Locking device and walking equipment

Abstract

The invention provides a locking device and walking equipment. The locking device comprises a mounting structure, a locking structure, an unlocking structure and a pushing structure. The locking structure is movably arranged on the mounting structure so as to be switched between a locking position and an unlocking position, and the locking structure can be used for locking the rotating disc on the mounting structure. The unlocking structure is movably arranged on the mounting structure and used for pushing the locking structure to move from the unlocking position to the locking position. The pushing structure is used for pushing the locking structure to move from the locking position to the unlocking position. When the unlocking structure moves relative to the mounting structure under the action of external force, the pushing structure can push the turntable to linearly move along the first direction, the locking structure can move from the locking position to the unlocking position, and the locking structure unlocks the turntable, so that the assembly efficiency and the assembly convenience are improved, and the disassembly safety of the turntable is improved.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing machinery, and in particular to a locking device and a walking device. Background Art

[0002] The lawn mowing robot comprises a turntable and a blade or a roller brush mounted on the turntable. However, when the conventional turntable is disassembled from the mounting structure, the turntable rotates relative to the mounting structure, and a user may be injured by contact with the rotating blade or the roller brush, thereby reducing the safety of the turntable disassembly. Summary of the invention

[0003] The present application provides a locking device and a walking device to solve the technical problem that when the existing turntable is removed from the mounting structure, the turntable will rotate relative to the mounting structure, and the user may be injured by contact with the rotating blade or roller brush, which reduces the safety of turntable removal.

[0004] In a first aspect, the present application provides a locking device, comprising a mounting structure, a locking structure, an unlocking structure and a pushing structure. The locking structure may be movably disposed on the mounting structure so that the locking structure switches between a locking position and an unlocking position, and when the locking structure moves to the locking position, the locking structure is used to lock the turntable on the mounting structure. The unlocking structure may be movably disposed on the mounting structure, and is used to push the locking structure to move from the unlocking position to the locking position. The pushing structure is used to push the locking structure to move from the locking position to the unlocking position. When the unlocking structure is moved relative to the mounting structure by an external force, the pushing structure may push the turntable to move linearly along a first direction, the locking structure may move from the locking position to the unlocking position, and the locking structure unlocks the turntable locked on the mounting structure.

[0005] In combination with the first aspect, in a possible implementation, the turntable includes a turntable body and a connecting sleeve arranged in the middle of the top of the turntable body, the turntable body is provided with a through hole connected to the inner cavity of the connecting sleeve, the mounting structure can be sequentially penetrated through the inner cavity of the connecting sleeve and the through hole, the mounting structure is provided with a accommodating cavity and a through opening connected to the accommodating cavity, the unlocking structure is located in the accommodating cavity, and is exposed to the side of the turntable body away from the connecting sleeve through the through opening and the through hole.

[0006] In combination with the first aspect, in a possible implementation, a locking groove is provided on the inner side wall of the connecting sleeve, and when the pushing structure abuts against the locking structure, a partial structure of the locking structure is disengaged from the locking groove; when the unlocking structure abuts against the locking structure, a partial structure of the locking structure is fixedly cooperated with the locking groove.

[0007] In combination with the first aspect, in a possible implementation, the push-resistance structure is configured as an elastic member; or, the push-resistance structure includes an elastic member and a push-resistance member, and the elastic member abuts against the turntable through the push-resistance member, and when a partial structure of the locking structure is fixed with the locking groove, the elastic member is in a compressed state and can provide a thrust to the turntable that can disengage from the locking structure.

[0008] In combination with the first aspect, in a possible implementation, at least one of the side walls of the push structure facing the locking structure, the side walls of the unlocking structure facing the locking structure, and the side walls of the locking groove is provided with a guide slope, and the guide slope is used to guide the locking structure to move relative to the mounting structure.

[0009] In combination with the first aspect, in a possible implementation, one of the inner side wall of the connecting sleeve and the outer side wall of the mounting structure is provided with a guide groove, and the other of the inner side wall of the connecting sleeve and the outer side wall of the mounting structure is provided with a guide protrusion that cooperates with the guide groove, and the extension direction of the guide groove is parallel to the first direction.

[0010] In combination with the first aspect, in a possible implementation, the outer side wall of the mounting structure is provided with the guide protrusion, and the guide protrusion can be used to limit the movement stroke of the push structure relative to the mounting structure in the first direction.

[0011] In combination with the first aspect, in a possible implementation, the locking structure and the guide protrusion are each provided in plurality, and the plurality of locking structures and the plurality of guide protrusions are each arranged at intervals on the mounting structure, and on a projection plane perpendicular to the first direction, the locking structure and the guide protrusion are arranged at intervals.

[0012] In combination with the first aspect, in a possible implementation manner, the mounting structure is provided with a through hole, the through hole is extended along the second direction, and the locking structure is movably provided in the through hole.

[0013] In combination with the first aspect, in a possible implementation, when the unlocking structure moves to a first position relative to the mounting structure, the unlocking structure is located on a first side of the through hole and abuts against the locking structure, and the locking structure protrudes from a second side of the through hole and is used to cooperate and be fixed with the locking groove; when the unlocking structure moves to a second position relative to the mounting structure, the pushing structure is located on the second side of the through hole and abuts against the locking structure, and the locking structure protrudes from the first side of the through hole and is used to disengage from the locking groove.

[0014] In combination with the first aspect, in a possible implementation, the locking device also includes a reset member, which is arranged between the unlocking structure and the mounting structure, and the reset member is used to provide power to move the unlocking structure to the first position in the first direction relative to the mounting structure.

[0015] In combination with the first aspect, in a possible implementation, in the second direction, the radial cross-sectional area of ​​the through hole gradually decreases in the arrangement direction from the push structure to the unlocking structure, and the orthographic projection of the locking structure in the axial direction of the through hole is located outside the orthographic projection of the opening of the through hole close to the unlocking structure in the axial direction of the through hole; and / or, when the locking structure unlocks the turntable locked on the mounting structure, the locking structure is clamped between the unlocking structure and the push structure.

[0016] In combination with the first aspect, in a possible implementation manner, when the locking structure is disengaged from the locking groove, the push structure covers the through hole.

[0017] In combination with the first aspect, in a possible implementation manner, the unlocking structure is disposed inside the mounting structure, and the pushing structure is disposed outside the mounting structure.

[0018] In combination with the first aspect, in a possible implementation, the push structure can be slidably pressed against the outer wall of the mounting structure along the first direction; the unlocking structure can be slidably pressed against the inner wall of the mounting structure along the first direction; or, the unlocking structure is screwed to the inner wall of the mounting structure along the first direction.

[0019] In combination with the first aspect, in a possible implementation manner, a limiting structure is provided on an inner side wall of the mounting structure, and the limiting structure is used to limit the movement stroke of the unlocking structure.

[0020] In combination with the first aspect, in a possible implementation, when the limiting structure abuts against the unlocking structure, the end surface of the unlocking structure facing away from the mounting structure is coplanar with the end surface of the mounting structure facing the turntable; or, the end surface of the unlocking structure facing away from the mounting structure is retracted toward one side of the mounting structure relative to the end surface of the mounting structure facing the turntable.

[0021] In combination with the first aspect, in a possible implementation, the locking device also includes a protective cover, which is fixedly connected to the mounting structure and forms a protective cavity and an insertion port connected to the protective cavity, the push structure can be movably arranged in the protective cavity, and the insertion port is used for inserting the connecting sleeve.

[0022] In combination with the first aspect, in a possible implementation, the locking structure is configured as at least one of a spherical structure, a cylindrical structure, a prismatic structure, a hemispherical structure, a semi-cylindrical structure, a semi-prismatic structure, or a combination of at least two of them.

[0023] In a second aspect, the present application provides a walking device, comprising a turntable and a locking device as described above, wherein the turntable and the locking device are detachably plug-connected.

[0024] The locking device and walking equipment provided by the present application are based on the fact that when the unlocking structure is moved relative to the mounting structure by an external force, the elastic structure can push the turntable to move linearly along a first direction, and the locking structure can move from the locked position to the unlocked position. The locking structure unlocks the turntable locked on the mounting structure. On the one hand, the turntable and the mounting structure can be disengaged by moving the unlocking structure once, thereby realizing rapid disassembly and assembly of the turntable and the mounting structure, and improving the assembly efficiency and convenience of the turntable and the mounting structure; on the other hand, in the process of unlocking the turntable installed on the mounting structure, the turntable performs linear motion without rotating, and the turntable will not perform a cutting action, will not cause harm to the user, and the safety of disassembly of the turntable is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a cross-sectional view of the walking device provided in an embodiment of the present application.

[0026] Figure 2 It is an exploded view of the locking device and the turntable of the walking equipment provided in the embodiment of the present application.

[0027] Figure 3 yes Figure 2 A cross-sectional view of the locking device, driving device and turntable of the walking equipment in the locked state.

[0028] Figure 4 yes Figure 3 An enlarged view of the locking device, driving device and part I of the turntable of the walking equipment.

[0029] Figure 5 yes Figure 2 A cross-sectional view of the locking device and the driving device of the walking device in the unlocked state.

[0030] Figure 6 yes Figure 2 An enlarged view of the local structure of the turntable of the walking equipment.

[0031] Figure 7 yes Figure 2 An enlarged view of the partial structure of the locking device of the walking equipment.

[0032] Main component symbol description: walking device-1000; turntable-100; locking groove-1001; guiding slope-1002; guiding groove-1003; tapered mouth-1004; through hole-1005; turntable body-110; functional part-120; connecting sleeve-130; driving device-200; driver-210; output shaft-220; mounting seat-230; locking device-300; mounting structure-10; through hole-101; accommodating cavity-102; through hole-103; mounting plate-11; mounting boss-111; anti-rotation hole-1101; enclosure-1 2; limiting structure-13; buffer structure-14; guide protrusion-15; limiting step-16; locking structure-20; unlocking structure-30; positioning structure-301; pushing structure-40; elastic member-41; pushing member-42; reset member-60; protective cover-70; protective cavity-701; insertion port-702; connecting end-71; free end-72; first position-P1; second position-P2; third position-P3; fourth position-P4; locking position-S1; unlocking position-S2; central axis-A; first direction-X; second direction-Y; third direction-Z.

[0033] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0034] The following embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0035] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" can be connected to each other and can rotate relative to each other after connection. The term "integrated molding" means that in the process of forming one of the multiple components, the component is connected to other components, and there is no need to connect the two components together by reprocessing (such as bonding, welding, snap connection, screw connection). The orientation terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "side", etc., are only reference directions of the accompanying drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0036] See also Figure 1 , Figure 11 is a cross-sectional view of a walking device 1000 provided in an embodiment of the present application. The walking device 1000 includes a turntable 100 and a locking device 300. The turntable 100 and the locking device 300 are detachably plugged in and connected. Thus, the turntable 100 and the locking device 300 can be disengaged, which facilitates operations such as cleaning, replacement, and maintenance of the turntable 100.

[0037] The walking device 1000 may include but is not limited to a handheld device, a riding device, and a fully automatic intelligent device, etc., which is not limited in the present application. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground under the push of a user. For another example, the walking device 1000 itself has the ability to move. Specifically, the walking device 1000 includes a driving wheel, and the walking device 1000 can automatically move on the ground through the driving wheel. The walking device 1000 can be configured as but not limited to cleaning equipment, mowing equipment, crop harvesting equipment, etc., which is not limited in the embodiments of the present application.

[0038] It should be noted that Figure 1 The purpose is only to schematically describe the arrangement between the turntable 100 and the locking device 300, and it is not to make specific limitations on the connection position, connection relationship and specific structure of each component. Figure 1 The structure of the walking device 1000 is only shown in the embodiment of the present application, and does not constitute a specific limitation on the walking device 1000. In other embodiments of the present application, the walking device 1000 may include Figure 1 More or fewer components as shown, or a combination of certain components, or different components, for example, the walking device 1000 may also include but is not limited to a material collection device, a sensor, and the like.

[0039] In some embodiments, the walking device 1000 also includes a driving device 200 that is transmission-connected to the locking device 300. The driving device 200 is used to drive the locking device 300 to drive the turntable 100 to operate. Specifically, the driving device 200 includes a driver 210 and an output shaft 220 that is transmission-connected to the driver 210. The turntable 100 includes a turntable body 110 and a functional part 120 disposed on the turntable body 110. The turntable body 110 is detachably connected to the locking device 300, and the functional part 120 is disposed on the turntable body 110, so that the driving device 200 can drive the locking device 300 to drive the turntable body 110 together with the functional part 120 installed on the turntable body 110 to rotate. The functional part 120 and the turntable body 110 can be integrally formed or detachably connected, which is not specifically limited in the embodiments of the present application.

[0040] In some embodiments, the driving device 200 further includes a mounting seat 230. The driver 210 is mounted in the mounting seat 230, and the output shaft 220 is rotatably disposed in the mounting seat 230 and fixedly connected to the locking device 300. Thus, the setting of the mounting seat 230 can protect the driver 210 and facilitate the installation of the driver 210 on the body of the walking device 1000. Of course, in some embodiments, the driving device 200 can also omit the mounting seat 230, in other words, the driver 210 is directly installed on the body of the walking device 1000.

[0041] The turntable 100 can be configured as, but not limited to, a knife disc or a cleaning part, etc. For example, when the turntable 100 is configured as a cleaning part, the functional part 120 is configured with a cleaning brush; when the turntable 100 is configured as a knife disc, the functional part 120 is configured with a blade. It should be noted that, in order to enable those skilled in the art to better understand the walking device 1000, the following takes the walking device 1000 configured as a cleaning device as an example. Figures 1 to 7 Detailed introduction.

[0042] Please also read Figure 1 to Figure 2 , Figure 2 is an exploded view of the locking device 300 and the turntable 100 of the walking device 1000 provided in an embodiment of the present application; Figure 3 yes Figure 2 A cross-sectional view of the locking device 300, the driving device 200 and the turntable 100 of the walking device 1000 in a locked state; Figure 4 yes Figure 3 An enlarged view of the locking device 300, the driving device 200 and the part I of the rotating disk 100 of the walking device 1000; Figure 5 yes Figure 2 sectional view of the locking device 300 and the driving device 200 of the walking device 1000 in the unlocked state. The locking device 300 includes a mounting structure 10, a locking structure 20 and a push structure 40. The locking structure 20 can be movably arranged on the mounting structure 10 so that the locking structure 20 switches between a locking position S1 and an unlocking position S2. When the locking structure 20 moves to the locking position S1, the locking structure 20 is used to lock the turntable 100 on the mounting structure 10. The unlocking structure 30 can be movably arranged on the mounting structure 10. The push structure 40 is used to push the locking structure 20 to move from the locking position S1 to the unlocking position S2. When the unlocking structure 30 is moved relative to the mounting structure 10 by an external force, the push structure 40 can push the turntable 100 to move linearly along the first direction X, and the locking structure 20 can move from the locking position S1 to the unlocking position S2, and the locking structure 20 unlocks the turntable 100 locked on the mounting structure 10.

[0043] The locking device 300 and walking equipment 1000 provided in the present application are based on the fact that when the unlocking structure 30 is moved relative to the mounting structure 10 by an external force, the elastic structure can push the turntable 100 to move linearly along the first direction X, and the locking structure 20 can move from the locking position S1 to the unlocking position S2. The locking structure 20 unlocks the turntable 100 locked on the mounting structure 10. On the one hand, the turntable 100 can be disengaged from the mounting structure 10 by moving the unlocking structure 30 once, thereby realizing rapid disassembly and assembly of the turntable 100 and the mounting structure 10, and improving the assembly efficiency and convenience of the turntable 100 and the mounting structure 10; on the other hand, in the process of unlocking the turntable 100 installed on the mounting structure 10, the turntable 100 performs linear motion without rotating, and the turntable 100 will not perform a cutting action, and will not cause harm to the user, thereby improving the safety of disassembly of the turntable 100.

[0044] The locking device 300 has a locked state and an unlocked state. When the locking structure 20 moves to the locked position S1, the locking device 300 is in the locked state. When the locking structure 20 is in the unlocked position S2, the locking device 300 is in the unlocked state. It should be noted that the term "locked state" refers to a state in which the turntable 100 cannot be removed from the locking device 300. The term "unlocked state" refers to a state in which the turntable 100 can be removed from the locking device 300 and the turntable 100 can be installed on the locking device 300 along the first direction X.

[0045] For the accuracy of description, please refer to the directions in this article. Figure 3 For reference, the term "axial direction" used in the embodiments and claims herein refers to the direction parallel to the central axis A of the output shaft 220 of the drive device 200, that is, the direction parallel to the plug-in direction of the turntable 100 and the locking device 300, wherein the extension direction of the X-axis is the up-down direction (where the positive direction of the X-axis is upward); the term "radial direction" refers to the direction perpendicular to the central axis A of the output shaft 220 of the drive device 200, that is, the radial direction along the cross-section of the turntable 100, wherein the extension direction of the Y-axis is the left-right direction (where the positive direction of the Y-axis is left); the term "circumferential direction" refers to the direction of the central axis A surrounding the output shaft 220 of the drive device 200, that is, the circumferential direction of the turntable 100. The axial direction, radial direction and circumferential direction together constitute the three orthogonal directions of the output shaft 220 of the drive device 200. For the convenience of description, the up-down, left-right, front-back orientations in this application are relative positions and do not constitute a limitation to the implementation. The axial direction, radial direction and circumferential direction can be customized according to the specific structure of the product and the perspective of the drawings, and this application does not make specific limitations.

[0046] Please also read Figures 1 to 6 , Figure 6 yes Figure 2An enlarged view of the partial structure of the turntable 100 of the walking device 1000 in FIG. The turntable 100 also includes a connecting sleeve 130 arranged in the middle of the top of the turntable body 110. The turntable body 110 is provided with a through hole 1005 connected to the inner cavity of the connecting sleeve 130. The mounting structure 10 can be sequentially penetrated into the inner cavity of the connecting sleeve 130 and the through hole 1005. The mounting structure 10 is provided with a accommodating cavity 102 and a through opening 103 connected to the accommodating cavity 102. The unlocking structure 30 is located in the accommodating cavity 102, and is exposed to the side of the turntable body 110 away from the connecting sleeve 130 through the through opening 103 and the through hole 1005. Therefore, on the one hand, the user can operate the unlocking structure 30 to remove the turntable 100 without disassembling the main body of the walking device 1000, thereby improving the user experience; on the other hand, the unlocking structure 30 is arranged in the accommodating cavity 102, so as to avoid the problem that the user accidentally touches the unlocking structure 30 and causes the turntable 100 to be unlocked from the mounting structure 10, thereby improving the safety of the locking device 300; on the other hand, the connecting sleeve 130 can be slidably connected to the outer wall of the mounting structure 10, and the mounting structure 10 can be successively inserted into the inner cavity of the connecting sleeve 130 and the through hole 1005, thereby facilitating the alignment and assembly of the turntable 100 and the locking device 300, thereby improving the assembly efficiency and assembly yield.

[0047] Exemplarily, in this embodiment, the inner side wall of the connecting sleeve 130 is provided with a locking groove 1001. When the push structure 40 abuts against the locking structure 20, part of the structure of the locking structure 20 is disengaged from the locking groove 1001; when the unlocking structure 30 abuts against the locking structure 20, part of the structure of the locking structure 20 is fixed with the locking groove 1001. Thus, based on the locking groove 1001 being provided on the side wall of the connecting sleeve 130, the locking groove 1001 does not penetrate the inner side wall and the outer side wall of the connecting sleeve 130 at the same time, so that the connecting sleeve 130 has good structural strength; on the other hand, the provision of the locking groove 1001 can limit the depth of the locking structure 20 accommodated in the locking groove 1001, and the locking groove 1001 can also intercept obstacles outside the connecting sleeve 130 from entering the locking groove 1001, thereby reducing the risk of the locking structure 20 being stuck.

[0048] Of course, in some embodiments, the connecting sleeve 130 is provided with a locking hole for cooperating with the locking structure 20. The locking hole penetrates the inner wall and the outer wall of the connecting sleeve 130, so as to facilitate the processing and forming of the locking hole.

[0049] The number of locking grooves 1001 is set in one-to-one correspondence with the number of locking structures 20. For example, four locking grooves 1001 and four locking structures 20 are set, and the four locking grooves 1001 are arranged at intervals along the circumferential direction of the connecting sleeve 130, and are matched and fixed with the four locking structures 20 in one-to-one correspondence. It should be noted that the number of locking grooves 1001 and the number of locking structures 20 are only used for illustration, and the embodiments of the present application do not make specific limitations. For example, the number of locking grooves 1001 can also be less than or more than the number of locking structures 20, the number of locking grooves 1001 can also be set to one, two, three or more than four, and the number of locking structures 20 can also be set to one, two, three or more than four.

[0050] The two groove side walls of the locking groove 1001 in the first direction X are respectively extended outward relative to the groove bottom wall of the locking groove 1001. In other words, the two groove side walls of the locking groove 1001 in the first direction X are respectively arranged at an obtuse angle with the groove bottom wall of the locking groove 1001. Thus, the two groove side walls of the locking groove 1001 in the first direction X can guide the locking structure 20 to enter or leave the locking groove 1001, thereby improving the assembly efficiency of the rotating disk 100 and the locking device 300.

[0051] The locking structure 20 is fixed with the locking groove 1001, and the two groove side walls of the locking groove 1001 in the second direction Y are respectively arranged perpendicularly relative to the groove bottom wall of the locking groove 1001, so that the cooperation between the locking structure 20 and the locking groove 1001 can ensure that the turntable 100 will not separate from the mounting structure 10 along the axial direction of the turntable 100, and at the same time prevent the turntable 100 from rotating relative to the mounting structure 10, thereby avoiding the rotating turntable 100 from causing harm to the user, thereby improving the safety of disassembly of the turntable 100.

[0052] In some embodiments, the push structure 40 includes an elastic member 41 and a push member 42. The elastic member 41 is in contact with the turntable 100 through the push member 42. When a part of the locking structure 20 is fixedly matched with the locking groove 1001, the elastic member 41 is in a compressed state and can provide a thrust to the turntable 100 to disengage from the locking structure 20. Therefore, on the one hand, the elastic member 41 can push the push member 42 during the process of disassembling the turntable 100, so as to push the turntable 100 out of the mounting structure 10, which is convenient for disassembly; on the other hand, the elastic member 41 can realize the push member 42 to return to the initial position, so as to realize the elastic deformation of the elastic member 41 when the turntable 100 is locked on the mounting structure 10 next time; on the other hand, the push member 42 can play a role in uniformly guiding the turntable 100 and the elastic member 41 and blocking foreign objects, thereby preventing foreign objects from entering the elastic member 41 and weakening the elastic function of the elastic member 41, preventing foreign objects from getting stuck in the locking structure 20, and avoiding the problem of increasing the friction between the elastic member 41 and the mounting structure 10 and generating loud noise.

[0053] Exemplarily, in the present embodiment, the push structure 40 can be configured as an annular structure and slidably sleeved on the outer side of the enclosure 12. As a result, the load applied by the push structure 40 to the elastic member 41 can be evenly distributed, avoiding local stress concentration, extending the service life of the elastic member 41, and improving the stability and reliability of the elastic expansion and contraction of the elastic member 41. Of course, in some embodiments, the push structure 40 can also be configured as an arc structure. The number of arc structures is the same as that of the locking structure 20, and they are arranged one by one. The push structure 40 and the elastic member 41 are arranged independently of each other and abut against each other. The push structure 40 and the elastic member 41 can also be fixedly connected.

[0054] In other embodiments, the push structure 40 is configured as an elastic member 41. Specifically, the push structure 40 can omit the push member 42. In other words, the push structure 40 only includes the elastic member 41. The elastic member 41 elastically abuts against the turntable 100, and when a part of the structure of the locking structure 20 is fixed with the locking groove 1001, the elastic member 41 is in a compressed state and can provide a thrust to the turntable 100 that can be separated from the locking structure 20. Thus, the elastic member 41 is sleeved on the outer side wall of the mounting structure 10 and slidably abuts against the outer side wall of the mounting structure 10, so that when the elastic member 41 provides a thrust to the turntable 100 to be separated from the locking structure 20, it can push the locking structure 20 to move from the locking position S1 to the unlocking position S2, so as to eject the turntable 100 from the mounting structure 10 for easy disassembly.

[0055] In some embodiments, at least one of the side wall of the push structure 40 facing the locking structure 20, the side wall of the unlocking structure 30 facing the locking structure 20, and the side wall of the locking groove 1001 is provided with a guiding inclined surface 1002. The guiding inclined surface 1002 is used to guide the locking structure 20 to move relative to the mounting structure 10. As a result, when the unlocking structure 30, the push structure 40, and the turntable 100 are moved, the guiding inclined surface 1002 can push the locking structure 20 to move relative to the mounting structure 10, thereby preventing the locking structure 20 from getting stuck, thereby improving the smoothness and convenience of assembly. Specifically, the guiding inclined surface 1002 is used to abut against the locking structure 20, and is arranged at an angle with the rotation axis of the turntable 100. Among them, the guiding inclined surface can be configured as an inclined surface or a plane.

[0056] One of the inner side wall of the connecting sleeve 130 and the outer side wall of the mounting structure 10 is provided with a guiding groove 1003, and the other of the inner side wall of the connecting sleeve 130 and the outer side wall of the mounting structure 10 is provided with a guiding protrusion 15 that cooperates with the guiding groove 1003, and the extending direction of the guiding groove 1003 is parallel to the first direction X. Thus, on the one hand, the cooperation between the guiding protrusion 15 and the guiding groove 1003 can ensure that the turntable 100 will not be separated from the mounting structure 10 along the axial direction of the turntable 100, and at the same time prevent the turntable 100 from rotating relative to the mounting structure 10, so as to avoid the rotating turntable 100 from causing harm to the user, thereby improving the safety of disassembly of the turntable 100. Exemplarily, in this embodiment, the inner side wall of the connecting sleeve 130 is provided with a guiding groove 1003, and the outer side wall of the mounting structure 10 is provided with a guiding protrusion 15 that cooperates with the guiding groove 1003.

[0057] In some embodiments, the outer wall of the mounting structure 10 is provided with a guide protrusion 15, which is used to limit the movement stroke of the push structure 40. Therefore, on the one hand, the provision of the guide protrusion 15 can also prevent the push structure 40 from exceeding the set movement range and escaping from the alignment assembly with the mounting structure 10, thereby improving the repeatability and reliability of the use of the push structure 40; on the other hand, the provision of the guide protrusion 15 can also improve the positioning accuracy of the push structure 40 relative to the mounting structure 10, and enable the push structure 40 to abut against the turntable 100 when the locking device 300 is in the locked state.

[0058] In some embodiments, the locking device 300 further includes a protective cover 70. The protective cover 70 is fixedly connected to the mounting structure 10, and forms a protective cavity 701 and an insertion port 702 connected to the protective cavity 701. The elastic member 41 and the push structure 40 are movably arranged in the protective cavity 701, and the insertion port 702 is used for inserting the turntable 100. Thus, on the one hand, it is prevented that the user operates the elastic member 41 and the push structure 40, causing the locking device 300 to malfunction; on the other hand, the protective cover 70 and the mounting structure 10 can guide the movement of the push structure 40, thereby improving the smoothness and reliability of the movement of the push structure 40. The guide protrusion 15 can also be arranged on the inner side wall of the protective cover 70; or, part of the guide protrusion 15 can be arranged on the inner side wall of the protective cover 70, and the remaining part of the guide protrusion 15 can be arranged on the inner side wall of the protective cover 70.

[0059] In other embodiments, one of the inner side wall of the protective cover 70 and the outer side wall of the connecting sleeve 130 is provided with a guiding groove 1003, and the other of the inner side wall of the protective cover 70 and the outer side wall of the connecting sleeve 130 is provided with a guiding protrusion 15 that cooperates with the guiding groove 1003, and the extending direction of the guiding groove 1003 is parallel to the first direction X. Therefore, on the one hand, the cooperation between the guiding protrusion 15 and the guiding groove 1003 can ensure that the turntable 100 will not be separated from the mounting structure 10 along the axial direction of the turntable 100, and at the same time prevent the turntable 100 from rotating relative to the mounting structure 10, so as to avoid the rotating turntable 100 from causing harm to the user, thereby improving the safety of disassembly of the turntable 100. Of course, in other embodiments, the connecting sleeve 130, the protective cover 70 and the mounting structure 10 can all be provided with the guiding protrusion 15 and the guiding groove 1003 that cooperate with each other.

[0060] In some other embodiments, the locking device 300 may also omit the guide protrusion 15. Specifically, the push structure 40 is connected to the mounting structure 10 or the protective cover 70 through the elastic member 41. One end of the elastic member 41 is fixedly connected to the push structure 40, and the other end of the elastic member 41 is fixedly connected to the mounting structure 10 or the protective cover 70, so that the push structure 40 is suspended on the elastic member 41. When the push structure 40 moves from the fourth position P4 to the third position P3, the push structure 40 abuts against the locking structure 20 and pushes the locking structure 20 out of the through hole 101 close to the side of the unlocking structure 30.

[0061] Exemplarily, in the present embodiment, the protective cover 70 is configured as a semi-open cylindrical structure. The protective cover 70 includes a connecting end 71 and a free end 72 that are arranged opposite to each other. The connecting end 71 is located at one end of the protective cover 70 that is away from the insertion port 702 and is fixedly connected to the mounting structure 10. The free end 72 is connected to the edges around the connecting end 71 and forms an insertion port 702 with the mounting structure 10 on the side away from the free end 72. The mounting boss 111 of the mounting structure 10 is passed through the connecting end 71 and is fixedly connected to the output shaft 220. In some embodiments, the mounting boss 111 can be omitted, that is, the output shaft 220 is passed through the protective cover 70 and is fixedly connected to the mounting boss 111.

[0062] In some embodiments, the guide protrusion 15 is extended along the direction in which the push structure 40 moves relative to the mounting structure 10, and is used to cooperate with the guide groove 1003 provided on the turntable 100. Therefore, on the one hand, the cooperation between the guide protrusion 15 and the guide groove 1003 can guide the turntable 100, thereby improving the reliability and stability of the turntable 100 relative to the mounting structure; on the other hand, the cooperation between the guide protrusion 15 and the guide groove 1003 can prevent the turntable 100 from rotating relative to the mounting structure 10, thereby preventing the rotating turntable 100 from causing harm to the user, and improving the safety of disassembling the turntable 100.

[0063] The guide groove 1003 has a tapered opening 1004 at the end of one side close to the mounting structure 10. The tapered opening 1004 can help the guide protrusion 15 to automatically align with the center position and reduce deviation. The tapered opening 1004 can make the guide protrusion 15 gradually enter from wide to narrow, reduce initial resistance, and make insertion smoother. The setting of the tapered opening 1004 can also simplify the assembly process, without the need for precise alignment, improve operating efficiency, and the tapered opening 1004 can prevent the guide protrusion 15 from directly colliding with the groove wall edge of the guide groove 1003, reducing damage to components and equipment.

[0064] In this embodiment, the locking structure 20 and the guide protrusion 15 are respectively provided in plurality, and the plurality of locking structures 20 and the plurality of guide protrusions 15 are respectively arranged at intervals along the circumferential direction of the enclosure 12, and the locking structure 20 and the guide protrusion 15 are arranged at intervals on the projection plane perpendicular to the axial direction of the enclosure 12. Thus, interference between the turntable 100 and the mounting structure 10 during the plug-in connection process is avoided; on the other hand, the locking structure 20 and the guide protrusion 15 are arranged at intervals along the circumferential direction of the enclosure 12, so that the structure is compact, and the locking structure 20 and the locking groove 1001 are ensured to be accurately aligned, thereby improving the assembly yield and assembly efficiency.

[0065] Exemplarily, in this embodiment, the mounting structure 10 is provided with a through hole 101, the through hole 101 is extended along the second direction Y, and the locking structure 20 is movably provided in the through hole 101. Thus, the through hole 101 provides a guide for the movement of the locking structure 20, thereby improving the reliability and stability of the movement of the locking structure 20 relative to the mounting structure 10. Specifically, the locking structure 20 is slidably provided in the through hole 101 along the second direction Y. The second direction Y is provided at an angle to the first direction X. The second direction Y is provided at a right angle to the first direction X, that is, the second direction Y is perpendicular to the first direction X.

[0066] Of course, in some embodiments, the mounting structure 10 is provided with a movable groove at the end close to the turntable 100, the movable groove penetrates the inner wall and the outer wall of the mounting structure 10, and the locking structure 20 is movably disposed in the movable groove. For example, the mounting structure 10 is slidably disposed in the movable groove along the second direction Y; or, the mounting structure 10 is rotatably disposed in the movable groove along the second direction Y.

[0067] Exemplarily, in this embodiment, when the unlocking structure 30 moves to the first position P1 relative to the mounting structure 10, the unlocking structure 30 is located on the first side of the through hole 101 and abuts against the locking structure 20, the locking structure 20 protrudes from the second side of the through hole 101, and is used to cooperate and fix with the locking groove 1001; when the unlocking structure 30 moves to the second position P2 relative to the mounting structure 10, the pushing structure 40 is located on the second side of the through hole 101 and abuts against the locking structure 20, the locking structure 20 protrudes from the first side of the through hole 101, and is used to disengage from the locking groove 1001. Therefore, on the one hand, the turntable 100 and the mounting structure 10 can be disengaged by moving the pressing structure once, thereby realizing the rapid disassembly and assembly of the turntable 100 and the mounting structure 10, and improving the assembly efficiency and convenience of the turntable 100 and the mounting structure 10; on the other hand, by setting the pressing structure and the pushing structure 40 to push the locking structure 20 to different sides of the mounting structure 10, the locking and unlocking operations of the turntable 100 and the mounting structure 10 can be realized, the structure is simple and compact, and the production cost of the locking device 300 is reduced and the volume of the locking device 300 is reduced.

[0068] In some embodiments, the locking device 300 further includes a reset member 60. The reset member 60 is disposed between the unlocking structure 30 and the mounting structure 10, and is used to provide a force for the unlocking structure 30 to move relative to the mounting structure 10 to the first position P1 in the first direction X. Thus, on the one hand, the elastic force generated by the reset member 60 can push the unlocking structure 30 during the installation of the turntable 100, so as to push the locking structure 20 out of the mounting structure 10 in the second direction Y to the side facing away from the unlocking structure 30, thereby improving the locking structure 20 to firmly lock the turntable 100 on the mounting structure 10; on the other hand, the reset member 60 can realize the return of the unlocking structure 30 to the first position P1, i.e., the initial position, so as to facilitate the elastic deformation of the reset member 60 when the turntable 100 is unlocked next time when the turntable 100 is mounted on the mounting structure 10.

[0069] For example, in this embodiment, the reset member 60 and the unlocking structure 30 are movably accommodated in the accommodating cavity 102, and the reset member 60 is arranged between the mounting plate 11 and the unlocking structure 30. Therefore, the unlocking structure 30 and the reset member 60 can be movably arranged in the accommodating cavity 102 provided in the mounting structure 10. On the one hand, it avoids the problem that the user accidentally touches the unlocking structure 30 and causes the turntable 100 to be unlocked from the mounting structure 10, thereby improving the safety of the locking device 300; on the other hand, the load applied by the unlocking structure 30 to the reset member 60 can be evenly distributed, avoiding local stress concentration, extending the service life of the reset member 60, and improving the stability and reliability of the elastic expansion and contraction of the reset member 60.

[0070] In some embodiments, the unlocking structure 30 can be moved from the first position P1 to the second position P2 under the action of an external force. The push member 42 can also be moved from the third position P3 to the fourth position P4 under the action of an external force. When the unlocking structure 30 is located at the first position P1 and the push member 42 is located at the fourth position P4, the push member 42 is used to abut against the turntable 100, and the elastic member 41 is in a compressed state and elastically abuts against the side of the push member 42 that is away from the turntable 100. Therefore, on the one hand, the elastic member 41 can push the push member 42 during the process of disassembling the turntable 100, so as to push the turntable 100 out of the mounting structure 10, which is convenient for disassembly; on the other hand, the elastic member 41 can realize the push member 42 to return to the initial position, so as to realize the elastic deformation of the elastic member 41 when the turntable 100 is locked on the mounting structure 10 next time, and prevent foreign matter from entering the through hole 101 and blocking the locking structure 20. The end of the elastic member 41 that is away from the push member 42 can elastically abut against the mounting structure 10. For example, one end of the elastic member 41 facing away from the pushing member 42 may be connected to the mounting structure 10 .

[0071] It can be understood that when the elastic member 41 is in a compressed state, the elastic force generated by the elastic member 41 is applied to the push member 42, so that the push member 42 can provide a thrust to the turntable 100 that can disengage the locking member. Therefore, after the unlocking structure 30 moves from the first position P1 to the second position P2, the reset member 60 is in a compressed state, and the elastic force generated by the elastic member 41 drives the push member 42 to push the turntable 100 out of the mounting structure 10, and the push member 42 moves from the fourth position P4 to the third position P3, and the turntable 100 pushes the locking structure 20 and extends out of the through hole 101 close to the unlocking structure 30. At this time, the unlocking structure 30 is located at the second position P2, and the push member 42 is located at the third position P3. It can be understood that, in the process of locking the turntable 100 on the mounting structure 10, the turntable 100 is pushed by an external force to push the push member 42 from the third position P3 to the fourth position P4, so that the elastic member 41 undergoes elastic deformation. At this time, the reset member 60 gradually recovers its deformation, and pushes the locking structure 20 to extend out of the through hole 101 close to the side of the turntable 100, and is locked to the turntable 100. At this time, the unlocking structure 30 is located at the first position P1, and the push member 42 is located at the fourth position P4.

[0072] Exemplarily, in this embodiment, the elastic member 41 and the reset member 60 are each configured as a spring. In some embodiments, the elastic member 41 and the reset member 60 can also be configured as a spring, an elastomer or other elastic structure, which is not specifically limited in the embodiment of the present application.

[0073] In some embodiments, in the second direction Y, the radial cross-sectional area of ​​the through hole 101 gradually decreases in the arrangement direction from the push structure 40 to the unlocking structure 30, and the orthographic projection of the locking structure 20 in the axial direction of the through hole 101 is located outside the orthographic projection of the opening of the through hole 101 close to the unlocking structure 30 in the axial direction of the through hole 101; and / or, when the locking structure 20 unlocks the turntable 100 locked on the mounting structure 10, the locking structure 20 is sandwiched between the unlocking structure 30 and the push structure 40. Thus, the locking structure 20 is prevented from falling into the interior of the mounting structure 10 from the through hole 101, the reliability of the connection between the locking structure 20 and the mounting structure 10 is improved, and at the same time, it is ensured that the locking structure 20 can protrude from the interior of the mounting structure 10 under the push of the push structure 40, thereby realizing the unlocking between the turntable 100 and the mounting structure 10.

[0074] Of course, in some other embodiments, a limiting boss may be further provided in the through hole 101 of the mounting structure 10, and the limiting boss is used to limit the movable range of the locking structure 20 in the through hole 101, thereby preventing the locking structure 20 from slipping out of the through hole 101, and improving the reliability of the connection between the locking structure 20 and the mounting structure 10.

[0075] In some embodiments, when the locking structure 20 is disengaged from the locking groove 1001, the push structure 40 covers the through hole 101. Thus, on the one hand, the push structure 40 can block foreign matter from entering the through hole 101, preventing the foreign matter from getting stuck in the locking structure 20; on the other hand, it ensures that the push structure 40 can push the locking structure 20 to the inside of the mounting structure 10, so that the locking structure 20 is clamped between the unlocking structure 30 and the push structure 40. Specifically, in this embodiment, when the locking structure 20 is disengaged from the locking groove 1001, the push member 42 can move to a position covering the through hole 101 under the action of the elastic member 41.

[0076] In some embodiments, when the locking structure 20 is disengaged from the locking groove 1001, the end surface of the push structure 40 close to the turntable 100 is located below the lower edge of the through hole 101; or, the end surface of the push structure 40 close to the turntable 100 is flush with the lower edge of the through hole 101, so that the push structure 40 can block foreign objects from entering the through hole 101 and prevent foreign objects from getting stuck in the locking structure 20.

[0077] When the locking structure 20 is disengaged from the locking groove 1001, the push structure 40 may cover part of the through hole 101 or cover the entire through hole 101. Of course, in some embodiments, when the locking structure 20 is disengaged from the locking groove 1001, the push structure 40 may be located outside the area corresponding to the through hole 101, which is not specifically limited in the embodiments of the present application.

[0078] For example, in this embodiment, the unlocking structure 30 is disposed inside the mounting structure 10, and the resisting structure 40 is disposed outside the mounting structure 10. Thus, the mounting structure 10 and the arrangement between the unlocking structure 30 and the resisting structure 40 is reasonable, which facilitates the user to unlock the turntable 100 locked on the mounting structure 10, and reduces the risk of mis-triggering of the unlocking structure 30. Of course, in some embodiments, the unlocking structure 30 may also be disposed outside the mounting structure 10, and the resisting structure 40 may be disposed inside the mounting structure 10.

[0079] Specifically, exemplarily, in this embodiment, the mounting structure 10 includes a mounting plate 11 and a surrounding plate 12. The mounting plate 11 is connected to the surrounding plate 12 to form a receiving cavity 102. The surrounding plate 12 is provided with a through hole 101 connected to the receiving cavity 102. The unlocking structure 30 is disposed against the inner wall of the surrounding plate 12, and the push structure 40 is disposed against the outer wall of the surrounding plate 12. The maximum length of the locking structure 20 in the radial direction of the surrounding plate 12 is greater than the extension length of the through hole 101 in the radial direction of the surrounding plate 12. Therefore, on the one hand, the unlocking structure 30 and the push structure 40 can push the locking structure 20 out from the corresponding side of the through hole 101 during the movement relative to the mounting structure 10, thereby realizing the locking and unlocking operations of the turntable 100, with a simple structure and improved assembly efficiency and convenience; on the other hand, the unlocking structure 30 is arranged in contact with the inner wall of the enclosure 12, and the push structure 40 is arranged in contact with the outer wall of the enclosure 12, so that the enclosure 12 can guide the movement of the unlocking structure 30 and the push structure 40, thereby improving the reliability and stability of the movement of the unlocking structure 30 and the push structure 40 relative to the mounting structure 10.

[0080] It should be noted that the term "abutting" means that one element is closely adjacent to another element, that is, one element abuts against another element; or, one element is close to another element, that is, there is a gap between the two elements, and the gap is within a preset range and is relatively small. For example, the abutting arrangement of the push structure 40 against the outer wall of the enclosure 12 may mean that the inner wall of the push structure 40 abuts against the outer wall of the enclosure 12, or the inner wall of the push structure 40 is close to the outer wall of the enclosure 12 and there is a gap.

[0081] In some embodiments, the push member 40 can be slidably pressed against the outer side wall of the mounting structure 10 along the first direction X; the unlocking structure 30 can be slidably pressed against the inner side wall of the mounting structure 10 along the first direction X. Thus, when the unlocking structure 30 is slidably connected relative to the mounting structure 10, the unlocking efficiency of the turntable 100 can be improved. Specifically, the push member 42 can be slidably pressed against the outer side wall of the enclosure 12 along the first direction X, and the unlocking structure 30 can be slidably pressed against the inner side wall of the enclosure 12 along the first direction X.

[0082] In some other embodiments, the unlocking structure 30 is screwed to the inner wall of the mounting structure 10 along the first direction X. When the unlocking structure 30 is screwed to the mounting structure 10, it is convenient to control the unlocking structure 30 to move to a preset position relative to the mounting structure 10, and the reliability and stability of the connection between the unlocking structure 30 and the mounting structure 10 are improved.

[0083] Please also read Figure 4 and Figure 7 , Figure 7 yes Figure 2 An enlarged view of the local structure of the locking device 300 of the walking device 1000 in FIG. Exemplarily, in the present embodiment, the mounting plate 11 is fixedly connected to the output shaft 220 of the driving device 200. Specifically, a mounting boss 111 is provided on the side of the mounting plate 11 facing away from the enclosure 12. The output shaft 220 of the driving device 200 is fixedly connected to the mounting boss 111, so as to facilitate the alignment assembly of the driving device 200 and the locking device 300, and the mounting boss 111 increases the connection length between the output shaft 220 and the mounting boss 111, reduces the swing of the output shaft 220 relative to the mounting structure 10, and improves the stability and reliability of the connection between the output shaft 220 and the mounting structure 10. The output shaft 220 and the mounting boss 111 can be, but not limited to, fixedly connected by a locking structure. The mounting boss 111 is provided with an anti-rotation hole 1101, and the output shaft 220 cooperates with the anti-rotation hole 1101. The anti-rotation hole 1101 is connected to the accommodating cavity 102, so that the locking structure can pass from the accommodating cavity 102 into the anti-rotation hole 1101 and be locked on the output shaft 220, which improves the aesthetics and prevents the locking structure from falling. The anti-rotation hole 1101 can be configured as but not limited to a waist-shaped hole, a triangular hole, a trapezoidal hole, a polygonal hole, etc. The enclosure 12 is configured as a hollow cylindrical structure. The enclosure 12 is connected to the edges of the mounting plate 11. The unlocking structure 30 is also configured as a cylindrical structure, which is slidably accommodated in the accommodating cavity 102. In some embodiments, the mounting boss 111 can be omitted, that is, the output shaft 220 is fixedly connected to the mounting plate 11 of the mounting boss 111.

[0084] In some embodiments, at least one of the mounting structure 10 and / or the unlocking structure 30 is provided with a positioning structure 301 for positioning the reset member 60. Thus, the setting of the positioning structure 301 can provide accurate positioning for the reset member 60, prevent the reset member 60 from shifting or falling off during use, ensure that the reset member 60 is always in the correct position, and can limit the excessive deformation of the reset member 60, thereby improving the stability of the overall structure. The positioning structure 301 can be configured as a positioning groove or a positioning protrusion. Exemplarily, in this embodiment, the unlocking structure 30 is provided with a positioning groove, and the mounting structure 10 is provided with a positioning protrusion. One end of the reset member 60 is sleeved on the outside of the positioning protrusion, and the other end of the reset member 60 is accommodated in the positioning groove. Of course, in some other embodiments, the positioning structure 301 can be omitted, that is, the reset member 60 elastically abuts between the mounting structure 10 and the unlocking structure 30.

[0085] In some embodiments, the inner side wall of the mounting structure 10 is provided with a limiting structure 13, and the limiting structure 13 is used to limit the movement stroke of the unlocking structure 30. Thus, on the one hand, the unlocking structure 30 is prevented from exceeding the set movement range and being separated from the alignment assembly with the mounting structure 10, thereby improving the repeatability and reliability of the use of the unlocking structure 30; on the other hand, the positioning accuracy of the unlocking structure 30 relative to the mounting structure 10 is improved. Exemplarily, in this embodiment, the inner side wall of the enclosure 12 is provided with a limiting structure 13.

[0086] In some embodiments, the locking device 300 further includes a buffer structure 14. The unlocking structure 30 abuts against the stopper with the limiting structure 13 through the buffer structure 14. As a result, the buffer structure 14 can absorb the impact or vibration generated by the relative movement of the unlocking structure 30 to the mounting structure 10, thereby extending the service life of the locking device 300; on the other hand, the setting of the buffer structure 14 facilitates the installation of the reset member 60, the unlocking structure 30 and the buffer structure 14 in the accommodating cavity 102 of the mounting structure 10. The buffer structure 14 can be configured as, but not limited to, a rubber ring, a damper, a foam structure or a carbon fiber structure, etc. Specifically, the mounting structure 10 is provided with a limiting step 16 in the accommodating cavity 102, and the buffer structure 14 is sandwiched between the limiting step 16 and the limiting structure 13. Of course, in some embodiments, the limiting step 16 can be omitted, that is, the buffer structure 14 can also be directly overlapped on the limiting structure 13, and is used to stop the unlocking structure 30, thereby preventing the unlocking structure 30 from being separated from the alignment assembly with the mounting structure 10.

[0087] For example, in this embodiment, when the limiting structure 13 abuts against the unlocking structure 30, the end surface of the unlocking structure 30 facing away from the reset member 60 is retracted relative to the end surface of the mounting structure 10 facing the turntable 100 and is arranged on the side of the reset member 60. In some embodiments, when the limiting structure 13 abuts against the unlocking structure 30, the end surface of the unlocking structure 30 facing away from the reset member 60 is arranged coplanar with the end surface of the mounting structure 10 facing the turntable 100. Thus, the unlocking structure 30 is prevented from protruding relative to the turntable 100, and the risk of the turntable 100 being accidentally removed by the stones on the ground hitting the unlocking structure 30 can be reduced. In some other embodiments, when the limiting structure 13 abuts against the unlocking structure 30, the end surface of the unlocking structure 30 facing away from the reset member 60 is convexly set to a preset length relative to the end surface of the mounting structure 10 facing the turntable 100 and is arranged to be away from the reset member 60. The protruding length of the unlocking structure 30 relative to the mounting structure 10 is within a preset length range, thereby reducing the risk of stones on the ground hitting the unlocking structure 30 and accidentally removing the turntable 100.

[0088] The locking structure 20 is configured as at least one of a spherical structure, a cylindrical structure, a hemispherical structure, a semi-cylindrical structure, or a combination of at least two of them, which is not specifically limited in the embodiments of the present application. For example, in the present embodiment, the structure to be locked 20 is configured as a spherical structure, which has a simple structure, is easy to process and manufacture, and avoids the problem of the locking structure 20 getting stuck, thereby improving the reliability and stability of the locking structure 20 moving in the through hole 101.

[0089] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A locking device, characterized in that: include: Mounting structure; A locking structure, wherein the locking structure is movably disposed on the mounting structure so that the locking structure can be switched between a locking position and an unlocking position, and when the locking structure moves to the locking position, the locking structure is used to lock the turntable on the mounting structure; An unlocking structure, wherein the unlocking structure is movably disposed on the mounting structure; a push structure, the push structure being used to push the locking structure to move from the locking position to the unlocking position; When the unlocking structure is moved relative to the mounting structure by an external force, the pushing structure can push the turntable to move linearly along the first direction, the locking structure can move from the locking position to the unlocking position, and the locking structure unlocks the turntable locked on the mounting structure.

2. The locking device according to claim 1, characterized in that: The turntable includes a turntable body and a connecting sleeve arranged in the middle of the top of the turntable body, the turntable body is provided with a through hole connected to the inner cavity of the connecting sleeve, the mounting structure can be sequentially penetrated through the inner cavity of the connecting sleeve and the through hole, the mounting structure is provided with a accommodating cavity and a through opening connected to the accommodating cavity, the unlocking structure is located in the accommodating cavity, and is exposed to the side of the turntable body away from the connecting sleeve through the through opening and the through hole.

3. The locking device according to claim 2, characterized in that: The inner side wall of the connecting sleeve is provided with a locking groove, and when the push structure abuts against the locking structure, a part of the locking structure is disengaged from the locking groove; When the unlocking structure abuts against the locking structure, a portion of the locking structure is matched and fixed with the locking groove.

4. The locking device according to claim 3, characterized in that: The push-resistance structure is configured as an elastic member; or, the push-resistance structure includes an elastic member and a push-resistance member, and the elastic member is in contact with the turntable through the push-resistance member. When a partial structure of the locking structure is fixed with the locking groove, the elastic member is in a compressed state and can provide a thrust to the turntable that can disengage from the locking structure.

5. The locking device according to claim 3, characterized in that: At least one of the side wall of the push structure facing the locking structure, the side wall of the unlocking structure facing the locking structure and the groove side wall of the locking groove is provided with a guiding slope, and the guiding slope is used to guide the locking structure to move relative to the mounting structure.

6. The locking device according to claim 3, characterized in that: One of the inner side wall of the connecting sleeve and the outer side wall of the mounting structure is provided with a guide groove, and the other of the inner side wall of the connecting sleeve and the outer side wall of the mounting structure is provided with a guide protrusion cooperating with the guide groove, and the extension direction of the guide groove is parallel to the first direction.

7. The locking device according to claim 6, characterized in that: The outer side wall of the mounting structure is provided with the guide protrusion, and the guide protrusion can be used to limit the movement stroke of the push structure relative to the mounting structure in the first direction.

8. The locking device according to claim 7, characterized in that: The locking structure and the guide protrusion are each provided in plurality, and the plurality of locking structures and the plurality of guide protrusions are each arranged at intervals on the mounting structure, and on a projection plane perpendicular to the first direction, the locking structure and the guide protrusion are arranged at intervals.

9. The locking device according to claim 3, characterized in that: The mounting structure is provided with a through hole, the through hole is extended along the second direction, and the locking structure is movably arranged in the through hole.

10. The locking device according to claim 9, characterized in that: When the unlocking structure moves to a first position relative to the mounting structure, the unlocking structure is located on a first side of the through hole and abuts against the locking structure, and the locking structure protrudes from a second side of the through hole and is used to cooperate and fix with the locking groove; when the unlocking structure moves to a second position relative to the mounting structure, the pushing structure is located on the second side of the through hole and abuts against the locking structure, and the locking structure protrudes from the first side of the through hole and is used to disengage from the locking groove.

11. The locking device according to claim 10, characterized in that: The locking device further includes a reset member, which is disposed between the unlocking structure and the mounting structure, and is used to provide a force for moving the unlocking structure toward the first position in the first direction relative to the mounting structure.

12. The locking device according to claim 9, characterized in that: In the second direction, the radial cross-sectional area of ​​the through hole gradually decreases from the arrangement direction of the push structure to the unlocking structure, and the orthographic projection of the locking structure in the axial direction of the through hole is located outside the orthographic projection of the opening of the through hole close to the unlocking structure in the axial direction of the through hole; And / or, when the locking structure unlocks the turntable locked on the mounting structure, the locking structure is sandwiched between the unlocking structure and the pushing structure.

13. The locking device according to claim 9, characterized in that: When the locking structure is disengaged from the locking groove, the push structure covers the through hole.

14. The locking device according to claim 1, characterized in that: The unlocking structure is arranged inside the mounting structure, and the pushing structure is arranged outside the mounting structure.

15. The locking device according to claim 14, characterized in that The push structure can be slidably pressed against the outer wall of the mounting structure along the first direction; the unlocking structure can be slidably pressed against the inner wall of the mounting structure along the first direction; or, the unlocking structure is screwed to the inner wall of the mounting structure along the first direction.

16. The locking device according to claim 14, characterized in that: The inner side wall of the mounting structure is provided with a limiting structure, and the limiting structure is used to limit the movement stroke of the unlocking structure.

17. The locking device according to claim 16, characterized in that When the limiting structure abuts against the unlocking structure, the end surface of the unlocking structure facing away from the mounting structure is coplanar with the end surface of the mounting structure facing the turntable; or, the end surface of the unlocking structure facing away from the mounting structure is retracted toward one side of the mounting structure relative to the end surface of the mounting structure facing the turntable.

18. The locking device according to claim 2, characterized in that: The locking device also includes a protective cover, which is fixedly connected to the mounting structure and forms a protective cavity and an insertion port connected to the protective cavity. The push structure can be movably arranged in the protective cavity, and the insertion port is used for inserting the connecting sleeve.

19. The locking device according to any one of claims 1 to 18, characterized in that: The locking structure is configured as at least one of a spherical structure, a cylindrical structure, a prismatic structure, a hemispherical structure, a semi-cylindrical structure, a semi-prismatic structure, or a combination of at least two thereof.

20. A walking device, characterized in that: It comprises a rotating disk and a locking device as described in any one of claims 1 to 19, wherein the rotating disk and the locking device are detachably plug-connected.

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