Locking device and walking apparatus

Abstract

The application provides a locking device and a walking device. 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 to switch between a locking position and an unlocking position, and is used for locking a rotating disc on the mounting structure. The unlocking structure is movably arranged on the mounting structure and is 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 is moved relative to the mounting structure by an external force, the pushing structure can push the rotating disc to move linearly in a first direction, the locking structure can move from the locking position to the unlocking position, and the locking structure unlocks the rotating disc, thereby improving the assembly efficiency and convenience and improving the safety of disassembling the rotating disc.

Description

Technical Field

[0001] This application relates to the field of lawn mowing machinery technology, and in particular to a locking device and a walking device. Background Technology

[0002] Lawn-mowing robots consist of a rotating disc and blades or rollers mounted on the disc. However, when existing discs are removed from their mounting structure, the discs rotate relative to the structure, which can cause injury to the user if they come into contact with the rotating blades or rollers, reducing the safety of disc removal. Summary of the Invention

[0003] This application provides a locking device and a walking device to solve the technical problem that when a turntable is removed from a mounting structure, the turntable rotates relative to the mounting structure, and the user may be injured by contact with the rotating blades or rollers, which reduces the safety of turntable removal.

[0004] In a first aspect, this application provides a locking device, including a mounting structure, a locking structure, an unlocking structure, and a pushing structure. The locking structure is movably disposed on the mounting structure, allowing it to switch between a locked position and an unlocked position. When the locking structure moves to the locked position, it locks a turntable onto the mounting structure. The unlocking structure is movably disposed on the mounting structure and pushes the locking structure from the unlocked position to the locked position. The pushing structure pushes the locking structure from the locked position to the unlocked position. When the unlocking structure is moved relative to the mounting structure by an external force, the pushing structure pushes the turntable to move linearly along a first direction, allowing the locking structure to move from the locked position to the unlocked position, thus unlocking the turntable locked onto the mounting structure.

[0005] In conjunction with the first aspect, in one possible implementation, the turntable includes a turntable body and a connecting sleeve disposed at the center of the top of the turntable body. The turntable body is provided with a through hole communicating with the inner cavity of the connecting sleeve. The mounting structure can be sequentially inserted into the inner cavity of the connecting sleeve and the through hole. The mounting structure is provided with a receiving cavity and a through port communicating with the receiving cavity. The unlocking structure is located in the receiving cavity and is exposed on the side of the turntable body away from the connecting sleeve through the through port and the through hole.

[0006] In conjunction with the first aspect, in one possible implementation, the inner wall of the connecting sleeve is provided with a locking groove. When the pushing structure abuts against the locking structure, a portion of the locking structure disengages from the locking groove; when the unlocking structure abuts against the locking structure, a portion of the locking structure engages with and is fixed to the locking groove.

[0007] In conjunction with the first aspect, in one possible implementation, the pushing structure is configured as an elastic element; or, the pushing structure includes an elastic element and a pushing element, wherein the elastic element abuts against the turntable via the pushing element, and when a portion of the locking structure is fixed in conjunction with the locking groove, the elastic element is in a compressed state and can provide the turntable with a thrust that can disengage from the locking structure.

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

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

[0010] In conjunction with the first aspect, in one possible implementation, the outer wall of the mounting structure is provided with the guide protrusion, which can be used to limit the travel of the pushing structure relative to the mounting structure in the first direction.

[0011] In conjunction with the first aspect, in one possible implementation, the locking structure and the guide protrusion are each configured as a plurality, and the plurality of locking structures and the plurality of guide protrusions are each spaced apart on the mounting structure. On a projection plane perpendicular to the first direction, the locking structure and the guide protrusion are spaced apart.

[0012] In conjunction with the first aspect, in one possible implementation, the mounting structure is provided with a through hole extending along a second direction, and the locking structure is movably disposed in the through hole.

[0013] In conjunction with the first aspect, in one possible implementation, when the unlocking structure is moved 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, the locking structure protrudes from a second side of the through hole and is used to engage with the locking groove for fixation; when the unlocking structure is moved to a second position relative to the mounting structure, the pushing structure is located on a second side of the through hole and abuts against the locking structure, the locking structure protrudes from a first side of the through hole and is used to disengage from the locking groove.

[0014] In conjunction with the first aspect, in one possible implementation, the locking device further includes a reset member disposed between the unlocking structure and the mounting structure, the reset member being used to provide power to move the unlocking structure relative to the mounting structure toward the first position in the first direction.

[0015] In conjunction with the first aspect, in one possible implementation, in the second direction, the radial cross-sectional area of ​​the through hole gradually decreases from the arrangement direction of the pushing structure to the unlocking structure, and the orthographic projection portion 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 near 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.

[0016] In conjunction with the first aspect, in one possible implementation, when the locking structure disengages from the locking groove, the pushing structure covers the through hole.

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

[0018] In conjunction with the first aspect, in one possible implementation, the pushing structure slidably abuts against the outer wall of the mounting structure along the first direction; the unlocking structure slidably abuts 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 conjunction with the first aspect, in one possible implementation, the inner wall of the mounting structure is provided with a limiting structure, which is used to limit the movement stroke of the unlocking structure.

[0020] In conjunction with the first aspect, in one possible implementation, when the limiting structure abuts against the unlocking structure, the end face of the unlocking structure facing away from the mounting structure is coplanar with the end face of the mounting structure facing the turntable; or, the end face of the unlocking structure facing away from the mounting structure is recessed inward relative to the side of the end face of the mounting structure facing the turntable that faces the mounting structure.

[0021] In conjunction with the first aspect, in one possible implementation, the locking device further includes a protective cover, which is fixedly connected to the mounting structure and forms a protective cavity and an insertion port communicating with the protective cavity. The pushing structure is movably disposed within the protective cavity, and the insertion port is used for inserting the connecting sleeve.

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

[0023] Secondly, this application provides a walking device, including a turntable and a locking device as described above, wherein the turntable and the locking device are detachably plugged into each other.

[0024] The locking device and walking equipment provided in this application are based on the following: 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 in 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 can be disengaged from the mounting structure by moving the unlocking structure once, thereby realizing the quick assembly and disassembly of the turntable and the mounting structure, improving the assembly efficiency and convenience of the turntable and the mounting structure. On the other hand, during the process of unlocking the turntable installed on the mounting structure, the turntable moves linearly without rotating, and the turntable does not perform a cutting action, so it will not cause harm to the user, thus improving the safety of the turntable disassembly. Attached Figure Description

[0025] Figure 1 This is a cross-sectional view of the walking device provided in the embodiments of this application.

[0026] Figure 2 This is an exploded view of the locking device and turntable of the walking device provided in the embodiments of this application.

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

[0028] Figure 4 yes Figure 3 Enlarged view of the locking device, drive device, and turntable I part of the walking device.

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

[0030] Figure 6 yes Figure 2 An enlarged view of a portion of the turntable structure of the walking device.

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

[0032] Key component symbols: Walking device - 1000; Turntable - 100; Locking groove - 1001; Guide slope - 1002; Guide groove - 1003; Conical opening - 1004; Through hole - 1005; Turntable body - 110; Functional component - 120; Connecting sleeve - 130; Drive device - 200; Driver - 210; Output shaft - 220; Mounting base - 230; Locking device - 300; Mounting structure - 10; Through hole - 101; Receiving cavity - 102; Through opening - 103; Mounting plate - 11; Mounting boss - 111; Anti-rotation hole - 1101; Enclosure - 1 2; Limiting structure - 13; Buffering structure - 14; Guide protrusion - 15; Limiting step - 16; Locking structure - 20; Unlocking structure - 30; Positioning structure - 301; Pushing structure - 40; Elastic element - 41; Pushing element - 42; Reset element - 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 detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0034] The following embodiments of this application will be described in conjunction with the accompanying drawings.

[0035] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the components are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the components are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of a plurality of components, that component is connected to the other components without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two components together. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0036] Please see Figure 1 , Figure 1This is a cross-sectional view of the walking device 1000 provided in an embodiment of this application. The walking device 1000 includes a turntable 100 and a locking device 300. The turntable 100 and the locking device 300 are detachably connected by plugging and unplugging. Thus, the turntable 100 can be disengaged from the locking device 300, facilitating cleaning, replacement, maintenance, and other operations of the turntable 100.

[0037] The walking device 1000 may include, but is not limited to, hand-held devices, riding devices, and fully automated intelligent devices, etc., and this application does not limit it in this regard. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground by being pushed by a user. Or, for example, the walking device 1000 has its own mobility. Specifically, the walking device 1000 includes drive wheels, and the walking device 1000 can move automatically on the ground through the drive wheels. The walking device 1000 can be configured as, but is not limited to, cleaning equipment, lawn mowing equipment, crop harvesting equipment, etc., and the embodiments of this application do not limit it.

[0038] It should be noted that, Figure 1 The purpose is merely to illustrate the arrangement between the turntable 100 and the locking device 300, and is not to specifically limit the connection positions, connection relationships and specific structures of each component. Figure 1 The structure of the walking device 1000 illustrated in this application embodiment is merely a schematic representation and does not constitute a specific limitation on the walking device 1000. In other embodiments of this application, the walking device 1000 may include... Figure 1 The components shown may include more or fewer components, or combinations 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, etc.

[0039] In some embodiments, the walking device 1000 further includes a drive device 200 that is pulverizedly connected to the locking device 300. The drive device 200 is used to drive the locking device 300 to rotate the turntable 100. Specifically, the drive device 200 includes a driver 210 and an output shaft 220 pulverizedly connected to the driver 210. The turntable 100 includes a turntable body 110 and a functional component 120 disposed on the turntable body 110. The turntable body 110 is detachably connected to the locking device 300, and the functional component 120 is disposed on the turntable body 110, so that the drive device 200 can drive the locking device 300 to rotate the turntable body 110 together with the functional component 120 mounted on the turntable body 110. The functional component 120 and the turntable body 110 can be integrally formed or detachably connected, which is not specifically limited in this embodiment.

[0040] In some embodiments, the drive unit 200 further includes a mounting base 230. The driver 210 is mounted within the mounting base 230, and the output shaft 220 rotatably passes through the mounting base 230 and is fixedly connected to the locking device 300. Thus, the mounting base 230 protects the driver 210 and facilitates its mounting on the body of the mobile device 1000. Of course, in some embodiments, the mounting base 230 may be omitted from the drive unit 200; in other words, the driver 210 is directly mounted on the body of the mobile device 1000.

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

[0042] Please refer to the following: Figures 1 to 2 , Figure 2 This is an exploded view of the locking device 300 and the turntable 100 of the walking device 1000 provided in the embodiments of this application; Figure 3 yes Figure 2 A cross-sectional view of the locking device 300, drive device 200, and turntable 100 of the walking device 1000 in the locked state; Figure 4 yes Figure 3 An enlarged view of the locking device 300, the drive device 200, and part I of the turntable 100 in the walking device 1000. Figure 5 yes Figure 2 The image shows a cross-sectional view of the locking device 300 and drive 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 pushing structure 40. The locking structure 20 is movably disposed on the mounting structure 10, allowing it to switch between a locked position S1 and an unlocked position S2. When the locking structure 20 moves to the locked position S1, it locks the turntable 100 onto the mounting structure 10. The unlocking structure 30 is movably disposed on the mounting structure 10. The pushing structure 40 pushes the locking structure 20 from the locked position S1 to the unlocked position S2. When the unlocking structure 30 is moved relative to the mounting structure 10 by an external force, the pushing structure 40 pushes the turntable 100 to move linearly along a first direction X, allowing the locking structure 20 to move from the locked position S1 to the unlocked position S2, thus unlocking the turntable 100 locked on the mounting structure 10.

[0043] The locking device 300 and the walking device 1000 provided in this application are based on the following: 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 locked position S1 to the unlocked 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 the quick disassembly and assembly of the turntable 100 and the mounting structure 10, improving the assembly efficiency and convenience of the turntable 100 and the mounting structure 10. On the other hand, during the process of unlocking the turntable 100 installed on the mounting structure 10, the turntable 100 moves linearly without rotating, and the turntable 100 does not perform a cutting action, so as not to cause harm to the user, thus improving the safety of disassembling 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 the state where the turntable 100 cannot be removed from the locking device 300. The term "unlocked state" refers to the state where the turntable 100 can be removed from the locking device 300 and can be mounted on the locking device 300 along the first direction X.

[0045] For the sake of accuracy, all references to direction in this article should be expressed in terms of direction. Figure 3 For reference, the term "axial direction" as 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, i.e., the direction parallel to the insertion 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 X-axis is up); the term "radial direction" refers to the direction perpendicular to the central axis A of the output shaft 220 of the drive device 200, i.e., 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 Y-axis is left); the term "circumferential direction" refers to the direction surrounding the central axis A of the output shaft 220 of the drive device 200, i.e., 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 ease of description, the up-down, left-right, and front-back orientations in this application are relative positions and do not constitute a limitation. The axial direction, radial direction, and circumferential direction can be customized according to the specific structure of the product and the perspective presented in the drawings, and this application does not make specific limitations.

[0046] Please refer to the following: Figures 1 to 6 , Figure 6 yes Figure 2The diagram shows a partial enlarged view of the turntable 100 of the walking device 1000. The turntable 100 also includes a connecting sleeve 130 disposed at the center of the top of the turntable body 110. The turntable body 110 is provided with a through hole 1005 communicating with the inner cavity of the connecting sleeve 130. The mounting structure 10 can be sequentially inserted into the inner cavity of the connecting sleeve 130 and the through hole 1005. The mounting structure 10 is provided with a receiving cavity 102 and a through opening 103 communicating with the receiving cavity 102. The unlocking structure 30 is located in the receiving cavity 102 and is exposed on 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, thus improving the user experience; on the other hand, by setting the unlocking structure 30 inside the receiving cavity 102, the problem of the turntable 100 being unlocked from the mounting structure 10 due to accidental contact with the unlocking structure 30 is avoided, thus improving the safety of the locking device 300; furthermore, the connecting sleeve 130 is slidably fitted onto the outer wall of the mounting structure 10, and the mounting structure 10 can be sequentially 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, improving assembly efficiency and assembly yield.

[0047] For example, in this embodiment, a locking groove 1001 is provided on the inner sidewall of the connecting sleeve 130. When the pushing structure 40 abuts against the locking structure 20, a portion of the locking structure 20 disengages from the locking groove 1001; when the unlocking structure 30 abuts against the locking structure 20, a portion of the locking structure 20 engages with and is fixed in place by the locking groove 1001. Thus, because the locking groove 1001 is provided on the sidewall of the connecting sleeve 130, the locking groove 1001 does not simultaneously penetrate both the inner and outer sidewalls of the connecting sleeve 130, thereby giving the connecting sleeve 130 good structural strength. On the other hand, the locking groove 1001 can limit the depth to which the locking structure 20 is accommodated within the locking groove 1001, and the locking groove 1001 can also prevent obstacles outside the connecting sleeve 130 from entering the locking groove 1001, thereby reducing the risk of the locking structure 20 getting stuck.

[0048] Of course, in some embodiments, the connecting sleeve 130 is provided with a locking hole for engaging with the locking structure 20. The locking hole penetrates the inner and outer sidewalls of the connecting sleeve 130, thereby facilitating the machining and forming of the locking hole.

[0049] The number of locking slots 1001 corresponds one-to-one with the number of locking structures 20. For example, four locking slots 1001 and four locking structures 20 are provided. The four locking slots 1001 are spaced apart along the circumferential direction of the connecting sleeve 130 and are fixed in a one-to-one correspondence with the four locking structures 20. It should be noted that the number of locking slots 1001 and the number of locking structures 20 are for illustrative purposes only, and the embodiments of this application do not impose specific limitations. For example, the number of locking slots 1001 may be less than or more than the number of locking structures 20, and the number of locking slots 1001 may be one, two, three, or more than four, and the number of locking structures 20 may be one, two, three, or more than four.

[0050] The two sidewalls of the locking groove 1001 in the first direction X each extend outward relative to the bottom wall of the locking groove 1001. In other words, the two sidewalls of the locking groove 1001 in the first direction X each form an obtuse angle with the bottom wall of the locking groove 1001. As a result, the two sidewalls of the locking groove 1001 in the first direction X can guide the locking structure 20 into or out of the locking groove 1001, improving the assembly efficiency of the turntable 100 and the locking device 300.

[0051] The locking structure 20 is fixed in conjunction with the locking groove 1001. The two sidewalls of the locking groove 1001 in the second direction Y are respectively set perpendicular to the bottom wall of the locking groove 1001. Thus, the cooperation between the locking structure 20 and the locking groove 1001 can ensure that the turntable 100 will not detach 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 injury to the user and improve the safety of disassembling the turntable 100.

[0052] In some embodiments, the pushing structure 40 includes an elastic member 41 and a pushing member 42. The elastic member 41 abuts against the turntable 100 via the pushing member 42. When a portion of the locking structure 20 is engaged and fixed with the locking groove 1001, the elastic member 41 is in a compressed state and can provide a pushing force to the turntable 100 to disengage from the locking structure 20. Therefore, on the one hand, the elastic element 41 can push the abutment 42 during the disassembly of the turntable 100 to push the turntable 100 out of the mounting structure 10, making disassembly convenient; on the other hand, the elastic element 41 can return the abutment 42 to its initial position, so that the elastic element 41 can be elastically deformed when the turntable 100 is locked on the mounting structure 10 again; furthermore, the abutment 42 can provide uniform guidance for the turntable 100 and the elastic element 41 and act as a barrier against foreign objects, preventing foreign objects from entering the elastic element 41 and weakening its elastic function, preventing foreign objects from jamming the locking structure 20, and preventing increased friction between the elastic element 41 and the mounting structure 10, which would generate excessive noise.

[0053] For example, in this embodiment, the pushing structure 40 can be configured as a ring structure and slidably sleeved on the outer side of the surrounding plate 12. Therefore, the load applied by the pushing 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 member 41's elastic expansion and contraction. Of course, in some embodiments, the pushing structure 40 can also be configured as an arc-shaped structure. The number of arc-shaped structures is the same as the number of locking structures 20, and they are arranged in a one-to-one correspondence. The pushing structure 40 and the elastic member 41 are independently arranged and abut against each other. The pushing structure 40 and the elastic member 41 can also be fixedly connected.

[0054] In some embodiments, the pushing structure 40 is configured as an elastic element 41. Specifically, the pushing structure 40 may omit the pushing element 42. In other words, the pushing structure 40 only includes the elastic element 41. The elastic element 41 elastically abuts against the turntable 100. When a portion of the locking structure 20 is engaged and fixed with the locking groove 1001, the elastic element 41 is in a compressed state and can provide a pushing force to the turntable 100 to disengage from the locking structure 20. Thus, the elastic element 41 is sleeved on the outer wall of the mounting structure 10 and slides against the outer wall of the mounting structure 10. Therefore, when the elastic element 41 provides a pushing force to the turntable 100 to disengage from the locking structure 20, it can push the locking structure 20 from the locked position S1 to the unlocked position S2, thereby pushing the turntable 100 off the mounting structure 10 for easy disassembly.

[0055] In some embodiments, at least one of the sidewall of the pushing structure 40 facing the locking structure 20, the sidewall of the unlocking structure 30 facing the locking structure 20, and the groove sidewall of the locking groove 1001 is provided with a guide ramp 1002. The guide ramp 1002 is used to guide the locking structure 20 to move relative to the mounting structure 10. This facilitates the movement of the unlocking structure 30, the pushing structure 40, and the turntable 100, allowing the guide ramp 1002 to push the locking structure 20 to move relative to the mounting structure 10, preventing jamming with the locking structure 20, and improving the smoothness and convenience of assembly. Specifically, the guide ramp 1002 is used to abut against the locking structure 20 and is set at an angle to the rotation axis of the turntable 100. The guide ramp can be configured as an ramp or a plane.

[0056] One of the inner wall of the connecting sleeve 130 and the outer wall of the mounting structure 10 is provided with a guide groove 1003, and the other of the inner wall of the connecting sleeve 130 and the outer wall of the mounting structure 10 is provided with a guide protrusion 15 that mates with the guide groove 1003. The extending direction of the guide groove 1003 is parallel to the first direction X. Therefore, on the one hand, the engagement of the guide protrusion 15 with the guide groove 1003 ensures that the turntable 100 will not detach from the mounting structure 10 along the axial direction of the turntable 100, and on the other hand, prevents the turntable 100 from rotating relative to the mounting structure 10, avoiding injury to the user from a rotating turntable 100, and improving the safety of disassembling the turntable 100. Exemplarily, in this embodiment, the inner wall of the connecting sleeve 130 is provided with a guide groove 1003, and the outer wall of the mounting structure 10 is provided with a guide protrusion 15 that mates with the guide 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 pushing structure 40. Thus, on the one hand, the guide protrusion 15 can prevent the pushing structure 40 from exceeding the set movement range and disengaging from the mounting structure 10, improving the repeatability and reliability of the pushing structure 40; on the other hand, the guide protrusion 15 can also improve the positioning accuracy of the pushing structure 40 relative to the mounting structure 10, and enable the pushing structure 40 to abut against the turntable 100 when the locking device 300 is locked.

[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 communicating with the protective cavity 701. The elastic member 41 and the pushing structure 40 are movably disposed within the protective cavity 701, and the insertion port 702 is used for inserting the turntable 100. Thus, on the one hand, it prevents the user from operating the elastic member 41 and the pushing 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 pushing structure 40, improving the smoothness and reliability of the movement of the pushing structure 40. The guide protrusion 15 can also be disposed on the inner sidewall of the protective cover 70; or, some of the guide protrusions 15 can be disposed on the inner sidewall of the protective cover 70, and the remaining part of the guide protrusions 15 can be disposed on the inner sidewall of the protective cover 70.

[0059] In other embodiments, one of the inner wall of the protective cover 70 and the outer wall of the connecting sleeve 130 is provided with a guide groove 1003, and the other of the inner wall of the protective cover 70 and the outer wall of the connecting sleeve 130 is provided with a guide protrusion 15 that mates with the guide groove 1003. The extending direction of the guide groove 1003 is parallel to the first direction X. Thus, on the one hand, the engagement of the guide protrusion 15 and the guide groove 1003 ensures that the turntable 100 will not detach from the mounting structure 10 along the axial direction of the turntable 100, and on the other hand, prevents the turntable 100 from rotating relative to the mounting structure 10, avoiding injury to the user from a rotating turntable 100, and improving the safety of disassembling 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 mutually engaging guide protrusions 15 and guide grooves 1003.

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

[0061] In this 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 disposed opposite to each other. The connecting end 71 is located at one end of the protective cover 70 facing away from the insertion port 702 and is fixedly connected to the mounting structure 10. The free end 72 is connected to the periphery of the connecting end 71 and forms the insertion port 702 with the mounting structure 10 on the side facing away from the free end 72. A mounting boss 111 of the mounting structure 10 passes through the connecting end 71 and is fixedly connected to the output shaft 220. In some embodiments, the mounting boss 111 may be omitted, i.e., the output shaft 220 passes through the protective cover 70 and is fixedly connected to the mounting boss 111.

[0062] In some embodiments, the guide protrusion 15 extends along the direction of movement of the push-back structure 40 relative to the mounting structure 10 and is used to engage with the guide groove 1003 provided on the turntable 100. Thus, on the one hand, the engagement of the guide protrusion 15 and the guide groove 1003 can guide the turntable 100, thereby improving the reliability and stability of the turntable 100's movement relative to the mounting structure; on the other hand, the engagement of the guide protrusion 15 and the guide groove 1003 can prevent the turntable 100 from rotating relative to the mounting structure 10, avoiding injury to the user from a rotating turntable 100 and improving the safety of disassembling the turntable 100.

[0063] The guide groove 1003 has a tapered opening 1004 at its end near the mounting structure 10. The tapered opening 1004 helps the guide protrusion 15 automatically align with the center position, reducing deviation. The tapered opening 1004 allows the guide protrusion 15 to enter gradually from wide to narrow, reducing initial resistance and making insertion smoother. The tapered opening 1004 also simplifies the assembly process, eliminating the need for precise alignment and improving operational efficiency. Furthermore, the tapered opening 1004 prevents the guide protrusion 15 from directly colliding with the edge of the guide groove 1003, reducing damage to components and equipment.

[0064] In this embodiment, multiple locking structures 20 and guide protrusions 15 are provided, and the multiple locking structures 20 and multiple guide protrusions 15 are spaced apart along the circumferential direction of the surrounding plate 12. On the projection plane perpendicular to the axis of the surrounding plate 12, the locking structures 20 and guide protrusions 15 are spaced apart. This avoids interference between the turntable 100 and the mounting structure 10 during the mating connection process. On the other hand, the spaced arrangement of the locking structures 20 and guide protrusions 15 along the circumferential direction of the surrounding plate 12 results in a compact structure and ensures precise alignment between the locking structures 20 and the locking groove 1001, improving assembly yield and assembly efficiency.

[0065] In this embodiment, for example, the mounting structure 10 is provided with a through hole 101 extending along the second direction Y, and the locking structure 20 is movably disposed within the through hole 101. Thus, the through hole 101 provides guidance for the movement of the locking structure 20, 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 disposed within the through hole 101 along the second direction Y. The second direction Y forms an angle with the first direction X. Alternatively, the second direction Y may form a right angle with the first direction X, i.e., the second direction Y is perpendicular to the first direction X.

[0066] Of course, in some embodiments, the end of the mounting structure 10 near the turntable 100 is provided with a movable groove, which penetrates the inner and outer sidewalls 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] For example, 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 with the locking groove 1001 for fixation. 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 can be disengaged from the mounting structure 10 by a single pressing mechanism, thereby achieving quick assembly and disassembly of the turntable 100 and the mounting structure 10, 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, reducing the production cost and size of the locking device 300.

[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 power to move the unlocking structure 30 relative to the mounting structure 10 in a first direction X towards a first position P1. Thus, on the one hand, the elastic force generated by the reset member 60 can push the unlocking structure 30 during the mounting of the turntable 100, thereby pushing the locking structure 20 from the mounting structure 10 in a second direction Y to the side opposite to the unlocking structure 30, improving the locking structure 20's ability to securely lock the turntable 100 onto the mounting structure 10; on the other hand, the reset member 60 can return the unlocking structure 30 to the first position P1, i.e., the initial position, facilitating the elastic deformation of the reset member 60 when the turntable 100 is unlocked again on the mounting structure 10.

[0069] In this embodiment, for example, the reset member 60 and the unlocking structure 30 are movably accommodated in the receiving cavity 102, with the reset member 60 disposed between the mounting plate 11 and the unlocking structure 30. Thus, the unlocking structure 30 and the reset member 60 are movably disposed within the receiving cavity 102 provided in the mounting structure 10. On the one hand, this avoids the problem of the turntable 100 unlocking from the mounting structure 10 due to accidental contact with the unlocking structure 30 by the user, 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 reset member 60's elastic expansion and contraction.

[0070] In some embodiments, the unlocking structure 30 can move from a first position P1 to a second position P2 under the action of an external force. The pushing member 42 can also move from a third position P3 to a fourth position P4 under the action of an external force. When the unlocking structure 30 is in the first position P1 and the pushing member 42 is in the fourth position P4, the pushing member 42 is used to abut against the turntable 100, the elastic member 41 is in a compressed state, and elastically abuts against the side of the pushing member 42 facing away from the turntable 100. Thus, on the one hand, the elastic member 41 can push against the pushing member 42 during the disassembly of the turntable 100 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 make the pushing member 42 return to the initial position, so that the elastic member 41 can be elastically deformed when the turntable 100 is locked on the mounting structure 10 again, and prevent foreign objects from entering the through hole 101 and jamming the locking structure 20. The end of the elastic member 41 facing away from the pushing 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 can be connected to the mounting structure 10.

[0071] Understandably, when the elastic element 41 is in a compressed state, the elastic force generated by the elastic element 41 is applied to the pushing element 42, so that the pushing element 42 can provide a thrust to the turntable 100 that can disengage from the locking element. Thus, after the unlocking structure 30 moves from the first position P1 to the second position P2, the reset element 60 is in a compressed state, and the elastic force generated by the elastic element 41 drives the pushing element 42 to push the turntable 100 off the mounting structure 10. The pushing element 42 moves from the fourth position P4 to the third position P3, and causes the turntable 100 to push the locking structure 20 and extend it out of the through hole 101 to the side close to the unlocking structure 30. At this time, the unlocking structure 30 is located in the second position P2, and the pushing element 42 is located in the third position P3. Understandably, during the process of locking the turntable 100 to the mounting structure 10, the turntable 100 is pushed by an external force, causing the pusher 42 to move from the third position P3 to the fourth position P4, resulting in elastic deformation of the elastic member 41. At this time, the reset member 60 gradually recovers its deformation and pushes the locking structure 20 out of the through hole 101 to the side near the turntable 100, locking it to the turntable 100. At this time, the unlocking structure 30 is in the first position P1, and the pusher 42 is in the fourth position P4.

[0072] In this embodiment, the elastic element 41 and the reset element 60 are each configured as springs. In some embodiments, the elastic element 41 and the reset element 60 may also be configured as sheet springs, elastomers, or other elastic structures, which are not specifically limited in this application.

[0073] In some embodiments, in the second direction Y, the radial cross-sectional area of ​​the through hole 101 gradually decreases from the arrangement direction of the pushing structure 40 to the unlocking structure 30, and the orthogonal projection of the locking structure 20 in the axial direction of the through hole 101 is located outside the orthogonal projection of the opening of the through hole 101 near 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 pushing structure 40. This prevents the locking structure 20 from falling into the interior of the mounting structure 10 from the through hole 101, improving the reliability of the connection between the locking structure 20 and the mounting structure 10, while ensuring that the locking structure 20 can protrude from the interior of the mounting structure 10 under the pushing of the pushing structure 40, thereby achieving unlocking between the turntable 100 and the mounting structure 10.

[0074] Of course, in some other embodiments, the mounting structure 10 may also be provided with a limiting boss in the through hole 101. The limiting boss is used to limit the range of motion of the locking structure 20 in the through hole 101, to prevent the locking structure 20 from slipping out of the through hole 101, and to improve the reliability of the connection between the locking structure 20 and the mounting structure 10.

[0075] In some embodiments, when the locking structure 20 disengages from the locking groove 1001, the pushing structure 40 covers the through hole 101. Thus, on the one hand, the pushing structure 40 can prevent foreign objects from entering the through hole 101, preventing them from jamming the locking structure 20; on the other hand, it ensures that the pushing structure 40 can push the locking structure 20 into the interior of the mounting structure 10, achieving the locking structure 20 being clamped between the unlocking structure 30 and the pushing structure 40. Specifically, in this embodiment, when the locking structure 20 disengages from the locking groove 1001, the pushing member 42 can move to the 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 face of the pushing structure 40 near the turntable 100 is located below the lower edge of the through hole 101; or, the end face of the pushing structure 40 near the turntable 100 is flush with the lower edge of the through hole 101, so that the pushing structure 40 can block foreign objects from entering the through hole 101 and prevent foreign objects from jamming the locking structure 20.

[0077] When the locking structure 20 is disengaged from the locking groove 1001, the pushing structure 40 can cover part or all of the through hole 101. Of course, in some embodiments, when the locking structure 20 is disengaged from the locking groove 1001, the pushing structure 40 can be located outside the area corresponding to the through hole 101, and this application embodiment does not make specific limitations.

[0078] For example, in this embodiment, the unlocking structure 30 is disposed inside the mounting structure 10, and the pushing structure 40 is disposed outside the mounting structure 10. Therefore, the arrangement between the mounting structure 10, the unlocking structure 30, and the pushing structure 40 is reasonable, facilitating the user to unlock the turntable 100 locked on the mounting structure 10, and reducing the risk of accidental 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 pushing structure 40 may be disposed inside the mounting structure 10.

[0079] Specifically, and exemplary, in this embodiment, the mounting structure 10 includes a mounting plate 11 and a surrounding plate 12. The mounting plate 11 and the surrounding plate 12 are connected to form a receiving cavity 102. The surrounding plate 12 is provided with a through hole 101 communicating with the receiving cavity 102. The unlocking structure 30 is disposed against the inner sidewall of the surrounding plate 12, and the pushing structure 40 is disposed against the outer sidewall 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 pushing structure 40 can push the locking structure 20 out from the corresponding side of the through hole 101 during the movement of the relative mounting structure 10, thereby realizing the locking and unlocking operation of the turntable 100. The structure is simple and improves the assembly efficiency and assembly convenience. On the other hand, the unlocking structure 30 is set against the inner side wall of the enclosure 12, and the pushing structure 40 is set against the outer side wall of the enclosure 12. Thus, the enclosure 12 can guide the movement of the unlocking structure 30 and the pushing structure 40, improving the reliability and stability of the movement of the unlocking structure 30 and the pushing structure 40 relative to the mounting structure 10.

[0080] It should be noted that the term "abutting" refers to one component being tightly adjacent to another, i.e., one component abutting against another; or, one component being close to another, i.e., there is a gap between the two components, and the gap is within a preset range and relatively small. For example, the abutting arrangement of the pushing structure 40 and the outer wall of the enclosure 12 can mean that the inner wall of the pushing structure 40 abuts against the outer wall of the enclosure 12, or that the inner wall of the pushing structure 40 and the outer wall of the enclosure 12 are close together with a gap.

[0081] In some embodiments, the pushing structure 40 slidably abuts against the outer wall of the mounting structure 10 along the first direction X; the unlocking structure 30 slidably abuts against the inner 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 pushing member 42 slidably abuts against the outer wall of the enclosure 12 along the first direction X, and the unlocking structure 30 slidably abuts against the inner wall of the enclosure 12 along the first direction X.

[0082] In some other embodiments, the unlocking structure 30 is screwed to the inner sidewall of the mounting structure 10 along the first direction X. When the unlocking structure 30 and the mounting structure 10 are connected by screwing, 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 refer to the following: Figure 4 and Figure 7 , Figure 7 yes Figure 2 The image shows an enlarged view of a partial structure of the locking device 300 of the walking device 1000. Exemplarily, in this embodiment, the mounting plate 11 is fixedly connected to the output shaft 220 of the drive device 200. Specifically, a mounting boss 111 is provided on the side of the mounting plate 11 facing away from the enclosure plate 12. The fixed connection between the output shaft 220 of the drive device 200 and the mounting boss 111 facilitates the alignment and assembly of the drive device 200 and the locking device 300. The mounting boss 111 also increases the connection length between the output shaft 220 and the mounting boss 111, reducing the swaying of the output shaft 220 relative to the mounting structure 10 and improving 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 are not limited to, fixedly connected by a locking structure. The mounting boss 111 is provided with an anti-rotation hole 1101, which the output shaft 220 engages with. The anti-rotation hole 1101 communicates with the receiving cavity 102, thereby facilitating the locking structure to pass through the receiving cavity 102 into the anti-rotation hole 1101 and lock onto the output shaft 220, improving aesthetics and preventing the locking structure from falling off. The anti-rotation hole 1101 can be configured as, but is not limited to, an oblong hole, a triangular hole, a trapezoidal hole, a polygonal hole, etc. The surrounding plate 12 is configured as a hollow cylindrical structure. The surrounding plate 12 is connected to the four edges of the mounting plate 11. The unlocking structure 30 is also configured as a cylindrical structure and is slidably received within the receiving 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 unlocking structure 30 is provided with a positioning structure 301 for the positioning reset member 60. Thus, the positioning structure 301 provides precise positioning for the reset member 60, preventing displacement or detachment during use, ensuring the reset member 60 is always in the correct position, and limiting 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, i.e., the reset member 60 elastically abuts between the mounting structure 10 and the unlocking structure 30.

[0085] In some embodiments, the inner wall of the mounting structure 10 is provided with a limiting structure 13, which limits the movement stroke of the unlocking structure 30. This prevents the unlocking structure 30 from exceeding its set movement range and disengaging from the mounting structure 10, improving the repeatability and reliability of the unlocking structure 30; it also improves the positioning accuracy of the unlocking structure 30 relative to the mounting structure 10. Exemplarily, in this embodiment, the inner wall of the enclosure 12 is provided with the limiting structure 13.

[0086] In some embodiments, the locking device 300 further includes a buffer structure 14. The unlocking structure 30 abuts against the limiting structure 13 via the buffer structure 14. Thus, the buffer structure 14 can absorb the impact or vibration generated by the movement of the unlocking structure 30 relative to the mounting structure 10, extending the service life of the locking device 300. Furthermore, the buffer structure 14 facilitates the installation of the reset member 60, the unlocking structure 30, and the buffer structure 14 within the receiving cavity 102 of the mounting structure 10. The buffer structure 14 can be configured as, but is not limited to, a rubber ring, a damper, a foam structure, or a carbon fiber structure, etc. Specifically, the mounting structure 10 has a limiting step 16 within the receiving 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, meaning the buffer structure 14 can also directly overlap the limiting structure 13 and stop against the unlocking structure 30, thereby preventing the unlocking structure 30 from disengaging from its alignment with the mounting structure 10.

[0087] For example, in this embodiment, when the limiting structure 13 abuts against the unlocking structure 30, the end face of the unlocking structure 30 facing away from the reset member 60 is recessed relative to the end face of the mounting structure 10 facing the turntable 100. In some embodiments, when the limiting structure 13 abuts against the unlocking structure 30, the end face of the unlocking structure 30 facing away from the reset member 60 is coplanar with the end face of the mounting structure 10 facing the turntable 100. This avoids the unlocking structure 30 protruding relative to the turntable 100, reducing the risk of stones hitting the unlocking structure 30 and accidentally dislodging the turntable 100. In other embodiments, when the limiting structure 13 abuts against the unlocking structure 30, the end face of the unlocking structure 30 facing away from the reset member 60 protrudes outward by a predetermined length relative to the end face of the mounting structure 10 facing the turntable 100. The protruding length of the unlocking structure 30 relative to the mounting structure 10 is within a preset length range, which can also reduce 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 or a combination of at least two of the following: a spherical structure, a cylindrical structure, a hemispherical structure, and a semi-cylindrical structure. This application embodiment does not impose specific limitations. For example, in this embodiment, the structure to be locked 20 is configured as a spherical structure, which is simple in structure, easy to manufacture, and avoids the problem of the locking structure 20 getting stuck, thus improving the reliability and stability of the locking structure 20 moving within the through hole 101.

[0089] The above description is merely a specific implementation of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A locking device, characterized in that include: Installation structure; A locking structure is movably disposed on the mounting structure so that the locking structure can switch between a locked position and an unlocked position. When the locking structure is moved to the locked position, the locking structure is used to lock the turntable onto the mounting structure. An unlocking structure, which is movably disposed on the mounting structure; A push-off structure, the push-off structure being used to push the locking structure from the locked position to the unlocked position; When the unlocking structure moves relative to the mounting structure under external force, the pushing structure can push the turntable to move linearly in the first direction, and the locking structure can move from the locked position to the unlocked position, thereby unlocking the turntable locked on the mounting structure. The turntable includes a turntable body and a connecting sleeve disposed at the center of the top of the turntable body. The turntable body is provided with a through hole communicating with the inner cavity of the connecting sleeve. The mounting structure can be sequentially inserted into the inner cavity of the connecting sleeve and the through hole. The mounting structure is provided with a receiving cavity and a through port communicating with the receiving cavity. The unlocking structure is located in the receiving cavity and is exposed on the side of the turntable body away from the connecting sleeve through the through port and the through hole.

2. The locking device according to claim 1, characterized in that, The inner wall of the connecting sleeve is provided with a locking groove. When the pushing structure abuts against the locking structure, a part of the locking structure disengages from the locking groove. When the unlocking structure abuts against the locking structure, a portion of the locking structure engages with and is fixed in place by the locking groove.

3. The locking device according to claim 2, characterized in that, The pushing structure is configured as an elastic element; or, the pushing structure includes an elastic element and a pushing element, wherein the elastic element abuts against the turntable through the pushing element, and when a portion of the locking structure is fixed in conjunction with the locking groove, the elastic element is in a compressed state and can provide the turntable with a thrust that can disengage from the locking structure.

4. The locking device according to claim 2, characterized in that, At least one of the sidewall of the pushing structure facing the locking structure, the sidewall of the unlocking structure facing the locking structure, and the groove sidewall of the locking groove is provided with a guide slope, which is used to guide the locking structure to move relative to the mounting structure.

5. The locking device according to claim 2, characterized in that, One of the inner sidewall of the connecting sleeve and the outer sidewall of the mounting structure is provided with a guide groove, and the other of the inner sidewall of the connecting sleeve and the outer sidewall of the mounting structure is provided with a guide protrusion that cooperates with the guide groove. The extension direction of the guide groove is parallel to the first direction.

6. The locking device according to claim 5, characterized in that, The outer wall of the mounting structure is provided with the guide protrusion, which can be used to limit the movement of the pushing structure relative to the mounting structure in the first direction.

7. The locking device according to claim 6, characterized in that, The locking structure and the guide protrusion are each configured in multiple ways, and the multiple locking structures and the multiple guide protrusions are each spaced apart on the mounting structure. On the projection plane perpendicular to the first direction, the locking structure and the guide protrusion are spaced apart.

8. The locking device according to claim 2, characterized in that, The mounting structure is provided with a through hole, which extends along a second direction, and the locking structure is movably disposed in the through hole.

9. The locking device according to claim 8, characterized in that, When the unlocking structure is moved to the first position relative to the mounting structure, the unlocking structure is located on the first side of the through hole and abuts against the locking structure, and the locking structure protrudes from the second side of the through hole and is used to cooperate with the locking groove for fixation; when the unlocking structure is moved to the 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.

10. The locking device according to claim 9, characterized in that, The locking device further includes a reset member disposed between the unlocking structure and the mounting structure, the reset member being used to provide power to move the unlocking structure relative to the mounting structure toward the first position in the first direction.

11. The locking device according to claim 8, characterized in that, In the second direction, the radial cross-sectional area of ​​the through hole gradually decreases from the arrangement direction of the pushing structure to the unlocking structure, and the positive projection portion of the locking structure in the axial direction of the through hole is located outside the positive projection of the opening of the through hole near 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.

12. The locking device according to claim 8, characterized in that, When the locking structure disengages from the locking groove, the pushing structure covers the through hole.

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

14. The locking device according to claim 13, characterized in that, The pushing structure is slidably abutted against the outer wall of the mounting structure along the first direction; the unlocking structure is slidably abutted 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.

15. The locking device according to claim 13, characterized in that, The inner wall of the mounting structure is provided with a limiting structure, which is used to limit the movement of the unlocking structure.

16. The locking device according to claim 15, characterized in that, When the limiting structure abuts against the unlocking structure, the end face of the unlocking structure facing away from the mounting structure is coplanar with the end face of the mounting structure facing the turntable; or, the end face of the unlocking structure facing away from the mounting structure is recessed inward relative to the side of the end face of the mounting structure facing the turntable that faces the mounting structure.

17. The locking device according to claim 2, characterized in that, The locking device further includes a protective cover, which is fixedly connected to the mounting structure and forms a protective cavity and an insertion port communicating with the protective cavity. The pushing structure is movably disposed in the protective cavity, and the insertion port is used for inserting the connecting sleeve.

18. The locking device according to any one of claims 1-17, characterized in that, The locking structure is configured as at least one or a combination of at least two of the following: spherical structure, cylindrical structure, prismatic structure, hemispherical structure, semi-cylindrical structure, and semi-prismatic structure.

19. A walking device, characterized in that, It includes a turntable and a locking device as described in any one of claims 1-18, wherein the turntable and the locking device are detachably plugged into each other.

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