Locking module and self-moving device

Abstract

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

Description

Locking module and self-moving device Technical Field

[0001] This application relates to the field of self-moving device technology, and more specifically to a locking module and a self-moving device. Background Technology

[0002] Self-moving devices, such as yard robots, can help users perform routine yard maintenance tasks, such as mowing, snow removal, and leaf blowing. In related technologies, the various functional actuators of a self-moving robot can be designed as independent front-end modules, using a universal body design. This universal body is compatible with different front-end modules, aiming to improve the flexibility, maintainability, and upgradeability of the self-moving device's functions. However, the inventors recognized that the fixed connection between the front-end module and the universal body in related technologies makes installation and disassembly cumbersome and difficult, preventing users from installing it themselves and hindering flexible replacement of the front-end module, thus requiring improvement. Furthermore, the locking mechanism on the front-end module, intended for quick connection and disassembly between the module and the body, has been found to have a risk of failure in practical use. This could lead to uncontrolled unlocking, causing the locking mechanism to jam and preventing proper separation between the front-end module and the body. Users or maintenance personnel would then have to disassemble the entire robot, resulting in maintenance difficulties, which urgently needs improvement.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Technical issues

[0004] In view of this, this application provides a locking module and a self-moving device to solve the problems in the related technology where the front module and the general body are fixedly connected, making installation and disassembly cumbersome and difficult, and users cannot install them themselves, which is not conducive to the flexible replacement of the front module. In addition, in the related technology, when the locking mechanism fails, the front module and the general body cannot be properly separated, and users or maintenance personnel need to disassemble both as a whole, which causes maintenance difficulties. Technical solutions

[0005] To achieve one or more of the above objectives or other objectives, this application proposes a locking module, including a mounting bracket and at least one locking mechanism;

[0006] The locking mechanism is disposed on the mounting frame, and the locking mechanism has a locking member movably connected to the mounting frame, and the locking member has a locking point during its movement stroke;

[0007] The mounting bracket is provided with an intervention part for external structure to intervene. The position of the intervention part corresponds to the locking point. The locking fastener at the locking point is used to lock the external structure.

[0008] The locking mechanism has a guide seat and a force-applying member rotatably connected to the guide seat. The force-applying member serves as the position for applying external force. The force-applying member is pulsatorically connected to the locking member. The force-applying member pulsatorically controls the locking member to enter or disengage from the locking position.

[0009] To achieve one or more of the above objectives or other objectives, this application proposes an alternative unlocking structure, which includes a mounting bracket and at least one locking mechanism disposed on the mounting bracket;

[0010] The locking mechanism has a locking element movably connected to the mounting bracket. When no external force is applied, the locking element is in the locking position to lock the external structure.

[0011] The mounting bracket has an access port, and the locking element has an interference portion. The interference portion is aligned with the access port so that external force passes through the access port and acts on the interference portion to disengage the locking element from the locking point. The mounting bracket has an intervention part for external structures to intervene. The intervention part is located at the locking point, and the locking element at the locking point is used to lock the external structure. The locking element is controlled to enter or disengage from the locking point by a force-applying element.

[0012] This application also proposes a self-moving device, including a front end and a body, wherein the locking module is provided at the end of the front end facing the body and / or a hook lock module is provided at the end of the front end facing the body, the hook lock module having the backup unlocking structure, and a pin is provided at the end of the body facing the front end, the pin being used to enter the intervention part and be locked by the locking fastener. Beneficial effects

[0013] The embodiments of the locking module of this application will have the following beneficial effects:

[0014] The locking module of this application allows for the intervention of external structures, which are then locked in place by a locking fastener. External force can be applied through a force-applying component to control the locking fastener to enter or disengage from the locking point, thereby controlling the locking fastener to lock or release the external structure. This enables the locking module to have quick locking and unlocking functions. The locking module of this application can be used for equipment connections, enabling quick connection and quick disconnection between devices. For example, the locking module can be installed on the front of a vehicle, and the vehicle body can have corresponding intervention structures such as pins. The pins and the locking fasteners can be locked or unlocked, thereby enabling quick connection and quick disconnection between the front and body of the vehicle, improving the flexibility of assembly and disassembly.

[0015] This solves the problem in related technologies where the front module and the general body are fixedly connected, making installation and disassembly cumbersome and difficult, preventing users from installing it themselves, and hindering the flexible replacement of the front module.

[0016] Implementing the alternative unlocking structure embodiment of this application will have the following beneficial effects:

[0017] The locking component of this application is used to lock directly to the external structure. This application exposes the interference part on the locking component to the outside by opening an inspection port, which makes it convenient for users or maintenance personnel to manually or with tools intervene in the interference part, so that the locking component is displaced and disengaged from the locking point, thereby quickly unlocking. This application has a simple structure, low improvement cost, and also provides a backup unlocking function to facilitate equipment maintenance.

[0018] This solves the problem in related technologies where the front module and the general body cannot be properly separated when the locking mechanism fails, requiring users or maintenance personnel to disassemble both as a whole, which causes maintenance difficulties. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] in:

[0021] Figure 1 is a front view of the internal structure of the locking module in an optional embodiment;

[0022] Figure 2 is a perspective view of the locking mechanism in an optional embodiment;

[0023] Figure 3 is an exploded view of the locking mechanism in an optional embodiment;

[0024] Figure 4 is a cross-sectional view of a locking module according to an optional embodiment;

[0025] Figure 5 is a top view of an optional embodiment of a mobile device;

[0026] Figure 6 is a perspective view of the front of the vehicle in one optional embodiment;

[0027] Figure 7 is a perspective view of the vehicle body in an optional embodiment;

[0028] Figure 8 is an exploded view of an alternative unlocking structure according to an optional embodiment;

[0029] Figure 9 is a rear view of an alternative unlocking structure according to an optional embodiment;

[0030] Figure 10 is an exploded view of the mounting base, positioning base, and reinforcement components in an optional embodiment.

[0031] The reference numerals in the attached drawings are explained as follows: 1. Mounting bracket; 11. Second load-bearing component; 12. Intervention part; 121. Pin hole; 14. Assembly surface; 2. Locking mechanism; 21. Transmission assembly; 211. Guide seat; 2111. First guide groove; 2112. First fastener; 2113. First guide component; 212. Force-applying component; 2121. Force-applying part; 2122. First rotating shaft; 213. Connecting rod; 2131. Second rotating shaft; 2132. Third rotating shaft; 22. Locking element; 221. Locking arm; 222. Second guide groove; 224. Second guide component; 225. First load-bearing component; 226. Fourth rotating shaft; 23. Elastic component; 24. Sensing component; 3. Sensor; 01. Vehicle front; 02. Vehicle body; 021. Pin; 0211. Snap groove. The best embodiment of the present invention

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] This application provides a locking module that can be applied to the connection of devices, enabling quick connection and quick disconnection between devices.

[0034] Please refer to Figure 1. In this embodiment, the locking module includes a mounting bracket 1 and at least one locking mechanism 2.

[0035] The locking mechanism 2 is mounted on the mounting frame 1. The locking mechanism 2 has a locking element 22 that is movably connected to the mounting frame 1. The locking element 22 has a locking point during its movement stroke.

[0036] The locking element 22 is movably connected to the mounting bracket 1. This movable connection can be a rotary connection, a linear motion connection, etc. When it is a rotary connection, the locking point can be a point on the rotation trajectory of the locking element 22. When it is a linear motion connection, the locking point can be a point on the linear travel of the locking element 22. There are other movable connection methods, which will not be described in detail here.

[0037] The mounting bracket 1 is provided with an intervention part 12 for external structures to intervene. The intervention part 12 is located at a locking point, and the locking fastener 22 at the locking point is used to lock the external structure. The external structure can be a pin 021 or a connecting rod, hook lock, or other connecting structure, which can be adapted to the locking fastener 22 and locked by the locking fastener 22.

[0038] The locking mechanism 2 has a force-applying component 212, which serves as the point where external force is applied. The force-applying component 212 is connected to the locking element 22 via a transmission mechanism, and the force-applying component 212 controls the locking element 22 to enter or disengage from the locking position. The force-applying component 212 is the object through which the user applies force, and the user can manually control the movement of the force-applying component 212 to control the locking element 22. This allows the user to quickly control the locking and unlocking of the locking module.

[0039] The force-applying component 212 is connected to the locking component 22 via a transmission connection, which can be direct or indirect.

[0040] In this embodiment, the intervention part 12 can be used for external structure intervention, and the intervention external structure is locked by the locking member 22, as shown in Figure 4. External force can be used by the force application member 212 to control the locking member 22 to enter or disengage from the locking position, thereby controlling the locking member 22 to lock or release the external structure, so that the locking module has the function of fast locking and fast unlocking.

[0041] The locking module in this embodiment can be applied to the connection of devices, enabling quick connection and quick disconnection between devices. For example, please refer to Figures 5 to 7. The locking module can be installed on the front of the vehicle 01, and a corresponding intervention structure, such as a pin 021, can be installed on the body 02. The pin 021 and the locking fastener 22 can be locked or unlocked, thereby achieving quick connection and quick disconnection between the front of the vehicle 01 and the body 02. Alternatively, the locking module can also be installed on the body 02, and the intervention structure can be installed on the front of the vehicle 01.

[0042] In some alternative embodiments, the mounting bracket 1 has a mounting surface 14, on which both the locking mechanism 2 and the intervention part 12 are located. This arrangement saves space occupied by the locking mechanism 2, and when the locking module is applied to external equipment, the locking module does not need to occupy too much space, enabling quick connection and disassembly while avoiding excessive increase in equipment size.

[0043] In some optional embodiments, as shown in Figure 1, the mounting bracket 1 has a mounting surface 14. The locking module includes two sets of locking mechanisms 2, which are symmetrically arranged on the mounting surface 14. The mounting bracket 1 has two intervention points 12, which correspond to the two sets of locking mechanisms 2 respectively. Both the two intervention points 12 and the two sets of locking mechanisms 2 are located on the mounting surface 14. This arrangement saves space occupied by the locking mechanisms 2. When the locking module is applied to external equipment, it can achieve quick connection and disconnection while avoiding excessive increase in equipment size. In addition, the symmetrical arrangement of the two sets of locking mechanisms 2 can make the force between the two connected devices more even and the overall structure more stable.

[0044] As another optional embodiment, the mounting bracket 1 has a first end face (not shown in the figure) and two side mounting faces (not shown in the figure) perpendicular to the first end face. The two side mounting faces are located on the left and right sides of the first end face, respectively. The locking module includes two sets of locking mechanisms 2, which are respectively disposed on the two side mounting faces. Two intervention parts 12 are provided on the first end face, and the two intervention parts 12 correspond to the two sets of locking mechanisms 2, respectively. This embodiment provides another assembly structure, in which the locking mechanisms 2 are located on the side. Compared with the embodiments in the previous paragraph and the second paragraph, this embodiment occupies more space.

[0045] In some alternative embodiments, referring to Figures 1 to 3, the locking mechanism 2 includes a locking element 22, a transmission assembly 21, and an elastic element 23. The elastic element 23 connects to the locking element 22, and the locking element 22 moves towards the locking position under the elastic force of the elastic element 23. The transmission assembly 21 has a force-applying element 212, and the transmission assembly 21 connects to and transmits the movement of the locking element 22. In this way, the elastic element 23 causes the locking element 22 to automatically reset towards the locking position, so that the locking module is in a locked state without external force control, and only unlocks when external force is involved, thus improving the stability during locking.

[0046] The elastic element 23 can be, but is not limited to, a spring, torsion spring, or spring sheet, and can provide the locking element 22 with an elastic force to return to the locking position.

[0047] In some alternative embodiments, referring to Figures 1 to 3, the transmission assembly 21 includes a force-applying element 212, a guide seat 211, and a connecting rod 213.

[0048] The guide seat 211 is mounted on the mounting bracket 1, and the force-applying component 212 is rotatably connected to the guide seat 211.

[0049] A first guide member 2113 is rotatably connected to the force-applying member 212, and a first guide groove 2111 is provided on the guide seat 211. The first guide member 2113 is slidably connected to the first guide groove 2111. The first guide groove 2111 may be arc-shaped.

[0050] One end of the connecting rod 213 is rotatably connected to the force-applying member 212, and the other end of the connecting rod 213 is rotatably connected to the locking member 22.

[0051] The locking element 22 is rotatably connected to the mounting bracket 1. The locking element 22 is provided with a second guide groove 222. A second guide element 224 is connected to the mounting bracket 1. The second guide element 224 is slidably connected to the second guide groove 222. The second guide groove 222 may be arc-shaped.

[0052] The locking point is located within the rotation trajectory of the locking element 22.

[0053] One end of the elastic element 23 is connected to the locking element 22, and the other end of the elastic element 23 is connected to the mounting bracket 1.

[0054] In the absence of external force, the locking element 22 is in the locking position, and the locking module is in the locked state. When unlocking is required, external force controls the force-applying element 212 to rotate. The force-applying element 212 drives the first guide element 2113 to slide along the first guide groove 2111. The first guide element 2113 drives the connecting rod 213 to move. The connecting rod 213 drives the locking element 22 to rotate. The second guide groove 222 on the locking element 22 rotates along the second guide element 224. The locking element 22 disengages from the locking position, thus unlocking, and the locking module enters the unlocked state.

[0055] Optionally, as shown in Figures 1 to 3, the guide seat 211 is I-shaped, and a first fastener 2112 is provided on the guide seat 211. The first fastener 2112 fastens the guide seat 211 to the mounting bracket 1, and the force-applying component 212 is located inside the guide seat 211.

[0056] Optionally, the force-applying component 212 is plate-shaped. A force-applying part 2121 may be formed on the force-applying component 212, which is used for interaction with the outside world. The force-applying part 2121 may be handle-shaped to increase torque and facilitate user application of force. The force-applying part 2121 may be exposed to the outside world; for example, it may be located on the top of the mounting bracket 1 and exposed to the outside world for user operation and interaction.

[0057] Optionally, the locking element 22 is plate-shaped. The locking element 22 can be a fan-shaped plate with one side rotatably connected to the mounting bracket 1 near the center, the other side forming a second guide groove 222, the upper end of the side near the circumference rotatably connected to the connecting rod 213, and the lower end of the side near the circumference connected to the elastic element 23.

[0058] In some alternative embodiments, the first guide groove 2111 and the connecting rod 213 can be configured such that when the force-applying member 212 rotates to the highest position, after the external force is removed, the force-applying member 212 can remain suspended. Thus, when disassembling, the user only needs to rotate the force-applying member 212 to the highest positioning point to release it without continuous force application. When locking is required, external force controls the force-applying member 212 to disengage from the highest position, and under the action of the elastic member 23, the locking member 22 returns to the locking position.

[0059] In some alternative embodiments, as shown in FIG4, the locking module includes a sensor 3 and a sensing element 24, wherein the sensor 3 is used to sense the sensing element 24. One of the sensor 3 and the sensing element 24 is disposed on the locking member 22 and moves with the locking member 22, while the other is disposed on the mounting bracket 1. In this way, the sensor 3 can be used to sense whether the locking member 22 is in a locked or unlocked state.

[0060] Sensor 3 can be a Hall sensor, and sensing element 24 can be a magnet.

[0061] In some alternative embodiments, as shown in FIG1, the mounting bracket 1 has a pin hole 121, which is an insertion part 12, so that an external structure can be inserted into the pin hole 121 and locked by the fastener 22.

[0062] In some alternative embodiments, please refer to Figures 1 to 3 in combination, a first rotating shaft 2122 is provided between the force-applying member 212 and the guide seat 211 for rotational connection.

[0063] One end of the connecting rod 213 is rotatably connected to the force-applying member 212 via a second rotating shaft 2131, and the other end of the connecting rod 213 is rotatably connected to the locking member 22 via a third rotating shaft 2132.

[0064] A fourth rotating shaft 226 is provided between the locking fastener 22 and the mounting bracket 1 for rotatable connection.

[0065] One or more of the first rotating shaft 2122, the second rotating shaft 2131, the third rotating shaft 2132, the fourth rotating shaft 226, the first guide member 2113, and the second guide member 224 are rivets. Compared with the use of screws, the use of rivets for riveting can prevent the connection structure from falling off during movement, improve stability, and extend service life.

[0066] In some alternative embodiments, referring to Figures 1 to 3, the locking member 22 is provided with a first force-bearing member 225, the mounting bracket 1 is provided with a second force-bearing member 11, and the elastic member 23 is a tension spring, with both ends of the elastic member 23 connected to the first force-bearing member 225 and the second force-bearing member 11 respectively. The first force-bearing member 225 and the second force-bearing member 11 may be, but are not limited to, screws, rivets, etc.

[0067] The alternative unlocking structure in this embodiment is used to allow manual intervention of the locking fastener 22 to detach it from the external structure when the locking mechanism 2 fails, thereby achieving rapid unlocking. It can be applied to the hook lock module 03 as a backup unlocking solution.

[0068] Please refer to Figures 1, 8 and 9. The alternative unlocking structure in this embodiment includes a mounting bracket 1 and at least one locking mechanism 2 disposed on the mounting bracket 1.

[0069] The locking mechanism 2 has a locking element 22 that is movably connected to the mounting bracket 1. When no external force is applied, the locking element 22 is in the locking position to lock the external structure.

[0070] The external structure can be a pin 021 or a connecting rod, hook lock or other connecting structure, which can be adapted to the locking fastener 22 and locked by the locking fastener 22.

[0071] The locking element 22 is movably connected to the mounting bracket 1. This movable connection can be a rotary connection, a linear motion connection, etc. When it is a rotary connection, the locking point can be a point on the rotation trajectory of the locking element 22. When an external force is applied to the interference part 223, the external force causes the locking element 22 to rotate and disengage from the locking point. When it is a linear motion connection, the locking point can be a point on the linear travel of the locking element 22. When an external force is applied to the interference part 223, the external force causes the locking element 22 to move linearly and disengage from the locking point. There are other movable connection methods, which will not be described in detail here.

[0072] The mounting bracket 1 has an inspection port 15, and the locking member 22 has an interference part 223. The interference part 223 is aligned with the inspection port 15 so that external force can pass through the inspection port 15 and act on the interference part 223 to disengage the locking member 22 from the locking position. The mounting bracket 1 is provided with an intervention part 12 for external structures to intervene. The position of the intervention part 12 corresponds to the locking position. The locking member 22 at the locking position is used to lock the external structure. The locking member 22 is controlled to enter or disengage from the locking position by the force application member 212.

[0073] In this embodiment, the interference portion 223 on the locking member 22 is exposed to the outside by opening the inspection port 15. When the transmission component 21, which is originally used to control the movement of the locking member 22, fails, the user or maintenance personnel can manually or with tools intervene in the interference portion 223 through the inspection port 15. Since the locking member 22 is used to lock directly with external structures such as the pin 021, the movement of the locking member 22 can be directly controlled by interfering with the failed transmission component 21, thereby causing the locking member 22 to disengage from the locking point and loosen the external structure, thus quickly unlocking. This application has a simple structure, low improvement cost, and provides a backup unlocking function, which is convenient for equipment maintenance.

[0074] In some alternative embodiments, as shown in Figures 1 to 3, a hook hole 2231 is formed on the interference portion 223. The user or maintenance personnel can use a tool to hook into the hook hole 2231 and pull the locking element 22 to disengage it from the locking position.

[0075] Alternatively, the interference part 223 can be configured as a hook, groove, boss, etc., to facilitate external interference, which will not be elaborated here.

[0076] In some alternative embodiments, as shown in FIG1, the access port 15 is removably covered with a cover 6. The cover 6 is used to prevent foreign objects from entering the equipment.

[0077] In some alternative embodiments, referring to Figures 1 to 3, the locking mechanism 2 includes the aforementioned locking element 22, as well as a transmission assembly 21 and an elastic element 23. The elastic element 23 connects to the locking element 22, and the locking element 22 moves towards the locking position under the elastic force of the elastic element 23. The transmission assembly 21 connects to and transmits the movement of the locking element 22. In this way, the elastic element 23 causes the locking element 22 to automatically reset towards the locking position, so that the locking mechanism 2 is in a locked state without external force control, and only unlocks when external force is involved, thus improving the stability during locking.

[0078] The elastic element 23 can be, but is not limited to, a spring, torsion spring, or spring sheet, and can provide the locking element 22 with an elastic force to return to the locking position.

[0079] In some alternative embodiments, as shown in Figures 1 to 3, the transmission assembly 21 includes a guide seat 211, a force-applying member 212, and a connecting rod 213.

[0080] The guide seat 211 is mounted on the mounting bracket 1, and the force-applying component 212 is rotatably connected to the guide seat 211.

[0081] The force-applying component 212 is rotatably connected to the first guide component 2113, and the guide seat 211 is provided with the first guide groove 2111. The first guide component 2113 is slidably connected to the first guide groove 2111.

[0082] One end of the connecting rod 213 is rotatably connected to the force-applying member 212, and the other end of the connecting rod 213 is rotatably connected to the locking member 22.

[0083] The locking element 22 is rotatably connected to the mounting bracket 1. The locking element 22 is provided with a second guide groove 222. The mounting bracket 1 is connected with a second guide element 224. The second guide element 224 is slidably connected to the second guide groove 222.

[0084] The locking point is located within the rotation trajectory of the locking element 22.

[0085] One end of the elastic element 23 is connected to the locking element 22, and the other end of the elastic element 23 is connected to the mounting bracket 1.

[0086] The force-applying component 212 serves as the point where external force is applied, and it is also the object on which the user applies force. The user can manually control the movement of the force-applying component 212 to control the locking component 22. This allows the user to quickly control the locking mechanism 2 to lock and unlock.

[0087] In the absence of external force, the locking element 22 is in the locking position, and the locking mechanism 2 is in the locked state. When normal unlocking is required, the external force controls the force-applying element 212 to rotate. The force-applying element 212 drives the first guide element 2113 to slide along the first guide groove 2111. The first guide element 2113 drives the connecting rod 213 to move. The connecting rod 213 drives the locking element 22 to rotate. The second guide groove 222 on the locking element 22 rotates along the second guide element 224. The locking element 22 disengages from the locking position, thereby unlocking, and the locking mechanism 2 enters the unlocked state.

[0088] Optionally, as shown in Figures 1 to 3, the guide seat 211 is I-shaped, and a first fastener 2112 is provided on the guide seat 211. The first fastener 2112 fastens the guide seat 211 to the mounting bracket 1, and the force-applying component 212 is located inside the guide seat 211.

[0089] Optionally, the force-applying component 212 is plate-shaped. A force-applying part 2121 may be formed on the force-applying component 212, which is used for interaction with the outside world. The force-applying part 2121 may be handle-shaped to increase torque and facilitate user application of force. The force-applying part 2121 may be exposed to the outside world; for example, it may be located on the top of the mounting bracket 1 and exposed to the outside world for user operation and interaction.

[0090] Optionally, the locking element 22 is plate-shaped. The locking element 22 can be a fan-shaped plate, with one side rotatably connected to the mounting bracket 1 near the center, and a second guide groove 222 formed on the side near the circumference. The upper end of the side near the circumference is rotatably connected to the connecting rod 213, and an interference portion 223 is also formed on the upper end of the side near the circumference. The interference portion 223 has a hook hole 2231, and the lower end of the side near the circumference is connected to the elastic element 23.

[0091] In some alternative embodiments, the first guide groove 2111 and the connecting rod 213 can be configured such that when the force-applying member 212 rotates to the highest position, after the external force is removed, the force-applying member 212 can remain suspended. Thus, when disassembling, the user only needs to rotate the force-applying member 212 to the highest positioning point to release it without continuous force application. When locking is required, external force controls the force-applying member 212 to disengage from the highest position, and under the action of the elastic member 23, the locking member 22 returns to the locking position.

[0092] In some alternative embodiments, as shown in FIG4, a sensor 3 and a sensing element 24 are included, with the sensor 3 used to sense the sensing element 24. One of the sensor 3 and the sensing element 24 is disposed on the locking member 22 and moves with the locking member 22, while the other is disposed on the mounting bracket 1. In this way, the sensor 3 can be used to sense whether the locking member 22 is in a locked or unlocked state.

[0093] Sensor 3 can be a Hall sensor, and sensing element 24 can be a magnet.

[0094] In some alternative embodiments, as shown in Figures 1 to 3, a first rotating shaft 2122 is provided between the force-applying member 212 and the guide seat 211 for rotational connection.

[0095] One end of the connecting rod 213 is rotatably connected to the force-applying member 212 via a second rotating shaft 2131, and the other end of the connecting rod 213 is rotatably connected to the locking member 22 via a third rotating shaft 2132.

[0096] A fourth rotating shaft 226 is provided between the locking fastener 22 and the mounting bracket 1 for rotatable connection.

[0097] One or more of the first rotating shaft 2122, the second rotating shaft 2131, the third rotating shaft 2132, the fourth rotating shaft 226, the first guide member 2113, and the second guide member 224 are rivets. Compared with the use of screws, the use of rivets for riveting can prevent the connection structure from falling off during movement, improve stability, and extend service life.

[0098] In some alternative embodiments, referring to Figures 1 to 3, the locking member 22 is provided with a first force-bearing member 225, the mounting bracket 1 is provided with a second force-bearing member 11, and the elastic member 23 is a tension spring, with both ends of the elastic member 23 connected to the first force-bearing member 225 and the second force-bearing member 11 respectively. The first force-bearing member 225 and the second force-bearing member 11 may be, but are not limited to, screws, rivets, etc.

[0099] Please refer to Figures 1, 2, 3, 4, 8, 9 and 10. The mounting bracket 1 is provided with an intervention part 12 for external structures to intervene. The position of the intervention part 12 corresponds to the locking point. The locking fastener 22 at the locking point is used to lock the external structure.

[0100] The intervention point 12 allows external structures to intervene and lock the intervened external structure through the locking member 22, as shown in Figure 4. External force can be used to control the locking member 22 to enter or disengage from the locking point through the force application member 212, thereby controlling the locking member 22 to lock or release the external structure, so that the locking mechanism 2 has the function of fast locking and fast unlocking.

[0101] This embodiment can be applied to the connection of devices, enabling quick connection and quick disconnection between devices.

[0102] For example, please refer to Figures 5 to 7. This embodiment can be applied to the hook lock module 03. The hook lock module 03 can be installed on the front of the vehicle 01, and the vehicle body 02 can be provided with a corresponding intervention structure, such as a pin 021. The pin 021 and the locking fastener 22 can be locked or unlocked, thereby realizing the quick-connect and quick-release function between the front of the vehicle 01 and the vehicle body 02. Alternatively, the hook lock module 03 can also be installed on the vehicle body 02, and the intervention structure can be installed on the front of the vehicle 01.

[0103] It should be noted that when the locking mechanism 2 is not in failure, it can be unlocked normally through the force application component 212. When the locking mechanism 2 fails, the locking component 22 can be directly interfered with through the spare inspection port 15, and the locking component 22 can be pulled upward to loosen the external structure, thus realizing the spare unlocking function.

[0104] In some alternative embodiments, as shown in Figures 1, 2, 3, 8, 9, and 10, the intervention part 12 includes a positioning seat 4. A mounting bracket 1 has a seat hole 121, and the positioning seat 4 is disposed in the seat hole 121. The positioning seat 4 has a positioning through hole 40, one end of which faces the locking member 22, and the other end faces the outside. An external structure, such as a pin 021, can be inserted through the positioning through hole 40 and locked by the locking member 22.

[0105] In some alternative embodiments, as shown in FIG10, a guide ring wall 411 is formed at the end of the positioning through hole 40 facing outward, and the diameter of the guide ring wall 411 gradually increases in the outward direction. The guide ring wall 411 is used to guide the external structure, improve the fault tolerance between the external structure and the positioning through hole 40, and the external structure can move into the positioning through hole 40 along the guide ring wall 411.

[0106] To make the positioning seat 4 more stable, in some optional embodiments, as shown in FIG10, the mounting bracket 1 has a mounting wall 14, and the seat hole 121 and the locking member 22 are both located on the mounting wall 14. The side of the mounting wall 14 facing the locking member 22 is the first wall surface, and the side of the mounting wall 14 facing the outside is the second wall surface. The positioning seat 4 is fixed to the first wall surface, and a positioning cylinder 41 is formed on the positioning seat 4. The positioning through hole 40 is located in the positioning cylinder 41, and the positioning cylinder 41 passes through the seat hole 121. The intervention part 12 also includes a reinforcing member 5, which is fixed to the second wall surface and holds the positioning cylinder 41.

[0107] Optionally, as shown in Figure 10, the positioning cylinder 41 is recessed with a retaining groove 42, and the reinforcing member 5 is formed with a retaining opening 51, which is retained in the retaining groove 42.

[0108] Optionally, as shown in Figure 10, the positioning seat 4 is fixed to the first wall surface using the second fastener 43, and the reinforcing member 5 is fixed to the second wall surface using the third fastener 52. The third fastener 52 can be fixed together with the positioning seat 4 at the same time.

[0109] Optionally, as shown in Figure 10, the mounting bracket 1 has an assembly wall 14, and side end faces 16 are vertically arranged on both sides of the assembly wall 14. Side assembly holes 13 are opened on the side end faces 16, and the side assembly holes 13 are connected to the seat holes 121. The side assembly holes 13 can facilitate the assembly of the positioning seat 4 and the reinforcement 5.

[0110] In some alternative embodiments, the mounting bracket 1 has a mounting wall 14, on which both the locking mechanism 2 and the intervention part 12 are located. This arrangement saves space occupied by the locking mechanism 2, and when this embodiment is applied to external equipment, it does not require excessive space, enabling quick connection and disconnection while avoiding excessive increase in equipment size.

[0111] In some optional embodiments, as shown in FIG1, two sets of locking mechanisms 2 are included. The mounting frame 1 has a mounting wall 14, and the two sets of locking mechanisms 2 are symmetrically arranged on the mounting wall 14. The mounting frame 1 is provided with two intervention parts 12, which correspond to the two sets of locking mechanisms 2 respectively. Both the two intervention parts 12 and the two sets of locking mechanisms 2 are located on the mounting wall 14. This arrangement can save the space occupied by the locking mechanisms 2. When this embodiment is applied to external equipment, it can achieve quick connection and disassembly while avoiding excessive increase in equipment size. In addition, the symmetrical arrangement of the two sets of locking mechanisms 2 can make the force between the two connected devices more even and the overall structure more stable.

[0112] As another optional embodiment, the mounting bracket 1 has a first end face (not shown in the figure) and two side mounting faces (not shown in the figure) perpendicular to the first end face. The two side mounting faces are located on the left and right sides of the first end face, respectively. This embodiment includes two sets of locking mechanisms 2, which are respectively disposed on the two side mounting faces. Two intervention parts 12 are provided on the first end face, and the two intervention parts 12 correspond to the two sets of locking mechanisms 2, respectively. This embodiment provides another assembly structure, with the locking mechanisms 2 located on the side. Compared with the embodiments in the previous paragraph and the second paragraph, this embodiment occupies more space.

[0113] This application provides an embodiment of a self-moving device, as shown in Figures 1 to 3. It includes a front end 01 and a body 02. The end of the front end 01 facing the body 02 is provided with any of the aforementioned locking modules, and / or the end of the front end 01 facing the body 02 is provided with a hook-lock module 03. The hook-lock module 03 has any of the aforementioned backup unlocking structures. The end of the body 02 facing the front end 01 is provided with a pin 021, which is used to enter the intervention part 12 and be locked by the locking fastener 22. This allows for quick replacement of the front end 01 on a universal body 02, enabling rapid replacement between front ends 01 with different functions. The hook-lock module 03 has any of the aforementioned backup unlocking structures, and the end of the body 02 facing the front end 01 is provided with a pin 021, which is used to be locked by the locking fastener 22. This allows for quick replacement of the front end 01 on a universal body 02, enabling rapid replacement between front ends 01 with different functions.

[0114] When the locking mechanism 2 fails and jams, maintenance personnel can insert a tool into the gap between the vehicle body 02 and the hook lock module 03, and pull the interference part 223 through the inspection port 15 to release the locking fastener 22 from the pin 021, thereby unlocking the device and realizing the backup unlocking function, which facilitates equipment maintenance.

[0115] In some alternative embodiments, as shown in FIG10, a locking arm 221 is formed on the locking member 22 and a locking groove 0211 is formed on the pin 021. When the locking member 22 is in the locking position, the locking arm 221 is engaged in the locking groove 0211.

[0116] In some alternative embodiments, as shown in FIG2, a locking arm 221 is formed on the locking member 22 and a locking groove 0211 is formed on the pin 021. When the locking member 22 is in the locking position, the locking arm 221 is engaged in the locking groove 0211.

[0117] As another optional embodiment, the self-moving device includes a front end 01 and a body 02. A pin 021 is provided at the end of the front end 01 facing the body 02, and a locking module as described above is provided at the end of the body 02 facing the front end 01. The pin 021 is used to enter the intervention part 12 and be locked by the locking fastener 22.

[0118] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Although this application has disclosed the preferred embodiment as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A locking module, wherein: Includes a mounting bracket (1) and at least one locking mechanism (2); The locking mechanism (2) is disposed on the mounting bracket (1), and the locking mechanism (2) has a locking fastener (22) movably connected to the mounting bracket (1), and the locking fastener (22) has a locking point in its movement stroke; The mounting bracket (1) is provided with an intervention part (12) for external structure intervention. The position of the intervention part (12) corresponds to the locking point. The locking fastener (22) at the locking point is used to lock the external structure. The locking mechanism (2) has a guide seat (211) and a force-applying member (212) rotatably connected to the guide seat (211). The force-applying member (212) serves as the position for applying external force. The force-applying member (212) is operatively connected to the locking member (22). The force-applying member (212) operatively controls the locking member (22) to enter or disengage from the locking position.

2. The lock module of claim 1, wherein: The locking mechanism (2) includes the locking buckle (22), and also includes a transmission assembly (21) and an elastic element (23); The elastic element (23) is connected to the locking element (22), and the locking element (22) moves toward the locking point under the elastic force of the elastic element (23); The transmission assembly (21) has the force-applying element (212), and the transmission assembly (21) is connected to and drives the movement of the locking element (22).

3. The lock module of claim 2, wherein: The transmission assembly (21) includes the force-applying member (212) and the guide seat (211), and also includes a connecting rod (213). The guide seat (211) is disposed on the mounting bracket (1), and the force-applying component (212) is rotatably connected to the guide seat (211); The force-applying component (212) is rotatably connected to a first guide component (2113), and the guide seat (211) is provided with a first guide groove (2111). The first guide component (2113) is slidably connected to the first guide groove (2111). One end of the connecting rod (213) is rotatably connected to the force-applying member (212), and the other end of the connecting rod (213) is rotatably connected to the locking member (22); The locking element (22) is rotatably connected to the mounting bracket (1), and the locking element (22) is provided with a second guide groove (222). The mounting bracket (1) is connected with a second guide element (224); the second guide element (224) is slidably connected to the second guide groove (222). The locking point is located within the rotation trajectory of the locking element (22); One end of the elastic element (23) is connected to the locking element (22), and the other end of the elastic element (23) is connected to the mounting bracket (1).

4. The lock module of claim 3, wherein: The locking module includes a sensor (3) and a sensing element (24), wherein the sensor (3) is used to sense the sensing element (24). One of the sensor (3) and the sensing element (24) is disposed on the locking element (22) and moves with the locking element (22), while the other is disposed on the mounting bracket (1).

5. The lock module of claim 3, wherein: The mounting bracket (1) has a pin hole (121), which is the intervention part (12) for external structures to be inserted into the pin hole (121) and locked by the locking member (22).

6. The lock module of claim 3, wherein: A first rotating shaft (2122) is provided between the force-applying component (212) and the guide seat (211) for rotatable connection; One end of the connecting rod (213) is rotatably connected to the force-applying member (212) by a second rotating shaft (2131), and the other end of the connecting rod (213) is rotatably connected to the locking member (22) by a third rotating shaft (2132). A fourth rotating shaft (226) is provided between the locking fastener (22) and the mounting bracket (1) for rotatable connection; One or more of the first rotating shaft (2122), the second rotating shaft (2131), the third rotating shaft (2132), the fourth rotating shaft (226), the first guide (2113), and the second guide (224) are rivets.

7. The lock module of claim 1, wherein: The mounting bracket (1) has a mounting surface (14), and the locking mechanism (2) and the intervention part (12) are both located on the mounting surface (14).

8. The locking module of any one of claims 1-6, wherein: The mounting bracket (1) has a mounting surface (14). The locking module includes two sets of locking mechanisms (2). The two sets of locking mechanisms (2) are symmetrically arranged on the mounting surface (14). The mounting bracket (1) is provided with two intervention parts (12). The two intervention parts (12) correspond to the two sets of locking mechanisms (2) respectively. The two intervention parts (12) and the two sets of locking mechanisms (2) are all located on the mounting surface (14).

9. A back-up unlocking structure, wherein: Includes a mounting bracket (1) and at least one locking mechanism (2) disposed on the mounting bracket (1); The locking mechanism (2) has a locking member (22) movably connected to the mounting bracket (1). When no external force is applied, the locking member (22) is in the locking position to lock the external structure. The mounting bracket (1) has an inspection port (15), and the locking member (22) has an interference part (223). The interference part (223) is aligned with the inspection port (15) so that external force passes through the inspection port (15) and acts on the interference part (223) to make the locking member (22) disengage from the locking point. The mounting bracket (1) is provided with an intervention part (12) for external structure intervention. The position of the intervention part (12) corresponds to the locking point. The locking member (22) located at the locking point is used to lock the external structure. The locking member (22) is controlled to enter or disengage from the locking point by the force application member (212).

10. The backup unlock structure of claim 1, wherein: A hook hole (2231) is formed on the interference part (223).

11. The backup unlock structure of claim 1, wherein: The locking mechanism (2) includes the locking buckle (22), and also includes a transmission assembly (21) and an elastic element (23); The elastic element (23) is connected to the locking element (22), and the locking element (22) moves toward the locking point under the elastic force of the elastic element (23); The transmission assembly (21) connects to and drives the movement of the locking element (22).

12. The backup unlock structure of claim 11, wherein: The transmission assembly (21) includes a guide seat (211), a force-applying component (212), and a connecting rod (213). The guide seat (211) is disposed on the mounting bracket (1), and the force-applying component (212) is rotatably connected to the guide seat (211); The force-applying component (212) is rotatably connected to a first guide component (2113), and the guide seat (211) is provided with a first guide groove (2111). The first guide component (2113) is slidably connected to the first guide groove (2111). One end of the connecting rod (213) is rotatably connected to the force-applying member (212), and the other end of the connecting rod (213) is rotatably connected to the locking member (22); The locking element (22) is rotatably connected to the mounting bracket (1), and the locking element (22) is provided with a second guide groove (222). The mounting bracket (1) is connected with a second guide element (224); the second guide element (224) is slidably connected to the second guide groove (222). The locking point is located within the rotation trajectory of the locking element (22); One end of the elastic element (23) is connected to the locking element (22), and the other end of the elastic element (23) is connected to the mounting bracket (1).

13. The backup unlock structure of claim 9, wherein: The inspection port (15) is detachably covered with a cover (6).

14. The backup unlock structure of claim 9, wherein: The intervention part (12) includes a positioning seat (4), and the mounting bracket (1) has a seat hole (121), and the positioning seat (4) is disposed on the seat hole (121); The positioning seat (4) has a positioning through hole (40), one end of which faces the locking member (22) and the other end faces the outside.

15. The backup unlock structure of claim 14, wherein: The positioning through hole (40) has a guide ring wall (411) formed at the end facing outward, and the diameter of the guide ring wall (411) gradually increases in the outward direction.

16. The backup unlock structure of claim 14, wherein: The mounting bracket (1) has a mounting wall (14), and the seat hole (121) and the locking element (22) are both located on the mounting wall (14); The side of the assembly wall (14) facing the locking member (22) is the first wall surface, and the side of the assembly wall (14) facing the outside is the second wall surface; The positioning seat (4) is fixed on the first wall surface, and a positioning cylinder (41) is formed on the positioning seat (4). The positioning through hole (40) is located inside the positioning cylinder (41), and the positioning cylinder (41) passes through the seat hole (121). The intervention part (12) also includes a reinforcement part (5), which is fixed on the second wall surface and holds the positioning cylinder (41).

17. A self-moving device, wherein: The vehicle includes a front end (01) and a body (02). The front end (01) facing the body (02) is provided with a locking module as described in any of claims 1 to 8 and / or a hook lock module (03) as described in any of claims 9 to 16. The hook lock module (03) has a backup unlocking structure as described in any of claims 9 to 16. The body (02) facing the front end (01) is provided with a pin (021). The pin (021) is used to enter the intervention part (12) and be locked by the locking fastener (22).

18. The self-mobiling device of claim 17, wherein: The locking member (22) has a locking arm (221) and the pin (021) has a locking groove (0211). When the locking member (22) is in the locking position, the locking arm (221) is engaged in the locking groove (0211).

19. A self-moving device, including a front (01) and a body (02), wherein a pin (021) is provided at one end of the body (02) facing the front (01), the pin (021) being locked by the locking member (22).

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