Shell sealing structure, laser radar and walking device

Abstract

The application relates to the technical field of shell sealing, and particularly discloses a shell sealing structure, a laser radar and a walking device. The shell sealing structure comprises a first shell, a second shell and an elastic sealing piece. The first shell is provided with a joint part and a first clamping part, and the first clamping part is connected to one side of the joint part. The second shell is provided with a joint groove and a second clamping part. The joint groove is configured to allow the joint part to be inserted, and the second clamping part is configured to be buckled with the first clamping part. The elastic sealing piece is arranged between the joint part and the joint groove. When the first shell and the second shell are sealingly connected in the shell sealing structure, the joint part compresses the elastic sealing piece between the joint part and the joint groove after the first clamping part is buckled with the second clamping part. Therefore, the first shell and the second shell do not need to be provided with bolt mounting structures for compressing the elastic sealing piece, so that the size is reduced. In addition, the shell sealing structure has fewer structural parts, and the cost and maintenance difficulty are reduced.

Description

Technical Field

[0001] This application relates to the field of housing sealing technology, specifically to a housing sealing structure, a lidar, and a walking device. Background Technology

[0002] Currently, for products such as lidar and sensors, in order to facilitate the placement of electronic components inside the housing and reduce mold costs, the product is usually made into multiple housings, and these multiple housings are sealed and connected during final assembly.

[0003] When sealing multiple housings, a sealing ring is typically placed between two housings to be connected, and then bolts and a pressure ring are used to press the two housings together. However, this method requires separate bolt mounting structures, such as connecting lugs, on the housings, resulting in a larger size of the sealed structure formed after assembly. In addition, this method uses a large number of structural components, thus increasing cost and maintenance difficulty. Utility Model Content

[0004] In view of the above, it is necessary to provide a housing sealing structure, a lidar, and a walking device to reduce size, cost, and maintenance difficulty.

[0005] In a first aspect, embodiments of this application provide a housing sealing structure, comprising: a first housing having a connecting portion and a first snap-fit ​​portion, the first snap-fit ​​portion being connected to one side of the connecting portion; a second housing having a connecting groove and a second snap-fit ​​portion, the connecting groove being configured for insertion of the connecting portion, the second snap-fit ​​portion being configured to engage with the first snap-fit ​​portion; and an elastic sealing member disposed between the connecting portion and the connecting groove.

[0006] In some embodiments, the second housing has an insertion interface, the connecting portion is inserted into the insertion interface, the inner wall of the insertion interface has a stepped groove, the stepped groove communicates with the side wall of the second housing where the insertion interface is located, the stepped groove has a first groove wall and a second groove wall, the first groove wall faces the entrance of the insertion interface, the second groove wall is adjacent to the first groove wall, the connecting groove is located in the first groove wall, the second snap-fit ​​portion is located in the second groove wall, and the first snap-fit ​​portion is located on the side of the connecting portion facing the second groove wall.

[0007] In some embodiments, the first snap-fit ​​portion is a protruding structure, the second snap-fit ​​portion is a slot structure, and the first snap-fit ​​portion has a guide surface located on the side of the first snap-fit ​​portion facing the engagement slot.

[0008] In some embodiments, the first latching portion is a slot structure, the second latching portion is a protrusion structure, and the second latching portion has a guide surface located on the side of the second latching portion facing the inlet of the insertion interface.

[0009] In some embodiments, the first snap-fit ​​portion is a protruding structure, the second snap-fit ​​portion is a slot structure, and the second slot wall is further provided with a guide groove. One end of the guide groove is connected to the second snap-fit ​​portion, and the other end of the guide groove is connected to the side wall of the second housing where the insertion interface is located.

[0010] In some embodiments, the connecting portion is provided with a stop protrusion, the stop protrusion and the first snap-fit ​​portion are located on the same side of the connecting portion, and the stop protrusion is located on the side of the first snap-fit ​​portion away from the connecting groove, the stop protrusion is used to abut against the side wall of the second housing where the insertion interface is opened.

[0011] In some embodiments, a stepped groove is formed on the periphery of one end of the second housing near the first housing. The stepped groove communicates with the side of the second housing facing the first housing. The stepped groove has a first groove wall and a second groove wall. The first groove wall faces the first housing, and the second groove wall is adjacent to the first groove wall. The connecting groove is formed on the first groove wall, and the second snap-fit ​​portion is provided on the second groove wall. The first snap-fit ​​portion is provided on the side of the connecting portion facing the second groove wall.

[0012] In some embodiments, the mating groove is an adhesive groove, and the elastic seal is a sealant.

[0013] Based on the first aspect, the housing sealing structure of this application embodiment comprises a first housing, a second housing, and an elastic sealing element. The first housing has a connecting portion and a first snap-fit ​​portion, while the second housing has a connecting groove and a second snap-fit ​​portion. When the first housing and the second housing are sealed together, the elastic sealing element is placed in the connecting groove, then the connecting portion is inserted into the connecting groove, and the first snap-fit ​​portion engages with the second snap-fit ​​portion. Since the engaging portion presses the elastic sealing element between the connecting portion and the connecting groove, neither the first nor the second housing needs a corresponding bolt mounting structure to press the elastic sealing element, thus reducing the size of the housing sealing structure. Furthermore, the housing sealing structure of this application embodiment has fewer structural components and is easy to assemble, thereby reducing cost and maintenance difficulty.

[0014] Secondly, embodiments of this application also provide a lidar, including the housing sealing structure described in the above embodiments.

[0015] Based on the second aspect, the lidar in this application embodiment reduces its size, lowers its cost, and reduces maintenance difficulty by setting a sealed housing structure.

[0016] Thirdly, this application also provides a walking device, including the lidar described in the above embodiments.

[0017] Based on the third aspect, the walking device of this application embodiment, by providing a lidar including the above-mentioned housing sealing structure, facilitates the installation of lidar in a smaller installation space and reduces costs and maintenance difficulties. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the lidar provided in the first embodiment of this application.

[0019] Figure 2 yes Figure 1 The diagram shows a partial exploded view of the lidar.

[0020] Figure 3 yes Figure 1 The diagram shows a cross-sectional view of the lidar along the III-III direction.

[0021] Figure 4 yes Figure 3 An enlarged schematic diagram of region A in the middle.

[0022] Figure 5 This is a partial cross-sectional schematic diagram of the lidar provided in the second embodiment of this application.

[0023] Figure 6 This is a partial cross-sectional schematic diagram of the lidar provided in the third embodiment of this application.

[0024] Key component symbols: LiDAR 100, housing sealing structure 10, first housing 11, joint 111, first snap-fit ​​part 112, guide surface 1121, stop protrusion 113, second housing 12, joint groove 121, second snap-fit ​​part 122, insertion interface 123, inlet 1231, stepped groove 124, first groove wall 1241, second groove wall 1242, guide groove 125, base 13, elastic seal 14, sealing ring 15, optomechanical module 20, scanning motor 30. Detailed Implementation

[0025] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0026] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0029] Please see Figure 1 This application provides a housing sealing structure 10, which is applied to a lidar 100. Of course, in other embodiments, the housing sealing structure 10 can also be applied to other products such as photoelectric sensors, and this application does not specifically limit this application.

[0030] Please see Figure 1 , Figure 2 and Figure 3 In this embodiment, the housing sealing structure 10 includes a first housing 11, a second housing 12, and an elastic sealing element 14.

[0031] The first housing 11 is provided with a connecting portion 111 and a first snap-fit ​​portion 112, the first snap-fit ​​portion 112 being connected to one side of the connecting portion 111.

[0032] The second housing 12 is provided with a connecting groove 121 and a second snap-fit ​​portion 122. The connecting groove 121 is configured to allow the connecting portion 111 to be inserted, and the second snap-fit ​​portion 122 is configured to engage with the first snap-fit ​​portion 112.

[0033] The elastic seal 14 is disposed between the joint 111 and the joint groove 121.

[0034] When the first housing 11 and the second housing 12 are sealed together, the elastic sealing element 14 is placed in the mating groove 121, and then the mating part 111 is inserted into the mating groove 121, and the first snap-fit ​​part 112 and the second snap-fit ​​part 122 are engaged. Since the engagement of the first snap-fit ​​part 112 and the second snap-fit ​​part 122 causes the mating part 111 to press the elastic sealing element 14 between the mating part 111 and the mating groove 121, neither the first housing 11 nor the second housing 12 needs to have a corresponding bolt mounting structure (not shown) to press the elastic sealing element 14, thus reducing the size of the housing sealing structure 10. Furthermore, since the housing sealing structure 10 has fewer structural components and is easy to assemble, it reduces cost and maintenance difficulty.

[0035] In this embodiment, the first housing 11 is the light window of the lidar 100. The first housing 11 is made of light-transmitting materials, such as plastic or glass, which facilitates the optical engine module 20 installed in the first housing 11 to emit and receive lasers, and reduces the probability of dust, rainwater, salt spray, etc. entering the housing sealing structure 10.

[0036] In this embodiment, the first housing 11 is the middle housing of the lidar 100, and the second housing 12 is made of metal materials, such as stainless steel and aluminum, which helps to improve the structural strength of the housing sealing structure 10.

[0037] Please refer to the following: Figure 4 In the first embodiment, the second housing 12 has an insertion interface 123, and the connecting part 111 is inserted into the insertion interface 123. The inner wall of the insertion interface 123 has a stepped groove 124, which communicates with the side wall of the second housing 12 where the insertion interface 123 is located. The stepped groove 124 has a first groove wall 1241 and a second groove wall 1242. The first groove wall 1241 faces the entrance 1231 of the insertion interface 123, and the second groove wall 1242 is adjacent to the first groove wall 1241. The connecting groove 121 is located in the first groove wall 1241, and the second snap-fit ​​part 122 is located in the second groove wall 1242. The first snap-fit ​​part 112 is located on the side of the connecting part 111 facing the second groove wall 1242.

[0038] By providing an insertion interface 123 on the second housing 12 and a stepped groove 124 on the inner wall of the insertion interface 123, it is convenient to set the connecting groove 121 and the second snap-fit ​​part 122. In addition, by providing the first snap-fit ​​part 112 on the side of the connecting part 111 facing the second groove wall 1242, when the first snap-fit ​​part 112 snaps into the second snap-fit ​​part 122, the connecting part 111 abuts against the second groove wall 1242, thereby reducing the probability of the connecting part 111 shaking in the insertion interface 123, and thus improving the stability of the first housing 11 and the second housing 12 after sealing connection.

[0039] In the first embodiment, the second housing 12 is cylindrical, the connecting portion 111 extends along the axial direction of the second housing 12, and the second groove wall 1242 faces the axis of the second housing 12. This facilitates the insertion of the connecting portion 111 into the insertion interface 123 and facilitates the abutment of the connecting portion 111 with the second groove wall 1242.

[0040] In the first embodiment, the joint 111, the joint groove 121, and the elastic seal 14 are all annular, and the joint 111, the joint groove 121, the elastic seal 14, and the second housing 12 are coaxially arranged. Thus, when the joint 111 presses the elastic seal 14 into the joint groove 121, the elastic seal 14 seals the gap between the joint 111 and the joint groove 121 from all sides, thereby improving the sealing effect of the housing sealing structure 10.

[0041] In the first embodiment, the first latching portion 112 is a protruding structure, the second latching portion 122 is a latching groove structure, and the second groove wall 1242 is also provided with a guide groove 125 (e.g., Figure 2 As shown), one end of the guide groove 125 is connected to the second snap-fit ​​part 122, and the other end of the guide groove 125 is connected to the side wall of the second housing 12 with the insertion interface 123.

[0042] When the first housing 11 and the second housing 12 are sealed together, the first engaging portion 112 is moved into the guide groove 125 near one end of the second engaging portion 122. Then, the first housing 11 is rotated, and the first engaging portion 112 moves into the second engaging portion 122 and engages with it. When disassembling the first housing 11 and the second housing 12, the first housing 11 is rotated in the opposite direction, causing the first engaging portion 112 to move out of the second engaging portion 122 and into the guide groove 125. Then, the first housing 11 is moved away from the second housing 12, causing the first engaging portion 112 to move out of the guide groove 125. Thus, by providing the guide groove 125, the first engaging portion 112 and the second engaging portion 122 can be quickly engaged and disengaged.

[0043] In the first embodiment, the guide groove 125 extends axially along the second housing 12, and the extending direction of the guide groove 125 is perpendicular to the extending direction of the second snap-fit ​​portion 122. This helps to reduce the probability that the first snap-fit ​​portion 112 will disengage from the second snap-fit ​​portion 122 due to vibration, thereby improving the stability of the sealed connection between the first housing 11 and the second housing 12.

[0044] In some other embodiments, the angle between the extending direction of the guide groove 125 and the extending direction of the second snap-fit ​​portion 122 may also be an obtuse angle or an acute angle, and this application embodiment does not specifically limit this.

[0045] In the first embodiment, the connecting portion 111 is provided with a stop protrusion 113, the stop protrusion 113 and the first snap-fit ​​portion 112 are located on the same side of the connecting portion 111, and the stop protrusion 113 is located on the side of the first snap-fit ​​portion 112 away from the connecting groove 121. The stop protrusion 113 is used to abut against the side wall of the second housing 12 where the insertion interface 123 is opened.

[0046] When the joint 111 is inserted into the stepped groove 124 and the joint groove 121, the stop protrusion 113 abuts against the side wall of the second housing 12 where the insertion interface 123 is provided, thereby limiting the depth of the joint 111 inserted into the stepped groove 124 and the joint groove 121, and reducing the probability of the joint 111 shaking in the stepped groove 124 and the joint groove 121, thereby improving the accuracy and stability of the sealing connection between the first housing 11 and the second housing 12.

[0047] In the first embodiment, the stop protrusion 113 is also annular. Since the stop protrusion 113 abuts against the side wall of the second housing 12 where the insertion interface 123 is provided, the amount of water, oil vapor, etc., reaching the space between the second groove wall 1242 and the joint 111 through the gap between the stop protrusion 113 and the second housing 12 is reduced, thereby improving the sealing effect of the housing sealing structure 10.

[0048] In the first embodiment, the mating groove 121 is a glue groove, and the elastic seal 14 is a sealant.

[0049] When the first housing 11 and the second housing 12 are sealed together, sealant is first applied to the mating groove 121. Then, the mating part 111 is inserted into the mating groove 121, and the mating part 111 presses open the sealant, allowing the sealant to fully fill the gap between the mating part 111 and the mating groove 121. Finally, the first snap-fit ​​part 112 and the second snap-fit ​​part 122 are snapped together. This arrangement helps to further improve the sealing effect of the housing sealing structure 10.

[0050] In some other embodiments, the elastic seal 14 may also be a sealing ring, and this application does not specifically limit this embodiment.

[0051] In the first embodiment, the housing sealing structure 10 further includes a base 13 and a sealing ring 15. The base 13 is located at the end of the second housing 12 away from the first housing 11, and the sealing ring 15 is located between the base 13 and the second housing 12. The base 13 seals the end of the second housing 12 away from the first housing 11 through the sealing ring 15, thereby improving the sealing effect of the housing sealing structure 10.

[0052] In some other embodiments, the end of the second housing 12 away from the first housing 11 may also be a closed structure, and this application does not specifically limit this.

[0053] Please refer to the following: Figure 5In the second embodiment, a stepped groove 124 is provided on the periphery of one end of the second housing 12 near the first housing 11. The stepped groove 124 communicates with the side of the second housing 12 facing the first housing 11. The stepped groove 124 has a first groove wall 1241 and a second groove wall 1242. The first groove wall 1241 faces the first housing 11, and the second groove wall 1242 is adjacent to the first groove wall 1241. A connecting groove 121 is provided on the first groove wall 1241, and a second snap-fit ​​part 122 is provided on the second groove wall 1242. A first snap-fit ​​part 112 is provided on the side of the connecting part 111 facing the second groove wall 1242.

[0054] This also facilitates the setting of the mating groove 121 and the second snap-fit ​​part 122. Furthermore, when the first snap-fit ​​part 112 snaps into the second snap-fit ​​part 122, the mating part 111 also abuts against the second groove wall 1242, thereby reducing the probability of the mating part 111 shaking in the insertion interface 123, and thus improving the stability of the first housing 11 and the second housing 12 after sealing connection.

[0055] Understandably, in the second embodiment, the guide groove 125 and the stop protrusion 113 can also be provided, and the mating groove 121 can be provided as a glue groove, and the elastic seal 14 can be provided as sealant. The way the guide groove 125 and the stop protrusion 113 are provided is the same as that in the first embodiment, and will not be described again here.

[0056] Please refer to the following: Figure 6 In the third embodiment, the first snap-fit ​​portion 112 is a protruding structure, the second snap-fit ​​portion 122 is a slot structure, the first snap-fit ​​portion 112 has a guide surface 1121, and the guide surface 1121 is located on the side of the first snap-fit ​​portion 112 facing the engagement slot 121.

[0057] When the first engaging portion 112 engages with the second engaging portion 122, the connecting portion 111 inserts into the stepped groove 124. The guide surface 1121 abuts against the second groove wall 1242, causing the connecting portion 111 to deform. When the first engaging portion 112 moves to the position corresponding to the second engaging portion 122, the connecting portion 111 elastically recovers and drives the first engaging portion 112 into the second engaging portion 122. This design improves the ease of engaging the first engaging portion 112 with the second engaging portion 122, and eliminates the need for the guide groove 125, thereby reducing the processing cost of the second housing 12.

[0058] In the third embodiment, the guide surface 1121 can be a slope or an arc surface, and no specific limitation is made here.

[0059] Understandably, in the third embodiment, except for the structure of the first snap-fit ​​portion 112, the other structures of the housing sealing structure 10 can be the same as those in the first embodiment. Of course, the guide surface 1121 can also be applied to the first snap-fit ​​portion 112 in the second embodiment, which will not be described in detail here.

[0060] In some other embodiments, the first snap-fit ​​portion 112 may also be a slot structure. Correspondingly, the second snap-fit ​​portion 122 is a protrusion structure. The second snap-fit ​​portion 122 has a guide surface 1121, which is located on the side of the second snap-fit ​​portion 122 facing the entrance 1231 of the insertion interface 123.

[0061] When the first engaging portion 112 engages with the second engaging portion 122, the connecting portion 111 inserts into the stepped groove 124, and the guide surface 1121 abuts against the connecting portion 111, causing the connecting portion 111 to deform. When the first engaging portion 112 moves to a position corresponding to the second engaging portion 122, the connecting portion 111 elastically recovers and drives the first engaging portion 112 to move toward the second engaging portion 122, whereby the second engaging portion 122 inserts into the first engaging portion 112 and engages with it. This configuration also improves the ease of engaging the first engaging portion 112 with the second engaging portion 122, and eliminates the need for the guide groove 125, thereby reducing the processing cost of the second housing 12.

[0062] In summary, the housing sealing structure 10 of this application embodiment comprises a first housing 11, a second housing 12, and an elastic sealing member 14. The first housing 11 has a connecting portion 111 and a first snap-fit ​​portion 112, while the second housing 12 has a connecting groove 121 and a second snap-fit ​​portion 122. When the first housing 11 and the second housing 12 are sealed together, the elastic sealing member 14 is placed in the connecting groove 121, then the connecting portion 111 is inserted into the connecting groove 121, and the first snap-fit ​​portion 112 snaps into the second snap-fit ​​portion 122. Since the first snap-fit ​​portion 111 presses the elastic sealing member 14 between the connecting portion 111 and the connecting groove 121 after the first snap-fit ​​portion 112 snaps into the second snap-fit ​​portion 122, neither the first housing 11 nor the second housing 12 needs a corresponding bolt mounting structure to press the elastic sealing member 14, thus reducing the size of the housing sealing structure 10. Furthermore, the housing sealing structure 10 of this application embodiment has fewer structural components and is easy to assemble, thereby reducing cost and maintenance difficulty.

[0063] Please refer to it again. Figure 1 , Figure 2 and Figure 3 This application also provides a lidar 100, including the housing sealing structure 10 as described in the above embodiments.

[0064] The lidar 100 of this application embodiment reduces its size, lowers its cost, and reduces maintenance difficulty by setting the aforementioned housing sealing structure 10.

[0065] In this embodiment, the lidar 100 also includes an optomechanical module 20 and a scanning motor 30. The optomechanical module 20 and the scanning motor 30 are respectively disposed in the first housing 11 and the second housing 12, and the optomechanical module 20 and the scanning motor 30 are connected.

[0066] This application also provides a walking device (not shown), including the lidar 100 as described in the above embodiments.

[0067] The walking device of this application embodiment, by providing a lidar 100 including the above-mentioned housing sealing structure 10, facilitates the installation of the lidar 100 in a smaller installation space and reduces costs and maintenance difficulty.

[0068] In this embodiment, the walking device can be a lawnmower robot, a vehicle, etc., and this embodiment does not make specific limitations on it.

[0069] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A housing sealing structure, characterized in that, include: The first housing has a connecting portion and a first snap-fit ​​portion, wherein the first snap-fit ​​portion is connected to one side of the connecting portion; The second housing has a connecting groove and a second snap-fit ​​portion. The connecting groove is configured to allow the connecting portion to be inserted, and the second snap-fit ​​portion is configured to engage with the first snap-fit ​​portion. and An elastic seal is provided between the joint and the joint groove.

2. The housing sealing structure according to claim 1, characterized in that, The second housing has an insertion interface, and the connecting part is inserted into the insertion interface. The inner wall of the insertion interface has a stepped groove, which communicates with the side wall of the second housing where the insertion interface is located. The stepped groove has a first groove wall and a second groove wall. The first groove wall faces the entrance of the insertion interface, and the second groove wall is adjacent to the first groove wall. The connecting groove is located on the first groove wall, and the second snap-fit ​​part is located on the second groove wall. The first snap-fit ​​part is located on the side of the connecting part facing the second groove wall.

3. The housing sealing structure according to claim 2, characterized in that, The first snap-fit ​​portion is a protruding structure, the second snap-fit ​​portion is a slot structure, and the first snap-fit ​​portion has a guide surface located on the side of the first snap-fit ​​portion facing the engagement slot.

4. The housing sealing structure according to claim 2, characterized in that, The first snap-fit ​​part is a slot structure, the second snap-fit ​​part is a protrusion structure, and the second snap-fit ​​part has a guide surface located on the side of the second snap-fit ​​part facing the entrance of the insertion interface.

5. The housing sealing structure according to claim 2, characterized in that, The first snap-fit ​​part is a protruding structure, the second snap-fit ​​part is a slot structure, and the second slot wall is also provided with a guide groove. One end of the guide groove is connected to the second snap-fit ​​part, and the other end of the guide groove is connected to the side wall of the second housing where the insertion interface is located.

6. The housing sealing structure according to any one of claims 2-5, characterized in that, The joint is provided with a stop protrusion. The stop protrusion and the first snap-fit ​​part are located on the same side of the joint. The stop protrusion is located on the side of the first snap-fit ​​part away from the joint groove. The stop protrusion is used to abut against the side wall of the second housing where the insertion interface is opened.

7. The housing sealing structure according to claim 1, characterized in that, A stepped groove is formed on the periphery of one end of the second housing near the first housing. The stepped groove is connected to the side of the second housing facing the first housing. The stepped groove has a first groove wall and a second groove wall. The first groove wall faces the first housing, and the second groove wall is adjacent to the first groove wall. The connecting groove is formed on the first groove wall, and the second snap-fit ​​part is provided on the second groove wall. The first snap-fit ​​part is provided on the side of the connecting part facing the second groove wall.

8. The housing sealing structure according to claim 1, characterized in that, The joint groove is a glue groove, and the elastic seal is a sealant.

9. A lidar, characterized in that, Includes the housing sealing structure as described in any one of claims 1-8.

10. A walking device, characterized in that, Including the lidar as described in claim 9.

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