Parking device and robot

Abstract

The utility model provides a parking device and a robot, the parking device comprises a plurality of parking assemblies, and each parking assembly comprises a shell with an opening in the bottom end, an elastic piece and a foot margin; the elastic piece is arranged in the shell, one end of the elastic piece abuts against the top wall of the shell, and the other end of the elastic piece is connected with one end of the foot margin. The other end of the foot margin extends out of the shell from the bottom end opening; a plurality of slideways are arranged on the fixed seat; one end of the telescopic device is connected to the fixing base, and the other end of the telescopic device is connected with shells of the parking assemblies through connecting plates. When parking is needed, the telescopic device drives the multiple parking assemblies to synchronously slide downwards along the sliding ways. After the foot margin is in contact with the ground, the elastic piece is compressed, the acting force between the foot margin and the ground is increased, and parking is achieved. According to the technical scheme, the telescopic device can synchronously drive the multiple parking assemblies to stretch out or retract back, the stretching-out parking assemblies can make contact with the ground, then the acting force of the foot margin and the ground is gradually increased, and therefore slow parking is achieved, the parking process is stable, and the parking effect is good.

Description

Technical Field

[0001] The present application relates to the field of parking technology, and in particular to a parking device and a robot. Background Art

[0002] Some equipment, such as robots, need to have a stable chassis when performing tasks at a fixed position to avoid the chassis shaking and causing operational hazards. In order to improve operational stability, a parking device is usually installed on the robot. When the equipment needs to perform tasks at a fixed position, the parking device is activated to stabilize the equipment. When the equipment needs to move, the parking device leaves the ground and the equipment can move freely. However, the parking effect of the existing parking device is not good and it cannot achieve smooth parking of the equipment. Utility Model Content

[0003] In view of the above problems, the present application proposes a parking device and a robot equipment.

[0004] In one embodiment of the present application, a parking device is provided, comprising:

[0005] A plurality of parking components, each comprising a shell with an opening at the bottom, an elastic member and a foot; the elastic member is arranged in the shell, and one end of the elastic member abuts against the top wall of the shell, and the other end acts on one end of the foot; the other end of the foot extends from the bottom opening to the outside of the shell;

[0006] A fixed seat, wherein the fixed seat is provided with slideways having the same number as the plurality of parking components;

[0007] A telescopic device, one end of which is connected to the fixing seat, and the other end of which is connected to the housings of the plurality of parking assemblies via a connecting plate;

[0008] When parking is required, the telescopic device drives the plurality of parking components to slide downward along the slideway synchronously; after the foot contacts the ground, the elastic member is compressed, and the force between the foot and the ground increases, thereby achieving parking.

[0009] Optionally, the housing comprises:

[0010] A sliding sleeve, wherein the elastic member is arranged in the sliding sleeve;

[0011] An end cover is arranged at the top end of the sliding sleeve, and the bottom of the end cover abuts against the top end of the elastic member;

[0012] A ground sleeve, which is arranged at the bottom end of the sliding sleeve and can slide up and down in the sliding sleeve;

[0013] Wherein, the bottom end of the elastic member abuts against the anchor sleeve, and one end of the anchor is connected to the anchor sleeve.

[0014] Optionally, the anchor sleeve comprises two sections, namely a first section located at the upper part and a second section located at the lower part;

[0015] The top of the first section is provided with a groove, and the lower part of the elastic member is located in the groove;

[0016] The second section extends downward from the bottom opening of the shell;

[0017] The bottom opening of the sliding sleeve is provided with a limiting structure, and the limiting structure limits the first section within the sliding sleeve.

[0018] Optionally, a through hole is provided on the connecting plate, the sliding sleeve is fixed above the connecting plate, and the sleeve opening of the sliding sleeve corresponds to the position of the through hole;

[0019] The second section of the anchor sleeve passes through the through hole.

[0020] Optionally, the foot comprises a support rod and a foot cup, and the foot cup is arranged at the bottom end of the support rod;

[0021] The support rod is connected to the anchor sleeve via threads.

[0022] Optionally, an adjustment member is also included;

[0023] The adjusting member is located below the anchor sleeve and is connected to the supporting rod via a thread, and is used to adjust the compression amount of the elastic member.

[0024] Optionally, the slideway is a guide sleeve, and the housing is slidably disposed in the guide sleeve; or

[0025] The slideway is a slide rail, and a slider is provided on the shell. The slider is slidably arranged on the slide rail.

[0026] Optionally, one end of the telescopic device is hinged to the fixing seat, and the other end is hinged to the connecting plate.

[0027] Optionally,

[0028] The elastic member is one of: a spring, an elastic compression block, a gas spring, and a hydraulic spring;

[0029] The telescopic device is one of: a cylinder, a hydraulic cylinder, a push rod, and a screw mechanism.

[0030] In another embodiment of the present application, a robot is provided, comprising a robot body and the above-mentioned parking device;

[0031] The parking device is arranged at the bottom of the robot body.

[0032] In the technical solution provided in the embodiment of the present application, the telescopic device can synchronously drive multiple parking components to extend or retract, and the feet on the extended parking components can contact the ground. Then the force between the feet and the ground gradually increases, and the friction between the feet and the ground will also gradually increase, thereby achieving slow parking, a smooth parking process, and a good parking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A front view of a parking device provided in an embodiment of the present application;

[0035] Figure 2 A left side view of a parking device provided in an embodiment of the present application;

[0036] Figure 3 for Figure 2 Sectional view in the AA direction;

[0037] Figure 4 An exploded view of a parking device provided in an embodiment of the present application;

[0038] Figure 5 A three-dimensional diagram of a driven forklift and an AGV trolley provided in an embodiment of the present application;

[0039] Figure 6 A stereoscopic diagram from another perspective of a driven forklift provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. The "including" mentioned in the entire specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects. In addition, in the embodiments of the present application, a plurality of refers to two or more. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0041] Figure 1 This is a front view of a parking device provided in an embodiment of the present application. Figure 2 This is a left view of a parking device provided in an embodiment of the present application. Figure 3 for Figure 2 Section view in the AA direction. Figures 1 to 3 In one embodiment of the present application, a parking device is provided, which includes: a plurality of parking components 1, a fixed seat 2 and a telescopic device 3. The parking component 1 includes a shell 4 with an opening at the bottom, an elastic member 5 and a foot 6; the elastic member 5 is arranged in the shell 4, and one end abuts against the top wall of the shell 4, and the other end acts on one end of the foot 6. It can be considered that the other end of the elastic member 5 is indirectly connected to the foot 6. The other end of the foot 6 extends from the bottom opening to the outside of the shell 4; the fixed seat 2 is provided with a slideway with the same number as the plurality of parking components 1, and the parking component 1 is arranged on the slideway and can slide along the length direction of the slideway to achieve telescopic movement. When the parking component 1 is extended, the foot 6 gradually approaches the ground and finally contacts the ground. When the parking component 1 is retracted, the foot 6 will leave the ground.

[0042] The telescopic device 3 is mainly used to provide driving force for the extension and retraction of the parking assembly 1. One end of the telescopic device 3 is connected to the fixed seat 2, and the other end is connected to the housing 4 of multiple parking assemblies 1 through the connecting plate 7. Multiple slidable parking assemblies 1 are connected into one body through the connecting plate 7, and the telescopic assembly can simultaneously drive multiple parking assemblies 1 to extend or retract relative to the ground through the connecting plate 7. With multiple parking assemblies 1 participating in the parking process at the same time, not only is the parking efficiency high, but the force applied to the parking device is also more balanced.

[0043] Among them, when parking is required, the telescopic device 3 drives multiple parking components 1 to slide down along the slideway synchronously; after the foot 6 contacts the ground, the elastic member 5 is compressed, and the force between the foot 6 and the ground increases, so as to achieve parking. Specifically, when the telescopic device 3 drives the parking component 1 to slide downward, the foot 6 will gradually approach the ground, and after sliding downward for a certain distance, the foot 6 contacts the ground. As the telescopic device 3 continues to drive the parking component 1 to slide downward, the end of the elastic member 5 that abuts against the top wall of the shell 4 continues to move downward, and the position of the end of the elastic member 5 connected to the foot 6 remains unchanged, so that the elastic member 5 is compressed. The elastic force of the elastic member 5 will be transmitted to the foot 6. As the compression amount of the elastic member 5 increases, the pressure of the foot 6 on the ground will gradually increase, which will gradually increase the friction between the foot 6 and the ground, and the parking device will achieve the effect of slow parking. This technical solution has a smooth parking process and a good parking effect.

[0044] See also Figure 3 and Figure 4 In one embodiment provided in the present application, the housing 4 includes a sliding sleeve 41, an end cover 42 and a ground sleeve 43. The elastic member 5 is arranged in the sliding sleeve 41, the end cover 42 is arranged at the top of the sliding sleeve 41, and the bottom of the end cover 42 abuts against the top of the elastic member 5. Specifically, the sliding sleeve 41 has a hollow cavity 411, and the elastic member 5 is arranged in the hollow cavity 411. To facilitate the installation of the elastic member 5, the end cover 42 is detachably connected to the top of the sliding sleeve 41. For example, an internal thread is provided on the inner wall of the hollow cavity 411 of the sliding sleeve 41, and an external thread is provided on the end cover 42, and the end cover 42 and the sliding sleeve 41 can be matched and connected. In the technical solution provided in the present application, the elastic member 5 includes but is not limited to: a spring, an elastic compression block, a gas spring, a hydraulic spring, etc.

[0045] Furthermore, the anchor sleeve 43 is disposed at the bottom end of the sliding sleeve 41, and can slide up and down in the sliding sleeve 41, that is, slide up and down in the hollow cavity 411. The bottom end of the elastic member 5 abuts against the anchor sleeve 43, and one end of the foot 6 is connected to the anchor sleeve 43. Taking the elastic member 5 as a spring as an example, when the elastic member 5 is compressed, the anchor sleeve 43 will slide upward relative to the sliding sleeve 41; when the elastic member 5 is extended, the anchor sleeve 43 will slide downward relative to the sliding sleeve 41 until it slides to the bottom end of the sliding sleeve 41.

[0046] When the foot 6 is not in contact with the ground, the elastic member 5 in the sliding sleeve 41 can be in a compressed state or in an extended state. Taking the compressed state of the elastic member 5 as an example, the elastic member 5 will push the foot sleeve 43 to the bottom end of the sliding sleeve 41. After the foot 6 contacts the ground, the foot 6 pushes the foot sleeve 43 and slides relative to the sliding sleeve 41. At this time, the elastic member 5 will be further compressed, and the elastic force output by the elastic member 5 will gradually increase.

[0047] Furthermore, the anchor sleeve 43 includes two sections, namely, a first section 431 located at the upper part and a second section 432 located at the lower part. A groove 433 is provided at the top of the first section 431, and the lower part of the elastic member 5 is located in the groove 433. The second section 432 extends downward from the bottom opening of the shell 4. The anchor 6 can be connected to the second section 432, or can pass through the entire anchor sleeve 43 and be connected thereto. Figure 3 In a specific embodiment, the first section 431 and the second section 432 are cylindrical in shape, and the diameter of the first section 431 is larger than the diameter of the second section 432. A through hole is provided on the anchor sleeve 43 along the length direction of the anchor sleeve 43, and the anchor 6 passes through the through hole to connect with the anchor sleeve 43, and one end of the anchor 6 protrudes from the top of the first section 431, and the elastic member 5, which is a spring, can be sleeved on the protruding end of the anchor 6.

[0048] In order to prevent the anchor sleeve 43 from being separated from the sliding sleeve 41, a limiting structure 412 is provided at the bottom opening of the sliding sleeve 41, and the limiting structure 412 limits the first section 431 in the sliding sleeve 41. Specifically, when the anchor sleeve 43 slides to the bottom end of the sliding sleeve 41, the limiting structure 412 will limit the anchor sleeve 43 from continuing to slide, thereby preventing the anchor sleeve 43 from being separated from the sliding sleeve 41. In a specific embodiment, the limiting structure 412 is a constriction at the bottom end of the sliding sleeve 41, and the first section 431 of the anchor sleeve 43 is located in the hollow cavity 411 of the sliding sleeve 41, and the second section 432 of the anchor sleeve 43 extends downward through the constriction.

[0049] See also Figure 3 and Figure 4 In one embodiment provided in the present application, a through hole is provided on the connecting plate 7, the connecting plate 7 is connected to the bottom end of the sliding sleeve 41, the sliding sleeve 41 is fixed above the connecting plate 7, and the opening of the sliding sleeve 41 corresponds to the position of the through hole, and the second section 432 of the anchor sleeve 43 passes through the through hole. In addition, the connecting plate 7 can also be connected to the side wall of the sliding sleeve 41.

[0050] The number of the parking components 1 can be two, three, four or more. In a specific embodiment provided in the present application, the number of the parking components 1 is two. The telescopic device 3 is arranged at the middle position of the fixed seat 2, and the two parking components 1 arranged in parallel and spaced apart are respectively located on both sides of the telescopic device 3. This technical solution not only allows the telescopic device 3 to simultaneously drive the two parking components 1 to telescope through the connecting plate 7, but also because the two parking components 1 are symmetrical based on the telescopic device 3, the driving force output by the telescopic device 3 can be evenly distributed to each parking component 1, and the telescopic amount of each parking component 1 will be more accurate, and it is not easy to wear due to uneven force. The connecting plate 7 is arranged horizontally, and its two ends are respectively connected to the parking component 1. The connecting plate 7 can be connected to the parking component 1 by welding, and can also be detachably connected to the parking component 1 by fasteners such as bolts.

[0051] See also Figure 3 and Figure 4 The connecting plate 7 is a structure that is thick in the middle and thin on both sides. A mounting hole 71 and a first latch hole 72 are provided in the middle of the connecting plate 7. One end of the telescopic device 3 can be connected in the mounting hole 71. The first latch 31 passes through the first latch hole 72, thereby hingedly connecting one end of the telescopic device 3 to the connecting plate 7. The telescopic device 3 includes but is not limited to a cylinder, a hydraulic cylinder, a push rod, a screw mechanism, etc. Taking the telescopic device 3 as a push rod as an example, the top end of the push rod is hinged to the fixed seat 2 through the second latch 32. In the technical solution of the present application, the two ends of the push rod are respectively hinged to the fixed seat 2 and the connecting plate 7. When the parking components 1 on the left and right sides of the connecting plate 7 are subjected to uneven force, the push rod can swing adaptively, thereby avoiding serious wear of the push rod under uneven force.

[0052] See also Figures 1 to 4 In one embodiment provided in the present application, the foot 6 includes a support rod 61 and a foot cup 62. The foot cup 62 is arranged at the bottom end of the support rod 61. A friction structure is provided on the bottom surface of the foot cup 62. When the foot cup 62 contacts the ground, the foot 6 is not easy to slide. The foot cup 62 can be an integrated structure with the support rod 61, or the foot cup 62 can be detachably connected to the support rod 61. In a specific embodiment, a connecting nut 63 is provided at the top of the foot cup 62, and the end of the support rod 61 is connected to the connecting nut 63. The foot cup 62 is arranged as a detachable and replaceable structure, so that the parking device can adapt to different ground environments. Different foot cups 62 have different bottom surface materials and bottom surface areas. Corresponding to the ground with different smoothness, different foot cups 62 can be replaced to achieve effective adaptation to a variety of ground surfaces.

[0053] Furthermore, the support rod 61 is connected to the anchor sleeve 43 through a thread. When the support rod 61 is connected to the through hole on the anchor sleeve 43, the thread on the support rod 61 matches and connects with the thread in the through hole. In the technical solution of the present application, the support rod 61 is connected to the anchor sleeve 43 through a thread, which is not only convenient for replacing support rods 61 of different lengths, but also convenient for changing the length of the support rod 61 extending relative to the anchor sleeve 43.

[0054] When the parking device is set on the chassis of different equipment, since the telescopic stroke of the telescopic device 3 is fixed, but the weight of the chassis of different equipment is different, it is necessary to adjust the compression amount of the elastic member 5 by adjusting the distance between the foot 6 and the ground, so that the friction force generated by the foot 6 can adapt to chassis of different weights, thereby achieving the purpose of universality.

[0055] In order to achieve that the distance between the foot 6 and the ground can be adjusted when the telescopic stroke of the telescopic device 3 is fixed, see Figures 1 to 4 In one embodiment provided in the present application, the parking device further includes an adjusting member 8, which is located below the anchor sleeve 43 and connected to the support rod 61. The adjusting member 8 includes, but is not limited to, a nut, a latch, a buckle, etc. Taking the adjusting member 8 as a nut as an example, the adjusting member 8 is connected to the support rod 61 through a thread, that is, the nut is connected to the thread of the support rod 61, and in addition, the nut is also abutted against the bottom end of the anchor sleeve 43, thereby limiting the displacement of the support rod 61 relative to the anchor sleeve 43. When it is necessary to adjust the distance between the anchor 6 and the ground, first adjust the position of the nut on the support rod 61, and then adjust the position of the support rod 61 relative to the anchor sleeve 43, thereby achieving a change in the distance between the anchor 6 and the ground.

[0056] In addition to being used to adjust the distance between the foot 6 and the ground, the adjusting member 8 can also be used to release the parking state of the parking device in an emergency. Specifically, after the telescopic device 3 is extended, the foot 6 contacts the ground to achieve parking. If the telescopic device 3 happens to fail and cannot be retracted at this time, the parking device cannot be released from the parking state, and the equipment equipped with the parking device cannot be moved. At this time, the position of the adjusting member 8 on the support rod 61 can be adjusted to reduce the distance that the foot 6 extends relative to the foot sleeve 43, so that the foot 6 can be separated from the ground, thereby forcibly releasing the parking state. After the parking is released, the equipment can be freely pushed to the maintenance area for maintenance.

[0057] See also Figure 1 , Figure 3 and Figure 4In one embodiment provided in the present application, the slideway is a guide sleeve 21, and the housing 4 is slidably disposed in the guide sleeve 21. The fixed seat 2 includes a plurality of hollow guide sleeves 21, and the guide sleeve 21 can be detachably connected to the fixed seat 2 by fasteners, or can be an integral structure with the fixed seat 2. The sliding sleeve 41 is slidably disposed in the guide sleeve 21, and one sliding sleeve 41 is disposed corresponding to one guide sleeve 21. The connecting plate 7 is respectively connected to the ends of the plurality of sliding sleeves 41, which can be understood as the connecting plate 7 connecting the plurality of sliding sleeves 41 as a whole. The telescopic device 3 only needs to be connected to the connecting plate 7 to achieve synchronous driving of the plurality of sliding sleeves 41 to telescope. In addition, the length of the sliding sleeve 41 is substantially equal to the length of the guide sleeve 21. When the sliding sleeve 41 is fully retracted, the bottom end of the sliding sleeve 41 is substantially flush with the bottom end of the guide sleeve 21.

[0058] In another embodiment provided in the present application, the slideway is a slide rail, and a slider is provided on the housing 4, and the slider is slidably arranged on the slide rail. The slider slides up and down to realize the extension and retraction of the parking assembly 1.

[0059] See also Figure 5 and Figure 6 In one embodiment of the present application, a robot is further provided, the robot comprising a robot body 100 and the above-mentioned parking device 200, the parking device 200 being arranged at the bottom of the robot body 100, and the end of the parking device 200 facing the ground. One parking device 200 may be arranged on the chassis of the robot body 100, or a plurality of parking devices 200 may be arranged. When a plurality of parking devices 200 are arranged on the robot, the plurality of parking devices 200 will act synchronously, thereby achieving stable parking. In a specific implementation, see Figure 6 The chassis of the robot body 100 is provided with two parking devices 200, along the width direction of the robot body 100 ( Figure 6 The two parking devices 200 are respectively located on both sides of the chassis. The parking devices 200 can be directly welded to the chassis of the robot body 100, or connected to the chassis of the robot body 100 by fasteners (bolts, self-tapping screws, etc.).

[0060] In addition to controlling the extension or retraction of the parking device 200, the robot can also provide driving force for the telescopic device 3. For example, when the telescopic device 3 is a push rod, the push rod is electrically connected to the robot controller, and the robot can provide power to the push rod. For another example, when the telescopic device 3 is a hydraulic cylinder, the hydraulic cylinder is connected to the hydraulic device on the robot through a pipeline, and the hydraulic device can drive the telescopic device 3 to extend or retract.

[0061] Robots include but are not limited to: forklifts, smart shelves, carriers, etc. In a specific embodiment, see Figure 5 and Figure 6 For example, the robot is a driven forklift. The chassis of the driven forklift is provided with a plurality of universal wheels 101, but the forklift cannot move autonomously. Usually, when the forklift needs to be moved, it is often used in conjunction with an AGV (Automated Guided Vehicle) trolley 300 that can move autonomously. The AGV trolley 300 can dock with the driven forklift and drive the driven forklift to move together.

[0062] When the AGV trolley 300 is docked with the driven forklift, the driven forklift cannot move at will, and the AGV trolley 300 can dock with it accurately. At this time, the parking device 200 on the driven forklift can be used to achieve parking. After the docking is completed, the parking device 200 retracts, and the driven forklift is released from the parking state, and then it can move with the AGV trolley 300. In addition, when the driven forklift moves to the target position, the parking device 200 can also assist the brake parking of the driven forklift. Specifically, the telescopic device 3 can drive the foot 6 to contact the ground, and the friction between the foot 6 and the ground can make the driven forklift stop.

[0063] Due to the presence of the elastic member 5 in the parking assembly 1, when the parking device 200 is parked, after the foot 6 contacts the ground, the elastic member 5 will be compressed. Under the elastic force output by the elastic member 5, the force between the foot 6 and the ground will gradually increase, and the friction between the foot 6 and the ground will also gradually increase synchronously, which will make the driven forklift park slowly, and can effectively prevent the cargo on the driven forklift from accidentally falling due to excessive inertia in the state of sudden braking, thereby ensuring the safety of people and cargo.

[0064] In addition, when the driven forklift is in the parking state, by changing the extension amount of the telescopic device 3, the friction between the foot 6 and the ground can also be adjusted. Specifically, when the driven forklift is in the parking state, the extension amount of the telescopic device 3 is the largest, and at this time, the parking device 200 will provide the maximum parking force for the driven forklift. However, during the docking process between the AGV trolley 300 and the driven forklift, this parking state is not conducive to the docking of the AGV trolley 300 and the driven forklift. In the technical solution of the present application, when the AGV trolley 300 enters the docking area, the telescopic device 3 will reduce some of the extension amount, and at this time, the compression amount of the elastic member 5 will also be reduced, the force between the foot 6 and the ground will be reduced, and the friction will also be reduced accordingly. At this time, the driven forklift can receive the corrective force of the AGV trolley 300, and the driven forklift will adaptively adjust its position to meet the needs of precise docking, reduce the friction between the foot 6 and the ground, and ensure that the driven forklift will not move around during docking.

[0065] In summary, in the technical solution provided by the embodiment of the present application, the telescopic device 3 can synchronously drive multiple parking components 1 to extend or retract, and the feet 6 on the extended parking components 1 can contact the ground, and then the force between the feet 6 and the ground gradually increases, and the friction between the feet 6 and the ground will also gradually increase, thereby achieving slow parking, a smooth parking process, and a good parking effect. In addition, when the parking device is in the parking state, it can also reduce the extension amount of the parking component 1, thereby reducing the friction between the feet 6 and the ground, which is conducive to the docking of the robot with other equipment.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking device, characterized in that: include: A plurality of parking components, each comprising a shell with an opening at the bottom, an elastic member and a foot; the elastic member is arranged in the shell, and one end of the elastic member abuts against the top wall of the shell, and the other end acts on one end of the foot; the other end of the foot extends from the bottom opening to the outside of the shell; A fixed seat, wherein the fixed seat is provided with slideways having the same number as the plurality of parking components; A telescopic device, one end of which is connected to the fixing seat, and the other end of which is connected to the housings of the plurality of parking assemblies via a connecting plate; When parking is required, the telescopic device drives the plurality of parking components to slide downward along the slideway synchronously; after the foot contacts the ground, the elastic member is compressed, and the force between the foot and the ground increases, thereby achieving parking.

2. The parking device according to claim 1, characterized in that: The housing comprises: A sliding sleeve, wherein the elastic member is arranged in the sliding sleeve; An end cover is arranged at the top end of the sliding sleeve, and the bottom of the end cover abuts against the top end of the elastic member; A ground sleeve, which is arranged at the bottom end of the sliding sleeve and can slide up and down in the sliding sleeve; Wherein, the bottom end of the elastic member abuts against the anchor sleeve, and one end of the anchor is connected to the anchor sleeve.

3. The parking device according to claim 2, characterized in that: The anchor sleeve comprises two sections, namely a first section located at the upper part and a second section located at the lower part; The top of the first section is provided with a groove, and the lower part of the elastic member is located in the groove; The second section extends downward from the bottom opening of the shell; The bottom opening of the sliding sleeve is provided with a limiting structure, and the limiting structure limits the first section within the sliding sleeve.

4. The parking device according to claim 3, characterized in that: The connecting plate is provided with a through hole, the sliding sleeve is fixed above the connecting plate, and the sleeve opening of the sliding sleeve corresponds to the position of the through hole; The second section of the anchor sleeve passes through the through hole.

5. The parking device according to claim 2, characterized in that: The foot comprises a support rod and a foot cup, and the foot cup is arranged at the bottom end of the support rod; The support rod is connected to the anchor sleeve via threads.

6. The parking device according to claim 5, characterized in that: Also includes an adjustment member; The adjusting member is located below the anchor sleeve and is connected to the supporting rod via a thread, and is used to adjust the compression amount of the elastic member.

7. The parking device according to any one of claims 1 to 6, characterized in that: The slideway is a guide sleeve, and the housing is slidably disposed in the guide sleeve; or The slideway is a slide rail, and a slider is provided on the shell. The slider is slidably arranged on the slide rail.

8. The parking device according to any one of claims 1 to 6, characterized in that: One end of the telescopic device is hinged to the fixing seat, and the other end is hinged to the connecting plate.

9. The parking device according to any one of claims 1 to 6, characterized in that: The elastic member is one of: a spring, an elastic compression block, a gas spring, and a hydraulic spring; The telescopic device is one of: a cylinder, a hydraulic cylinder, a push rod, and a screw mechanism.

10. A robot, characterized in that: It comprises a robot body and a parking device as claimed in any one of claims 1 to 9; The parking device is arranged at the bottom of the robot body.

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