A locking device

Abstract

The application provides a locking device, comprising a pin hole group and a locking pin group; the pin holes in the pin hole group form parallel pin hole arrays; the locking pins in the locking pin group form parallel locking pin arrays; each locking pin in the locking pin group is connected with an elastic member; in the first pin hole column direction and the second pin hole column direction, the arrangement density of the pin holes is greater than the arrangement density of the locking pins, so that in the assembled state, when the locking pin group moves to the locking position, at least one locking pin can be captured by the pin holes, and the locking of the locking pin group and the pin hole group is realized; when the locking pin group moves to the unlocking position, the locking pins in the locking pin group are separated from the capture of the pin hole group, and then the locking of the locking pin group and the pin hole group is released. Accordingly, the continuous locking of the locking pin group can be realized.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a locking device capable of continuous locking. Background Technology

[0002] For applications requiring high precision in structural installation and operation, such as locking medical devices in a fixed position, traditional pin locking mechanisms can only lock at discrete hole positions and cannot achieve stable locking at continuous positions.

[0003] When multiple degrees of freedom are required to adjust the position and lock, it is usually necessary to release the locking mechanisms in each direction one by one in a step-by-step manner. The adjustment process is cumbersome and inefficient.

[0004] Therefore, there is a technical challenge in the existing technology of how to achieve continuous locking. Utility Model Content

[0005] The purpose of this application is to provide a locking device capable of continuous locking. To achieve the above objective, one solution of this application is a locking device comprising a pin hole group and a locking pin group; the pin holes in the pin hole group are arranged along intersecting first and second pin hole column directions, forming a parallel pin hole array; the locking pins in the locking pin group are arranged along the first and second pin hole column directions, forming a parallel locking pin array, and are movable in a translational plane opposite to the first and second pin hole column directions; each locking pin in the locking pin group is connected to an elastic element, which has a predetermined allowable deformation in a direction perpendicular to the translational plane; in the first pin... In the direction of the hole array and the direction of the second pin hole array, the arrangement density of the pin holes in the pin hole group is greater than the arrangement density of the locking pins in the locking pin group. This allows at least one locking pin in the locking pin group to be captured by the pin holes in the pin hole group when the locking pin group moves toward the pin hole group in the assembled state, thereby locking the locking pin group and the pin hole group in the translational plane. When the locking pin group moves away from the pin hole group to the predetermined unlocking position, the locking pins in the locking pin group disengage from the pin hole group, thereby releasing the locking of the locking pin group and the pin hole group in the translational plane.

[0006] In a preferred embodiment, in the direction of the first pin hole column, the number of locking pins corresponding to the locking pin group within the same distance is N, and the number of pin holes corresponding to the pin hole group is N+a, where N and a are natural numbers; and in this direction, the distance S between adjacent pin holes in the pin hole group and the distance P between adjacent locking pins in the locking pin group satisfy the following equation (1): S=P×N / (N+a) (1).

[0007] In a preferred embodiment, in the direction of the second pin hole column, the number of locking pins corresponding to the locking pin group within the same distance is N', and the number of pin holes corresponding to the pin hole group is N'+b, where N' and b are natural numbers; and in this direction, the distance S' between adjacent pin holes in the pin hole group and the distance P' between adjacent locking pins in the locking pin group satisfy the following equation (2): S'=P'×N' / (N'+b) (2).

[0008] In a preferred configuration, N=N'; P=P'; S=S'.

[0009] In a preferred embodiment, the pin holes in the first pin hole column direction are offset from the pin holes in the second pin hole column direction, forming a phase difference δ in the first pin hole column direction and a phase difference δ' in the second pin hole column direction; wherein, δ=P / 2, δ'=P' / 2.

[0010] In a preferred embodiment, the locking pin array is a hollow square array.

[0011] In a preferred embodiment, the directions of the first and second pin hole rows are perpendicular to each other.

[0012] In a preferred embodiment, the front end of each locking pin in the locking pin group is provided with a guide cone surface with a cone angle of α; wherein, 10°≤α≤60°.

[0013] In a preferred embodiment, the device further includes a movable part with a through hole through which the locking pin assembly passes; when the locking pin assembly moves to the locked position, the locking pin in the locking pin assembly passes through the movable part and is captured; when the locking pin assembly moves to the unlocked position, the locking pin assembly is at least partially located within the through hole, thereby enabling the movable part to drive the locking pin assembly to move within the translational plane.

[0014] In a preferred embodiment, a linkage mechanism fixedly connected to the locking pin assembly is further included for driving the locking pin assembly to switch between the locked position and the unlocked position.

[0015] In a preferred embodiment, when the locking pin assembly is in the locked position, the linkage mechanism can be operated by an external force to retract the locking pin assembly away from the pin hole assembly, thereby disengaging from the pin hole assembly and causing the elastic element connected to the locking pin in the locking pin assembly to deform and store force; when the external force is removed, the locking pin assembly springs back to the locked position under the elastic force of the elastic element.

[0016] The locking device of the above embodiments of this application can realize continuous locking of the locking pin group and the pin hole group at any position in a two-dimensional plane, and greatly improves the operating efficiency. Attached Figure Description

[0017] To more clearly illustrate this application, the accompanying drawings will be described and explained below. Obviously, the drawings described below only illustrate certain aspects of some exemplary embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0018] Figure 1 This is a side view of the locking device.

[0019] Figure 2 This is a bottom angled view of the locking device.

[0020] Figure 3 This is an assembly diagram of the locking pin assembly and the moving part.

[0021] Figure 4 This is a top view of the locking pin assembly and pin hole assembly.

[0022] Attached image caption: 1. Pin Hole Assembly 111 First hole in the first direction 112 First direction, second hole 121 Second direction first hole 122 Second hole in the second direction 10. Fixing part 2 Locking pin assembly 20 Linkage Mechanisms 21 First Locking Pin 22 Second Locking Pin 211 First locking pin step 212 First guide pin 213 First elastic element 214 First elastic element limiting part 30 Activities Department 40 Limiting section 41 First guide rail 42 Second guide rail 43 Guide rail bracket Detailed Implementation

[0023] Various exemplary embodiments of this application are described in detail below with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the application or its application or use. This application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise stated, the relative arrangement of components and steps, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0024] As used in this application, the words “including” or “comprising” or similar terms mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility that it may also cover other elements.

[0025] All terms used in this application (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as being interpreted with idealized or highly formalized meanings, unless explicitly defined herein.

[0026] For components, specific model numbers and other parameters of components not described in detail in this section, the interrelationships between components and control circuits, these may be considered as techniques, methods and devices known to those skilled in the art, but where appropriate, such techniques, methods and devices should be considered part of the specification.

[0027] The following combination Figure 1-4 The structure of the locking device of this application will be described. Figure 1 This is a side view of the locking device. Figure 2 This is a bottom perspective view of the locking device. Figure 3 This is an assembly diagram of the locking pin assembly 2 and the moving part 30. Figure 4 This is a top view of the locking pin assembly 2 and the pin hole assembly 1.

[0028] like Figure 1 , Figure 2 As shown, the locking device of this application includes a fixed part 10, a movable part 30, a limiting part 40, and a locking pin assembly 2. As an example, in the assembled state, the limiting part 40 is located on top, and the movable part 30 and the fixed part 10 are below it. The locking pin assembly 2 is provided in such a way that it passes through the through hole of the movable part 30.

[0029] In this embodiment, the fixed part 10, the movable part 30, and the limiting part 40 are all plate-shaped and arranged parallel to each other. The plane parallel to the fixed part 10 is used as the translation plane, and the movable part 30 can translate along this translation plane in the unlocked state. The limiting part 40 is provided with a first guide rail 41 and a second guide rail 42 that are slidably connected to the movable part 30 and are perpendicular to each other.

[0030] Specifically, the movable part 30 is directly fitted onto the first guide rail 41, the first guide rail 41 is fixed to the guide rail bracket 43, the guide rail bracket 43 is slidably fitted onto the second guide rail 42, and the second guide rail 42 is fixed to the limiting part 40. Thus, the movable part 30 achieves translation within the translation plane by sliding along the first guide rail 41 and the second guide rail 42, thereby ensuring translation accuracy. Meanwhile, as an example, the edge of the limiting part 40 extends downward to form a limiting mechanism, constraining the movement boundary of the movable part 30, ensuring that the adjustment process is carried out within a preset safety range, and preventing parts from detaching or colliding.

[0031] For ease of explanation, the direction from the fixed part 10 toward the limiting part 40 is considered "up" and the opposite is considered "down". The plane perpendicular to the up and down is the translation plane, which is located in the horizontal direction, i.e., the transverse direction.

[0032] like Figure 1 , Figure 3 As shown, it also includes a linkage mechanism 20 fixedly connected to the locking pin group 2, which is used to drive the locking pin group 2 to move up and down, thereby switching between a preset locking position and an unlocking position.

[0033] like Figure 4 As shown, the locking device of this application further includes a locking pin group 2 and a pin hole group 1 disposed on the fixing part 10. The pin holes in the pin hole group 1 are arranged along the intersecting first pin hole column direction and second pin hole column direction, forming a parallel pin hole array.

[0034] For example, the first pin hole row direction is the direction in which the first hole 111 and the second hole 112 are arranged in the first direction as shown in the figure, and the second pin hole row direction is the direction in which the first hole 121 and the second hole 122 are arranged in the second direction as shown in the figure. The first pin hole row direction and the second pin hole row direction intersect to form the plane where the fixing part 10 is located, and this plane is parallel to the translation plane. Preferably, the first pin hole row direction and the second pin hole row direction are arranged perpendicular to each other, but this is not limited to this; they can also be inclined and intersecting, which is not specifically limited here. At the same time, the pin holes in the pin hole group 1 are preferably of the same size.

[0035] like Figure 3 , Figure 4 As shown, the locking pins in locking pin group 2 are arranged along the directions of the first pin hole row and the second pin hole row, forming a parallel locking pin array. As an example, this locking pin array is... Figure 4The hollow square array shown is a structure in which locking pins are arranged only at the edge of the array, leaving the interior of the array empty to simplify the structure. In fact, it is not limited to this and can also be a dense array of locking pins.

[0036] Continue reading Figure 3 Each locking pin in the locking pin group 2 is preferably of the same size and is connected to an elastic element. Each elastic element is preferably of the same size and has a specified allowable deformation in the vertical direction. Here, only the first locking pin 21 is used as an example for explanation.

[0037] As a preferred embodiment, the lower end of the first locking pin 21 is designed with a tapered angle, preferably with a tapered angle α of 10°≤α≤60°, and more preferably 35°, to optimize self-guiding capability and facilitate capture by the pin hole. The middle section of the first locking pin 21 is cylindrical, and the upper end is provided with a first locking pin step 211. The first locking pin 21 extends vertically and has a hollow internal structure, i.e., it has a vertically extending cavity.

[0038] As an example, this cavity is a non-through cavity, meaning it opens only upwards. The first elastic element 213 is located above the first locking pin 21 and is tightly fitted onto the first guide pin 212. The first elastic element 213 and the first guide pin 212 are in frictional connection, which ensures that the first elastic element 213 and the first locking pin 21 remain approximately concentric when the first locking pin 21 moves up and down, ensuring the stability of force transmission. The cavity of the first locking pin 21 can also be a through cavity, because the front end of the first locking pin 21 is a pointed cone shape, as long as it can abut against the lower end of the first elastic element 213, no specific limitation is made here.

[0039] The upper end of the first guide pin 212 is connected to the first elastic member limiting part 214. The upper part of the first elastic member limiting part 214 abuts against the guide rail bracket 43 and the lower part abuts against the upper end of the first elastic member 213 to limit the upward displacement of the first elastic member 213.

[0040] The lower end of the first elastic element 213 is inserted into the hollow cavity of the first locking pin 21 and abuts against the lower end face of the cavity to achieve a transmission connection with the first locking pin 21. The lower end of the first guide pin 212 can be inserted into the cavity of the first locking pin 21, but does not abut against the lower end face of the cavity, or it can be left uninserted. The distance between the lower end of the first guide pin 212 and the lower end face of the cavity is the distance that the first locking pin 21 can move up and down.

[0041] As a preferred embodiment, the linkage mechanism 20 is also plate-shaped and connected to each locking pin in the locking pin group 2. The locking pins in the locking pin group 2 pass through the linkage mechanism 20 and the movable part 30 to form a mechanical link for synchronous control.

[0042] When unlocking is required, the linkage mechanism 20 is pulled upward. The linkage mechanism 20 drives the step at the end of each locking pin in the locking pin group 2, such as the first locking pin step 211, to move upward synchronously, so that the elastic element connected to each locking pin deforms and stores force. In this embodiment, these elastic elements, such as the first elastic element 213, are compressed, the locking pin group 2 moves upward as a whole and gets out of the capture of the lock hole group 1, and the locking state of the movable part 30 and the fixed part 10 is released. At this time, the movable part 30 can freely adjust its position in the translation plane.

[0043] After the position adjustment of the movable part 30 is completed, the linkage mechanism 20 is released, and the elastic potential energy of the elastic element compressed by the locking pin group 2 is released, pushing the locking pin group 2 to extend downward as a whole. Under the guidance of the front conical surface of the locking pin in the locking pin group 2, at least part of the locking pin will automatically fall into the pin hole of the pin hole group 1 and be captured, thereby achieving rigid locking between the movable part 30 and the fixed part 10, ensuring that the adjusted position is stable and reliable.

[0044] Next, we will explain in detail the principle behind the locking pin being captured.

[0045] In this embodiment, in both the first and second pin hole rows, the density of the pin holes in pin hole group 1 is greater than the density of the locking pins in locking pin group 2. This ensures that when locking pin group 2 moves downward to a predetermined locking position in the assembled state, at least one locking pin in locking pin group 2 can be captured by a pin hole in pin hole group 1, thus achieving locking between locking pin group 2 and pin hole group 1 in the translational plane. When locking pin group 2 moves upward to a predetermined unlocking position, the locking pin in locking pin group 2 disengages from the capture of pin hole group 1, thereby releasing the locking between locking pin group 2 and pin hole group 1 in the translational plane.

[0046] As a preferred embodiment, in the direction of the first pin hole row, the number of locking pins corresponding to the locking pin group 2 within the same distance is N, and the number of pin holes corresponding to the pin hole group 1 is N+a, where N and a are natural numbers; and in this direction, the distance S between adjacent pin holes in the pin hole group 1 and the distance P between adjacent locking pins in the locking pin group 2 satisfy the following equation (1): S=P×N / (N+a) (1).

[0047] For example, a=1.

[0048] More preferably, in the direction of the second pin hole row, the number of locking pins corresponding to the locking pin group 2 within the same distance is N', and the number of pin holes corresponding to the pin hole group 1 is N'+b, where N' and b are natural numbers; and in this direction, the distance S' between adjacent pin holes in the pin hole group 1 and the distance P' between adjacent locking pins in the locking pin group 2 satisfy the following equation (2): S'=P'×N' / (N'+b) (2).

[0049] For example, b=1.

[0050] Preferably, N=N', a=b.

[0051] More preferably, P=P', S=S'.

[0052] For simplicity, we will use N=N', a=b, P=P', and S=S' as examples for explanation.

[0053] It is understandable that if the locking pin group 2 is... Figure 4 The hollow square matrix shown refers to P. Figure 4 The distance between two adjacent locking pins on the two sides along the direction of the first row of pin holes, P' refers to... Figure 4 The distance between two adjacent locking pins on the two sides along the direction of the second pin hole row.

[0054] Here, we will only take the first pin hole row direction as an example to explain the locking principle. The locking principle in the second pin hole row direction is the same and will not be repeated here.

[0055] It can be seen that when the movable part 30 moves the pin hole group 1 a distance of N×P along the direction of the first pin hole column shown, each locking pin in the pin hole group 1 moves to the original position corresponding to the Nth locking pin in front of it. Specifically, after moving a distance of N×P, the first locking pin 21 located at position 1 moves to the original position corresponding to the (N+1)th locking pin, the second locking pin 22 located at position 2 moves to the original position corresponding to the (N+2)th locking pin, and so on. Of course, the (N+1)th and (N+2)th locking pins are virtual.

[0056] Since locking pin group 2 has only N locking pins in this direction, after moving a distance of N×P, the geometric relationship of the entire locking pin array completely repeats the pin hole array of pin hole group 1. This forms a complete phase cycle with a phase period of N×P. That is to say, when the movable part 30 is actually moved along the direction of the first pin hole column shown, it will usually not exceed the distance range of N×P. If it is necessary to move a distance beyond N×P, more pin holes need to be arranged accordingly, which is a cyclical repetition based on N+a pin holes, and is also within the scope of protection of this application, so it will not be elaborated here.

[0057] Therefore, the above equation (1) is derived based on the phase period of N×P. Within this distance of N×P, N locking pins are arranged with a spacing of P, corresponding to N+a pin holes arranged with a spacing of S. That is to say, (N+a)×S=N×P. The derivation principle of equation (2) is the same as that of equation (1), and will not be repeated here.

[0058] The design of this application primarily considers relative density and coverage integrity, which are also the alignment conditions between the locking pins and the pin holes during relative movement. Geometrically, in the direction of the first pin hole column shown, N locking pins move as a rigid whole. The distribution of pin holes is denser than that of the locking pins. In other words, during the relative movement of the two, the "beat" of the pin holes is slightly faster than that of the locking pins. This slight mismatch ensures that at any position, there is always a pin hole that "catches up" with a locking pin, that is, there is always a locking pin that is captured by a pin hole, i.e., the locking pin is inserted into a pin hole.

[0059] More specifically, when the locking pin group 2 moves downward to the predetermined locking position, each locking pin corresponds to an area near a pin hole. Assuming that all locking pins are exactly off-center from the pin holes, each locking pin is in the gap between two adjacent pin holes. However, since the spacing between the locking pins is larger than the spacing between the pin holes, this misalignment will always result in one locking pin falling exactly into a pin hole.

[0060] In other words, the density difference brought about by equations (1) and (2) produces a continuous "catch-up" effect, which guarantees locking at any position within a phase period. This is the basis for realizing the transition from discrete locking to continuous locking.

[0061] Furthermore, in the plugged state of the locking pin group 2 and the pin hole group 1, in the two-dimensional coordinate system of the translation plane, let the coordinates of a certain locking pin be (i,j), where i,j=0,1,...,N-1; and the coordinates of the corresponding pin hole be (k,l), where k,l=0,1,...,N. For any (i,j), there always exist k and l such that |ik|<ε and |jl|<ε, where ε is the capture threshold. ε is usually not less than the inner diameter of the pin hole in pin hole group 1 minus the outer diameter of the cone apex of the locking pin in locking pin group 2, that is, the lower end of the locking pin is a conical trapezoidal shape.

[0062] To increase the hole density of the entire pin array and make the locking pin easier to capture, as a preferred method, the pin holes of pin hole group 1 in the first pin hole column direction are staggered with the pin holes of pin hole group 1 in the second pin hole column direction, forming a phase difference δ in the first pin hole column direction and a phase difference δ' in the second pin hole column direction. As an example, δ=P / 2, δ'=P' / 2.

[0063] This is equivalent to the pin holes in the first pin hole column direction and the pin holes in the second pin hole column direction filling each other's gaps. This breaks away from the linear density limitation of a single pin hole column direction and considers how to increase the pin hole density in the two-dimensional plane of the entire pin hole array, thus more effectively ensuring locking and positioning at any position.

[0064] It should be noted that during the insertion process, the locking pin is guided to the nearest pin hole, and locking is achieved once one locking pin is captured. However, in this application, because the end of each locking pin is connected to an elastic element, and the lower end of the first guide pin 212 does not insert into the cavity of the first locking pin 21, or when the lower end of the first guide pin 212 is partially inserted into the cavity, the outer diameter of the inserted part is smaller than the inner diameter of the cavity, allowing the locking pin to move both vertically and laterally. Furthermore, since the lower end of the locking pin is a conical surface, multiple locking pins can be captured simultaneously.

[0065] Taking the capture of two pins as an example, because the distance P between the locking pins and the distance S between the pin holes are different, a lateral interference force will be generated between the two locking pins captured simultaneously. For example, after one locking pin is inserted into its corresponding pin hole, the other locking pin may not be inserted smoothly into its corresponding pin hole, but rather at an angle, or even only the lower conical part of the locking pin is inserted into the pin hole, thus generating a lateral interference force. Combined with the friction between the locking pin and the pin hole, this produces a tighter mechanical locking force, significantly improving the rigidity and stability of the lock. It can be understood that the pin hole and the locking pin are in a tight fit to reduce lateral swaying during locking.

[0066] This locking effect is particularly important under vibration or load, making it ideal for mechanical components requiring high-precision alignment and reliable locking, such as precision instruments, connectors, or robot end effectors. In the medical device field, it is even more suitable as a multi-dimensional positioning and locking mechanism for precision medical instruments such as surgical stents and endoscope support arms. By appropriately selecting the number, size, spacing, and arrangement of locking pins and pin holes, the locking principle can be ensured to always be effective.

[0067] In summary, the locking device of this application is based on the "pin hole topology" principle. Through a novel locking structure combining the principles of "phase difference hole array" and "multi-pin cooperative interference," it achieves continuous locking at any position within a plane. Furthermore, a "one-button linkage release" mechanism is designed, significantly improving operational convenience and adjustment efficiency. Its advantage lies in solving the complex continuous positioning problem using simple integer relationships N and N+a, N' and N'+b. This essentially ensures locking at any position through geometric necessity, avoiding the limitations of traditional discrete hole positions. The structure is simple, operation is convenient, and it can achieve automatic capture and stable locking positioning.

[0068] It should be understood that the specific embodiments described above are only used to explain this application, and the scope of protection of this application is not limited thereto. Any changes, substitutions, or combinations made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and inventive concept of this application, should be covered within the scope of protection of this application.

Claims

1. A locking device, characterized in that: Includes pin hole assembly and locking pin assembly; The pin holes in the pin hole group are arranged along the intersecting directions of the first and second pin hole columns, forming a parallel pin hole array. The locking pins in the locking pin group are arranged along the first pin hole column direction and the second pin hole column direction respectively, forming a parallel locking pin array, and can move in a translational plane opposite to the first pin hole column direction and the second pin hole column direction. Each locking pin in the locking pin group is connected to an elastic element, which has a specified allowable deformation in a direction perpendicular to the translation plane. In both the first and second pin hole row directions, the pin hole density in the pin hole group is greater than the locking pin density in the locking pin group, such that... In the assembled state, when the locking pin group moves toward the direction of the pin hole group to the predetermined locking position, at least one locking pin in the locking pin group can be captured by the pin hole in the pin hole group, thereby realizing the locking of the locking pin group and the pin hole group in the translation plane. When the locking pin group moves away from the pin hole group to the predetermined unlocking position, the locking pin in the locking pin group disengages from the capture of the pin hole group, thereby releasing the locking pin group from the pin hole group in the shown translational plane.

2. The locking device according to claim 1, characterized in that: In the direction of the first pin hole column, the number of locking pins corresponding to the locking pin group within the same distance is N, and the number of pin holes corresponding to the pin hole group is N+a, where N and a are natural numbers; Furthermore, in this direction, the distance S between adjacent pin holes in the pin hole group and the distance P between adjacent locking pins in the locking pin group satisfy the following equation (1): S=P×N / (N+a) (1).

3. The locking device according to claim 2, characterized in that, In the direction of the second pin hole column, the number of locking pins corresponding to the locking pin group within the same distance is N', and the number of pin holes corresponding to the pin hole group is N'+b, where N' and b are natural numbers; Furthermore, in this direction, the distance S' between adjacent pin holes in the pin hole group and the distance P' between adjacent locking pins in the locking pin group satisfy the following equation (2): S'=P'×N' / (N'+b) (2).

4. The locking device according to claim 3, characterized in that: N=N';P=P';S=S'; 5. The locking device according to claim 3, characterized in that: The pin holes in the first pin hole column direction are offset from the pin holes in the second pin hole column direction, forming a phase difference δ in the first pin hole column direction and a phase difference δ' in the second pin hole column direction; where δ=P / 2 and δ'=P' / 2.

6. The locking device according to any one of claims 1-5, characterized in that: The locking pin array is a hollow square array.

7. The locking device according to any one of claims 1-5, characterized in that: The directions of the first and second pin hole rows are perpendicular to each other.

8. The locking device according to any one of claims 1-5, characterized in that: Each locking pin in the locking pin group has a guide cone surface with a cone angle of α at its front end; Where 10°≤α≤60°.

9. The locking device according to any one of claims 1-5, characterized in that: It also includes a movable part with a through hole for the locking pin assembly to pass through; When the locking pin assembly moves to the locking position, the locking pin in the locking pin assembly passes through the movable part and is captured; When the locking pin assembly moves to the unlocked position, the locking pin assembly is at least partially located within the through hole, thereby enabling the movable part to drive the locking pin assembly to move within the translational plane.

10. The locking device according to claim 9, characterized in that: It also includes a linkage mechanism fixedly connected to the locking pin group, used to drive the locking pin group to switch between the locked position and the unlocked position.

11. The locking device according to claim 10, characterized in that: When the locking pin group is in the locked position, the linkage mechanism can be operated by external force to retract the locking pin group away from the pin hole group, thereby breaking away from the capture of the pin hole group, and causing the elastic element connected to the locking pin in the locking pin group to deform and store force. When the external force is removed, the locking pin assembly springs back to the locking position under the elastic force of the elastic element.

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