an intervention portion (12) is provided at the installation rack (1) to allow an external structure to intervene, a position of the intervention portion (12) corresponds to the locking position, the locking member (22) in the locking position is configured to lock the external structure, and thelocking member (22) is controlled to enter or disengage from the locking position by the forceapplying member (212).

10. The standby unlocking structure according to claim 1, wherein a hook hole (2231) is provided at the interference portion (223).

11. The standby unlocking structure according to claim 1, wherein the locking mechanism (2) includes the locking member (22), and further includes a transmission assembly (21) and an elastic member (23);the elastic member (23) is connected to the locking member (22), and the locking member (22) is configured to move toward the locking position under an elastic force of the elastic member (23); andthe transmission assembly (21) is connected to and configured to transmit and control movement of the locking member (22).

12. The standby unlocking structure according to claim 11, wherein the transmission assembly (21) comprises a guide seat (211), a force-applying member (212), and a connecting rod member (213);the guide seat (211) is provided at the installation rack (1), and the force-applying member (212) is rotatably connected to the guide seat (211);a first guide member (2113) is rotatably connected to the force-applying member (212), a first guide groove (2111) is provided at the guide seat (211), and the first guide member (2113) is slidably connected to the first guide groove (2111);one end of the connecting rod member (213) is rotatably connected to the force-applying member (212), and the other end of the connecting rod member (213) is rotatably connected to the locking member (22);the locking member (22) is rotatably connected to the installation rack (1), the locking member (22) is provided with a second guide groove (222), the installation rack (1) is connected to a second guide member (224), and the second guide member (224) is slidably connected to the second guide groove (222);the locking position is provided within a rotation trajectory of the locking member (22); andone end of the elastic member (23) is connected to the locking member (22), and the other end of the elastic member (23) is connected to the installation rack (1).

13. The standby unlocking structure according to claim 9, wherein the inspection port (15) is detachably covered with a cover body (6).

14. The standby unlocking structure according to claim 9, wherein the intervention portion (12) comprises a positioning seat (4), and the installation rack (1) is provided with a seat hole (121), and the positioning seat (4) is provided at the seat hole (121); andthe positioning seat (4) is provided with a positioning through hole (40), one end of the positioning through hole (40) is configured to face the locking member (22), and the other end of the positioning through hole (40) is configured to face an outside.

15. The standby unlocking structure according to claim 14, wherein one end of the positioning through hole (40) facing the outside is formed with a guide ring wall (411), and a diameter of the guide ring wall (411) is configured to gradually expand toward the outside.

16. The standby unlocking structure according to claim 14, wherein the installation rack (1) is provided with an assembly wall (14), the seat hole (121) and the locking member (22) are both provided at the assembly wall (14);a side surface of the assembly wall (14) facing the locking member (22) is a first wall surface, and a side surface of the assembly wall (14) facing the outside is a second wall surface;the positioning seat (4) is fixed at the first wall surface, a positioning cylinder (41) is provided at the positioning seat (4), the positioning through hole (40) is provided in the positioning cylinder (41), and the positioning cylinder (41) is configured to pass through the seat hole (121); andthe intervention part (12) further includes a reinforcement member (5), the reinforcement member (5) is fixed at the second wall surface, and the reinforcement member (5) is configured to hold the positioning cylinder (41).

17. A self-moving device, comprising a vehicle head (01) and a vehicle body (02), whereinone end of the vehicle head (01) facing the vehicle body (02) is provided with the locking module according to any one of claims 1 to 8 or / and the end of the vehicle head (01) facing the vehicle body (02) is provided with a hook lock module (03), and the hook lock module (03) is provided with the standby unlocking structure according to any one of claims 9 to 16; one end of the vehicle body (02) facing the vehicle head (01) is provided with a latch (021), and the latch (021) is configured to enter the intervention portion (12) and be locked by the locking member (22).

18. The self-moving device according to claim 17, wherein a locking arm (221) is provided at the locking member (22), and a buckle groove (0211) is provided at the latch (021), and the locking arm (221) is buckled into the buckle groove (0211) in response to the locking member (22) being in a locking position.

19. A self-moving device, comprising a vehicle head (01) and a vehicle body (02), wherein a latch (021) is provided at one end of the vehicle body (02) facing the vehicle head (01), and the latch (021) is configured to be locked by the locking member (22).

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