WO2023078244A1 - 浮动壳体装置、自移动设备、及割草机 - Google Patents

浮动壳体装置、自移动设备、及割草机 Download PDF

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Publication number
WO2023078244A1
WO2023078244A1 PCT/CN2022/128990 CN2022128990W WO2023078244A1 WO 2023078244 A1 WO2023078244 A1 WO 2023078244A1 CN 2022128990 W CN2022128990 W CN 2022128990W WO 2023078244 A1 WO2023078244 A1 WO 2023078244A1
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WO
WIPO (PCT)
Prior art keywords
housing
floating
stopper
elastic structure
casing
Prior art date
Application number
PCT/CN2022/128990
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English (en)
French (fr)
Inventor
宗振国
Original Assignee
未岚大陆(北京)科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202122677426.9U external-priority patent/CN216253983U/zh
Priority claimed from CN202111281113.XA external-priority patent/CN116058156A/zh
Application filed by 未岚大陆(北京)科技有限公司 filed Critical 未岚大陆(北京)科技有限公司
Publication of WO2023078244A1 publication Critical patent/WO2023078244A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms

Definitions

  • the embodiment of the present application relates to the technical field of gardening equipment, in particular to a floating housing device, self-moving equipment, and a lawnmower.
  • Existing self-moving gardening equipment also known as self-service gardening equipment or smart gardening equipment or automatic gardening equipment, etc.
  • self-service gardening equipment or smart gardening equipment or automatic gardening equipment, etc. can automatically mow grass without supervision or control, thereby reducing Occupying the user's time can also reduce the repetitive work of the user.
  • embodiments of the present application provide a floating housing device, a self-moving device, and a lawn mower to at least partly solve the above problems.
  • a floating housing device which includes a first housing, a second housing, and a floating adjustment mechanism, where the floating adjustment mechanism includes a first connecting member and a first elastic structure;
  • the first end of a connector is connected to the first housing, the second end of the first connector passes through the second housing, and the second end of the first connector is connected with a floating stopper;
  • the first elastic structure One end is connected to the floating stopper, the other end of the first elastic structure is connected to the surface of the second housing close to the floating stopper, and the first elastic structure is used to generate a first elastic structure when the first housing and the second housing move relatively.
  • a deformation amount is used to reset the first shell and the second shell.
  • the first elastic structure is located between the second housing and the floating stopper, one end of the first elastic structure abuts against the floating stopper, and the other end of the first elastic structure abuts against the second housing close to The surface of the floating stop.
  • the first elastic structure includes a spring
  • the main body of the first connecting piece may be a rod
  • the spring is sleeved outside the rod, one end of the spring abuts against the floating stopper, and the other end of the spring abuts against the second housing .
  • the float adjustment mechanism further includes: a second elastic structure, the second elastic structure is connected between the first connecting member and the second housing, and when the first housing and the second housing move relatively, the second elastic structure The structure produces a second amount of deformation.
  • the second housing defines a through hole
  • the second elastic structure includes an elastic sleeve
  • the elastic sleeve is embedded in the through hole
  • the first connecting member passes through the elastic sleeve
  • a groove is provided on the surface corresponding to the maximum outer diameter of the elastic sleeve.
  • a first protection ring is provided on the second housing, the first protection ring is disposed outside the through hole, and a part of the first elastic structure is sleeved outside the first protection ring.
  • a limiting assembly is provided between the first connecting member and the second housing to limit the relative movement of the first housing and the second housing.
  • the limit assembly includes: a convex edge, the convex edge is arranged on the side wall of the first connecting piece, and is located between the first housing and the second housing, and the maximum diameter of the convex edge is larger than the through hole of the second housing diameter of.
  • the limit assembly further includes: a stopper, the stopper is sleeved outside the first connecting piece and arranged between the second housing and the protruding edge, and the maximum diameter of the stopper is larger than the opening of the second housing.
  • the diameter of the hole, and the maximum diameter of the convex edge is larger than the diameter of the receiving hole of the stopper for receiving the first connecting piece.
  • the floating housing device further includes a second protective ring, the second protective ring is connected to the installation wall of the second housing provided with a through hole, and surrounds the through hole, and the second protective ring protrudes from the installation wall.
  • the height of the wall is greater than the height of the second elastic structure protruding from the installation wall, and the stopper abuts against the surface of the second protection ring close to the first housing.
  • the stopper includes a first cylinder section and a second cylinder section of a coaxially connected cylinder, the diameter of the outer wall of the first cylinder section is smaller than the diameter of the outer wall of the second cylinder section, so as to stop the first connectors.
  • the diameter of the outer wall of the second cylindrical section is larger than the inner diameter of the second protective ring, and the distance between the diameter of the outer wall of the second cylindrical section and the inner diameter of the second protective ring ranges from 0.5 mm to 15 mm.
  • the first connecting member is spherically hinged with the first housing.
  • a ball head is provided at the first end of the first connecting member, and a mounting part is provided on the first housing, and the mounting part has a limiting cavity, and the ball head extends into the limiting cavity, and is spherically matched with the limiting cavity .
  • a floating protector is provided between the first housing and the installation part, and the floating protector has an arc surface for matching with the ball head.
  • the floating housing device further includes a position detector, which is installed on the first housing and the second housing, and can detect the relative displacement of the first housing and the second housing.
  • the position detector includes a Hall element and a magnet
  • the Hall element is arranged on the surface of the first casing close to the second casing
  • the magnet is arranged on the surface of the second casing close to the first casing
  • the Hall element is arranged on the surface of the second casing close to the first casing.
  • the element is arranged facing the magnet, and the Hall element is used to detect the position change of the magnet.
  • a self-moving device which includes the above-mentioned floating shell device and a driving wheel set, the driving wheel set is arranged on the floating shell device, and is used to drive the floating shell device to move.
  • a lawnmower which includes a cutting device and the aforementioned floating housing device, and the cutting device is connected to the second housing of the floating housing device.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a floating shell device according to an embodiment of the present application
  • Fig. 2 is a three-dimensional exploded schematic diagram of a floating shell device according to an embodiment of the present application
  • Fig. 3 is a partially enlarged schematic diagram of a section of a floating shell device according to an embodiment of the present application
  • Fig. 4 is a partial enlarged view of the second buffer structure in Fig. 3;
  • Fig. 5 is a schematic diagram of a state in which the first housing of the floating housing device according to the embodiment of the present application is lifted.
  • the floating housing device includes a first housing 10, a second housing 20 and a floating adjustment mechanism. It includes a first connecting piece 41 and a first elastic structure 42 .
  • the first end of the first connecting member 41 is connected to the first housing 10, the second end of the first connecting member 41 passes through the second housing 20, and the second end of the first connecting member 41 is connected with a floating stopper 45.
  • One end of the first elastic structure 42 is connected to the floating stopper 45, and the other end of the first elastic structure 42 is connected to the surface of the second housing 20 close to the floating stopper 45.
  • the first elastic structure 42 is used as the first housing When the body 10 and the second casing 20 move relative to each other, a first deformation amount is generated, so as to reset the first casing 10 and the second casing 20 .
  • first shell 10 and the second shell 20 Other components can be placed in the first shell 10 and the second shell 20 to form protection for them.
  • the first housing 10 When the first housing 10 is hit by a foreign object or lifted by a person, the first housing 10 moves relative to the second housing 20.
  • the first connecting member 41 since the first end of the first connecting member 41 is connected to the first housing 10, Therefore, the first connecting member 41 will move along with the first casing 10, and then drive the floating stopper 45 to move, so that the first elastic structure 42 produces a first deformation amount, so that the first elastic structure 42 can be on the one hand.
  • the first casing 10 and the second casing 20 are protected when they move relative to each other, and on the other hand, the second casing 20 can be moved after being deformed to a certain extent.
  • the subsequent first elastic structure 42 can also reset the first housing 10 and the second housing 20 . This improves the degree of freedom of the relative movement of the first housing 10 and the second housing 20, thereby realizing floating and recovery of multiple degrees of freedom, and improving reliability and adapt
  • the reset in this application may refer to the state before the movement of the first shell 10 relative to the second shell 20 is restored.
  • Resetting may mean that the first housing 10 and the second housing 20 return to their relative positions before moving.
  • Resetting may refer to complete restoration to the original relative position, or partial restoration to the original relative position.
  • the longitudinal direction of the first connecting member 41 is marked as the first direction (that is, the up-and-down direction shown in FIG. 3 ), and the direction perpendicular to the longitudinal direction of the first connecting member 41 is marked as the second direction.
  • Direction that is, the left-right direction shown in Figure 3 and the direction perpendicular to the paper).
  • the floating stopper 45 can be designed integrally with the first connecting member 41, or can be designed separately.
  • the first elastic structure 42 can be a spring, a rubber ring, a pneumatic cylinder, etc. that can be deformed when subjected to an external force, and can be reset after the external force disappears.
  • the first elastic structure 42 is a spring. One end of the spring is connected to the second housing 20 , and the other end of the spring is connected to the floating stopper 45 .
  • the minimum diameter of the spring is smaller than the maximum diameter of the floating stopper 45 to prevent the spring from coming out.
  • the floating adjustment mechanism in order to better return the first connecting member 41, that is, to better return the first housing 10 and the second housing 20 when the relative movement in the second direction occurs, the floating adjustment mechanism also includes a second elastic structure 43, the second elastic structure 43 is connected between the first connecting member 41 and the second housing 20, when the first housing 10 and the second housing 20 move relatively, the second elastic structure 43 Generate the second deformation amount.
  • the second elastic structure 43 can be used for buffering when the displacement of the first housing 10 and the second housing 20 in the second direction occurs, and can provide a part of restoring force.
  • the first housing 10 and the second housing 20 move relative to each other, if the first connecting member 41 is tilted, the second elastic structure 43 will be deformed by a second amount, and the second elastic structure 43 is correspondingly the first A link 41 provides the force to center it.
  • centering may mean that the first connecting member 41 is located in the middle of the second elastic structure 43, and the magnitude of the force it exerts on each part of the second elastic structure 43 in the circumferential direction is the same or similar, thereby realizing floating. Floating and centering of multiple degrees of freedom of the shell.
  • the force acting on the second elastic structure 43 due to the inclination can be decomposed into a force parallel to the length direction of the first connecting member 41 and a force perpendicular to the length direction. , the acting forces in these two directions are applied to the second elastic structure 43 to generate a second deformation amount, and then the second elastic structure 43 provides a reverse acting force to the first connecting member 41 to center it.
  • the structures and shapes of the first housing 10 and the second housing 20 can be determined according to requirements. For example, when the first shell 10 and the second shell 20 cooperate to form a rectangular box, or other suitable boxes.
  • the main body of the first connecting member 41 may be a rod body.
  • the first connecting member 41 is spherically hinged with the first housing 10 to ensure that the first connecting member 41 can Rotate relative to the first housing 10 so as not to interfere with the movement of the first housing 10 .
  • the first end of the first connector 41 is provided with a ball head 412
  • the first housing 10 is provided with a mounting part 11
  • the mounting part 11 has a limiting cavity
  • the ball head 412 extends into the limiting cavity, and is connected with the limiting cavity.
  • the rod body and the ball head can be integrally formed to improve structural strength and reliability.
  • the floating stopper 45 can be fixed on the first connecting member 41 through the third fastener 133 and the washer 461 .
  • the third fastener 133 and the washer 461 can be integrally formed, which makes installation and use more convenient. Of course, they may also be independent of each other, which is not limited.
  • the installation part 11 can limit the position of the ball head 412 , and can also transmit the force to the ball head 412 .
  • the installation part 11 is detachably connected to the first housing 10 through the first fastener 131, which can facilitate the installation of the ball head 412 to the first housing 10, and improve the convenience of installation, disassembly and maintenance.
  • the mounting member 11 may adopt other appropriate structures and fixing methods, which are not limited thereto.
  • a floating protection part 12 is provided between the first housing 10 and the mounting part 11 , and the floating protection part 12 has an arc-shaped surface for cooperating with the ball head 412 .
  • the ball head 412 By arranging the floating protection part 12 , the ball head 412 can be limited in cooperation with the installation part 11 , and the ball head 412 can also be cooperated with the arc surface on the floating protection part 12 . In this way, even if the wall thickness of the first housing 10 is relatively thin, the ball head 412 can be fitted by setting the floating protection part 12 and processing the arc surface on the floating protection part 12, thereby making the first housing The processing and production of 10 are relatively convenient, thereby reducing production costs.
  • the ball head 412 can be a partial spherical structure, or a whole spherical structure.
  • the partial sphere structure includes 1/3 sphere, 1/2 sphere or 3/4 sphere, etc., as long as it has a partial spherical surface.
  • the floating protection part 12 can be detachably connected to the first housing 10 through the second fastener 132, and the mounting part 11 is covered outside the floating protection part 12, so as to realize the restriction on the ball head 412. bit.
  • the floating protection part 12 may be omitted, and the ball head 412 is connected to the mounting part 11 through an interference elastic fit, so as to meet the requirement.
  • the first elastic structure 42 includes a spring 421 .
  • the spring 421 is located between the second housing 20 and the floating stopper 45 .
  • the first casing 10 When the first casing 10 is lifted up (that is, moves upward along the first direction), the first casing 10 drives the first connecting member 41 and the floating stopper 45 to move upward, thereby compressing the spring 421, and the spring 421 is compressed
  • the second casing 20 After reaching a certain degree, the second casing 20 will be pushed upwards, so that the second casing 20 moves along with the first casing 10 , so that the whole floating casing device is lifted.
  • the floating stopper 45 is pushed to move downward, thereby driving the first connecting member 41 and the first casing 10 to move downward,
  • the second housing 20 can also move accordingly, so as to realize reset.
  • the floating stopper 45 can be integrally formed on the rod body of the first connecting member 41, or can be fastened on the rod body by a fastening structure such as a screw, as long as it can move integrally with the rod body.
  • a limiting assembly is provided between the first connecting member 41 and the second housing 20 to limit the relative movement of the first housing 10 and the second housing 20 . Due to the stop function of the limit assembly, the first connecting member 41 can also be aligned for stop when the first connecting member 41 is subjected to gravity, so that the height between the first housing 10 and the second housing 20 can meet requirements.
  • the limit assembly includes a convex edge 411, the convex edge 411 is arranged on the side wall of the first connecting member 41, and is located between the first housing 10 and the second housing 20, and the maximum distance between the convex edge 411 is larger than the second The diameter of the through hole 211 of the housing.
  • a stopper can be formed between the protruding edge 411 and the second housing 20 , thereby preventing the first connecting member 41 and the first housing 10 from continuing to move down, and achieving a stopper effect.
  • a sufficient height between the first housing 10 and the second housing 20 can be ensured to meet the installation requirements of other structures.
  • the convex edge 411 forms a ring around the outer periphery of the shaft of the first connecting member 41 .
  • the convex edge 411 may also be a plurality of independent protrusions distributed along the circumference of the rod body, and the extending direction of the convex edge is the radial direction of the rod body (the cross-sectional shape of the rod body is circular).
  • the convex edge 411 can surround the sidewall of the first connecting member 41 by 360°.
  • the processing of the convex edge 411 is more convenient and helps to reduce the processing cost.
  • the limit assembly further includes a stopper 423, which is sleeved outside the first connecting member 41 and arranged between the second housing 20 and the protruding edge 411.
  • the maximum diameter of the stopper 423 is larger than that of the second The diameter of the through hole of the housing 20, and the maximum diameter of the convex edge 411 is greater than the diameter of the receiving hole of the stopper 423 for receiving the first connecting piece 41, so that the stopper 423 stops at the convex edge 411 and the second shell between 20 bodies.
  • the stopper 423 ensures that the first casing 10 can be restored to the original state when it is reset after being lifted.
  • the spring 421 provides a certain elastic protection when the first housing 10 moves upward relative to the second housing 20, and realizes returning to the center in the first direction (that is, returning to the initial state), thereby improving the freedom of the floating housing device. Degree and adaptability, and this structure is simpler, fewer parts, so the reliability is higher.
  • the floating housing device also includes a second protective ring 222, the second protective ring 222 is connected to the installation wall 21 provided with the through hole 211 of the second housing 20, and is surrounded by the through hole 211, the second protective ring
  • the height 222 protrudes from the installation wall 21 is greater than the height that the second elastic structure 43 protrudes from the installation wall 21 , and the stopper 423 abuts against the surface of the second protection ring 222 close to the first housing 10 .
  • the stopper 423 in order for the stopper 423 to better cooperate with the second protection ring 222, the stopper 423 includes a first cylindrical section 423a and a second cylindrical section 423b connected coaxially, the first cylindrical section The diameter of the outer wall of the 423a is smaller than the diameter of the outer wall of the second cylindrical section 423b to stop the first connecting member 41 .
  • the first cylinder section 423a and the second cylinder section 423b form a L-shaped stopper 423 in longitudinal section, and the first cylinder section 423a of the stopper 423 of this structure has a Better support ability.
  • the diameter of the second cylindrical section 423b can be reduced while meeting the diameter length required by the stopper, thereby reducing processing costs and materials. use.
  • the structure of the stopper 423 is not limited thereto, and it may also be in other appropriate structures, such as cylindrical, etc., which is not limited in this embodiment.
  • the diameter of the outer wall of the second cylindrical section 423b is larger than the inner diameter of the second protective ring 222
  • the distance between the diameter of the outer wall of the second cylindrical section 423b and the inner diameter of the second protection ring 222 ranges from 0.5 mm to 15 mm. This not only ensures that the diameter of the outer wall of the second cylindrical section 423b is relatively large, and can be stopped by the second protection ring 222, but also ensures that the swing angle will not be limited because the second cylindrical section 423b is too large.
  • the distance between the diameter of the outer wall of the second cylindrical section 423b and the inner diameter of the second protective ring 222 in this embodiment refers to the diameter end of the outer wall of the second cylindrical section 423b to the second protective ring 222 in the same diameter direction.
  • the side wall of the second casing 20 provided with the through hole 211 through which the first connecting member 41 passes is referred to as the installation wall 21 .
  • the installation wall 21 is provided with a through hole 211 through which the first connecting member 41 passes.
  • the second elastic structure 43 includes an elastic sleeve 431 embedded in the through hole 211 , and the first connecting member 41 passes through the elastic sleeve 431 .
  • the elastic sleeve 431 can be other flexible parts such as a rubber ring or a rubber sleeve.
  • the elastic sleeve 431 By setting the elastic sleeve 431 outside the first connecting part 41, it can not only provide protection when the first connecting part 41 and the second housing 20 move relative to each other, but also provide certain protection for the first housing 10 and the second housing 20.
  • the centering force thereby assisting the first connecting member 41 to return to the center.
  • the first housing 10 when the first housing 10 moves in the second direction relative to the second housing 20, the first housing 10 can drive the first connecting member 41 to generate a deviation, thereby locally compressing the elastic sleeve 431 and simultaneously A certain deformation is caused to the first elastic structure 42 .
  • the first elastic structure 42 When the deflection force of the first housing 10 disappears, the first elastic structure 42 provides most of the force for the first housing 10 to restore it, and the elastic sleeve 431 can provide a support for the first housing 10 and the first connecting member 41 A small amount of force is provided to restore and center the elastic sleeve 431 .
  • a limiting structure is provided between the elastic sleeve 431 and the through hole 211 to prevent the elastic sleeve 431 from coming out of the through hole 211 .
  • the limiting structure includes a groove 4311 formed on the surface corresponding to the maximum outer diameter of the elastic sleeve 431 .
  • the elastic sleeve 431 When the elastic sleeve 431 is installed into the through hole 211 , the wall of the through hole 211 is engaged in the groove 4311 . In this way, the elastic sleeve 431 can be effectively limited through the cooperation of the groove and the protrusion, so as to prevent it from falling out, thereby ensuring structural reliability.
  • the second housing 20 is provided with a first protection ring 221, and the first protection ring 221 is surrounded by a Outside the hole 211 , a part of the first elastic structure 42 is sheathed outside the first protection ring 221 .
  • This kind of floating housing device can not only realize floating movement and automatic centering when the first housing 10 moves relative to the second housing 20 in the second direction, but also realize floating movement and automatic centering when the first housing 10 moves relative to the second housing 20 in the first direction.
  • floating movement and automatic centering can also be realized.
  • a position detector can be arranged between the first housing 10 and the second housing 20.
  • the position detector may include a Hall element and a magnet.
  • a hall element is disposed on the surface of the first housing 10 close to the second housing 20
  • a magnet is disposed on the surface of the second housing 20 close to the first housing 10 .
  • the Hall element is arranged opposite to the magnet, and the Hall element is used to detect the magnet. When the first housing 10 and the second housing 20 produce relative displacement, the Hall element can detect the position change of the magnet.
  • there may be two position detectors one is used to detect the relative displacement between the first housing 10 and the second housing 20 in the first direction, and its magnets and Hall elements are distributed in the first direction; In order to detect the relative displacement between the first housing 10 and the second housing 20 in the second direction, the magnets and Hall elements thereof are distributed in the second direction.
  • the second housing 20 moves relative to the first housing 10 in the first direction or the second direction; the Hall element and the magnet move in the first direction or the second direction Relative displacement occurs in the direction, and the Hall element detects that the position of the magnet changes, which can generate an offset signal for detecting collisions.
  • the first casing 10 moves towards the second casing 20 after being hit, and at this time the distance between the magnet and the Hall element decreases, and the Hall element produces a first bias according to the position change of the magnet. shift signal to prompt the first casing 10 to collide with the obstacle in the first direction.
  • the first casing 10 moves toward the second casing 20 after being hit, and the distance between the magnets distributed in the second direction and the Hall element may increase or decrease, and the Hall element may increase or decrease according to the position of the magnet.
  • This change in position generates a second offset signal to prompt the first housing 10 to collide with an obstacle in a second direction.
  • the position of the second housing 10 relative to the first housing 10 changes in the first direction under the action of gravity, and the Hall elements and magnets distributed in the first direction The distance between them increases, and the Hall element generates a rising signal according to the position change of the magnet to prompt that the first housing 10 is lifted in the first direction.
  • a self-moving device which includes the above-mentioned floating shell device and a driving wheel set, the driving wheel set is arranged on the floating shell device, and is used to drive the floating shell device to move.
  • the self-moving device may be an automatic lawn mower, and of course, in other embodiments, the self-moving device may also be other self-service gardening devices. Or, self-mobile devices and other devices that can realize self-propelled.
  • the automatic lawn mower can be used to trim the lawn to ensure that the height of the grass in the lawn meets the demand.
  • the relative displacement between the first shell 10 and the second shell 20 occurs front and rear or left and right (ie, the second direction) as shown in Figure 3 , with a detector that detects displacement, a collision can be detected.
  • the ball head 412 rotates in the cavity formed by the mounting part 11 and the floating protection part 12, and at the same time, the first connecting part 41 will drive the stopper 423 is pried to tilt with the second housing 20 , and the spring 421 will also be compressed to a certain extent during the tilting process. Since the elastic sleeve 431 has a certain degree of elasticity, relative displacement of the first connecting member 41 within the elastic sleeve 431 is allowed.
  • the first connecting member 41 and the stopper 423 will return to the state of being vertically fitted with the second housing 20 under the driving force of the spring. At the same time, due to the elastic effect of the elastic sleeve 431 , the first connecting member 41 is in a centered state.
  • the relative displacement of the first housing 10 and the second housing 20 (that is, the first direction) occurs, and the displacement can be detected by the detector, and then the first housing 10 can be determined. was lifted.
  • the first housing 10 When the first housing 10 moves upwards under the action of external force, it will drive the first connecting part 41 to move upwards together, and at the same time drive the floating stopper 45 to move upwards, thereby compressing the spring 421. When it is compressed to the limit, it will drive the first connecting part 41 to move upwards.
  • the second casing 20 moves upwards.
  • the force of the spring 421 restores the first casing 10 and the second casing 20 to their original state.
  • the first housing 10 can move and return relative to the second housing 20 in the XY plane (that is, the plane perpendicular to the length direction of the first connecting member 41 ), and can also be relative to the second housing 20 in the XY plane.
  • Move in the Z direction that is, the direction parallel to the length direction of the first connecting member 41 ) and return to the center.
  • a lawn mower which includes the aforementioned floating housing device and a cutting device, the cutting device is connected to the second housing 20 of the floating housing device, and the cutting device is used to cut the lawn Grass in the lawn so that the height of the grass in the lawn can meet the demand.
  • the mower Since the mower has the aforementioned floating housing device, it also has the effects of the floating housing device accordingly.
  • first and second are only used to describe different components or names conveniently, and shall not be understood as indicating or implying a sequence relationship, relative importance or implicit indication The number of technical characteristics indicated.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.

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Abstract

一种浮动壳体装置，包括第一壳体（10）、第二壳体（20）和浮动调整机构，浮动调整机构包括第一连接件（41）和第一弹性结构（42），第一弹性结构（42）用于当第一壳体（10）和第二壳体（20）发生相对移动时使第一壳体（10）和第二壳体（20）复位。还包括一种自移动设备及一种割草机。该装置的第一壳体能够实现多自由度浮动，适应性更好。

Description

浮动壳体装置、自移动设备、及割草机 技术领域
本申请实施例涉及园艺设备技术领域，尤其涉及一种浮动壳体装置、自移动设备、及割草机。
背景技术
现有的自移动的园艺设备(也可以称为自助园艺设备或者智能园艺设备或者自动园艺设备等)，如自动割草机，可以在无人照看或者控制的情况下进行自动割草，从而减少对使用者时间的占用，也可以减少使用者的重复劳动。
自移动设备在工作时由于工作场所的环境较为复杂，以自动割草机为例，草坪中可能存在树木、坑洼、石头或者人、动物等阻碍自动割草机工作的障碍物，这需要自动割草机需要能够适应碰撞和高度变化，而现有的自动割草机难以满足这种需求。
发明内容
有鉴于此，本申请实施例提供一种浮动壳体装置、自移动设备、及割草机，以至少部分解决上述问题。
根据本申请实施例的第一方面，提供了一种浮动壳体装置,其包括第一壳体、第二壳体和浮动调整机构，浮动调整机构包括第一连接件和第一弹性结构；第一连接件的第一端与第一壳体连接，第一连接件的第二端穿过第二壳体，且第一连接件的第二端连接有浮动止挡件；第一弹性结构的一端连接于浮动止挡件，第一弹性结构的另一端连接于第二壳体靠近浮动止挡件的表面，第一弹性结构用于当第一壳体和第二壳体相对移动时产生第一变形量，以使第一壳体和第二壳体复位。
可选地，第一弹性结构位于第二壳体和浮动止挡件之间，第一弹性结构的一端抵接于浮动止挡件，第一弹性结构的另一端抵接于第二壳体靠近浮动止挡件的表面。
可选地，第一弹性结构包括弹簧，第一连接件的主体可以是杆体，弹簧套设在杆体外，弹簧的一端抵接于浮动止挡件，弹簧的另一端抵接于第二壳体。
可选地，浮动调整机构还包括：第二弹性结构，第二弹性结构连接于第一连接件和第二壳体之间，在第一壳体和第二壳体相对移动时，第二弹性结构产生第二形变量。
可选地，第二壳体开设通孔，第二弹性结构包括弹性套，弹性套嵌入通孔内，第一连接件穿过弹性套。
可选地，弹性套的最大外径对应的表面开设的凹槽，弹性套装入通孔内时，通孔的孔壁卡接于凹槽内。
可选地，第二壳体上设置有第一保护环，第一保护环围设在通孔外，第一弹性结构的一部分套设在第一保护环外。
可选地，第一连接件和第二壳体之间设置有限位组件，以对第一壳体和第二壳体的 相对移动限位。
可选地，限位组件包括：凸沿，凸沿设置于第一连接件的侧壁，且位于第一壳体和第二壳体之间，凸沿最大直径大于第二壳体的通孔的直径。
可选地，限位组件还包括：挡块，挡块，套设于第一连接件外，且设置于第二壳体和凸沿之间，挡块的最大直径大于第二壳体的通孔的直径，且凸沿的最大直径大于挡块的用于容纳第一连接件的容纳孔的直径。
可选地，浮动壳体装置还包括第二保护环，第二保护环连接于第二壳体的设置有通孔的安装壁，且围设在通孔外，第二保护环凸出于安装壁的高度大于第二弹性结构凸出于安装壁的高度，挡块抵接于第二保护环靠近第一壳体的表面。
可选地，挡块包括同轴相接的圆筒的第一圆筒段和第二圆筒段，第一圆筒段外壁的直径小于第二圆筒段外壁的直径，以止挡第一连接件。
可选地，第二圆筒段外壁的直径大于第二保护环的内径，且第二圆筒段外壁的直径与第二保护环的内径之间的距离的取值范围为0.5mm～15mm。
可选地，第一连接件与第一壳体球面铰接。
可选地，第一连接件的第一端设置有球头，第一壳体上设置有安装件，安装件具有限位腔，球头伸入限位腔内，并与限位腔球面配合。
可选地，第一壳体和安装件之间设置有浮动保护件，浮动保护件具有用于与球头配合的弧形面。
可选地，浮动壳体装置还包括位置检测器，位置检测器安装在第一壳体和第二壳体上，能够检测到第一壳体和第二壳体的相对位移。
可选地，位置检测器包括霍尔元件和磁体，霍尔元件设置在第一壳体靠近第二壳体的表面上，磁体设置在第二壳体靠近第一壳体的表面上，霍尔元件与磁体正对设置，霍尔元件用于检测磁体的位置变化。
根据本申请实施例的第二方面，提供了一种自移动设备，其包括上述的浮动壳体装置和驱动轮组，驱动轮组设置于浮动壳体装置，并用于驱动浮动壳体装置移动。
根据本申请实施例的第三方面，提供了一种割草机，其包括切割装置和前述的浮动壳体装置，切割装置连接于浮动壳体装置的第二壳体。
有益效果：本申请实施例的第一壳体和第二壳体内可以放置其他零部件，以对其形成保护。在第一壳体相对第二壳体移动时，由于第一连接件的第一端与第一壳体连接，因此第一连接件会随着第一壳体而移动，进而带动浮动止挡件移动，而使得第一弹性结构产生第一变形量，这样第一弹性结构一方面可以在第一壳体和第二壳体相对运动时进行保护，另一方面可以在形变到一定程度后使第二壳体随之运动。后续第一弹性结构还可以使第一壳体和第二壳体复位。这样提升了第一壳体和第二壳体相对移动的自由度，从而实现多个自由度的浮动和恢复，提升了可靠性和适应性。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有 技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1为本申请的实施例的浮动壳体装置的立体结构示意图；
图2为本申请的实施例的浮动壳体装置的立体爆炸示意图；
图3为本申请的实施例的浮动壳体装置的剖视的局部放大示意图；
图4为图3中第二缓冲结构处的局部放大图；
图5为本申请的实施例的浮动壳体装置的第一壳体被提起的状态示意图。
附图标记说明：
10、第一壳体；11、安装件；12、浮动保护件；131、第一紧固件；132、第二紧固件；133、第三紧固件；20、第二壳体；21、安装壁；211、通孔；221、第一保护环；222、第二保护环；41、第一连接件；411、凸沿；412、球头；42、第一弹性结构；421、弹簧；423、挡块；423a、第一圆筒段；423b、第二圆筒段；43、第二弹性结构；431、弹性套；4311、凹槽；45、浮动止挡件；461、垫片。
具体实施方式
为了使本领域的人员更好地理解本申请实施例中的技术方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请实施例一部分实施例，而不是全部的实施例。基于本申请实施例中的实施例，本领域普通技术人员所获得的所有其他实施例，都应当属于本申请实施例保护的范围。
下面结合本申请实施例附图进一步说明本申请实施例具体实现。
根据本申请实施例的第一方面，提供一种浮动壳体装置,如图1-图5所示，浮动壳体装置包括第一壳体10、第二壳体20和浮动调整机构浮动调整机构包括第一连接件41和第一弹性结构42。
第一连接件41的第一端与第一壳体10连接，第一连接件41的第二端穿过第二壳体20，且第一连接件41的第二端连接有浮动止挡件45。第一弹性结构42的一端连接于浮动止挡件45，第一弹性结构42的另一端连接于第二壳体20靠近浮动止挡件45的表面，第一弹性结构42用于当第一壳体10和第二壳体20相对移动时产生第一变形量，以使第一壳体10和第二壳体20复位。
第一壳体10和第二壳体20内可以放置其他零部件，以对其形成保护。在第一壳体10受到外物撞击或者被人提起时，第一壳体10相对第二壳体20移动，此时，由于第一连接件41的第一端与第一壳体10连接，因此第一连接件41会随着第一壳体10而移动，进而带动浮动止挡件45移动，而使得第一弹性结构42产生第一变形量，这样第一弹性结构42一方面可以在第一壳体10和第二壳体20相对运动时进行保护，另一方面可以在形变到一定程度后使第二壳体20随之运动。后续第一弹性结构42还可以使第一壳体10和第二壳体20复位。这样提升了第一壳体10和第二壳体20相对移动的自由度，从而实 现多个自由度的浮动和恢复，提升了可靠性和适应性。
需要说明的是，本申请中的复位可以是指第一壳体10相对第二壳体20恢复的移动之前的状态。例如，在第一壳体10相对第二壳体20在第一连接件41的长度方向上出现移动，或者，在第一壳体10相对第二壳体20在垂直第一连接件41的长度方向移动时，或者两个方向均发生相对位移。复位可以指第一壳体10和第二壳体20恢复到移动前相对位置。复位可以指完全恢复至原始相对位置，也可以是部分恢复至原始相对位置。
为了便于说明，在本实施例中，第一连接件41的长度方向记作第一方向(即图3中所示上下方向)，垂直于第一连接件41的长度方向的方向记作第二方向(即图3中所示左右方向和垂直于纸面的方向)。
浮动止挡件45可以与第一连接件41一体设计，也可以是分体设计。第一弹性结构42可以是弹簧、橡胶圈、气动缸等在受到外力作用时可以产生形变，在外力消失后能够复位的结构。
在一个具体的实施例中，所述第一弹性结构42为弹簧。弹簧的一端与第二壳体20连接，弹簧的另一端与浮动止挡件45连接。弹簧的最小直径小于浮动止挡件45的最大直径，避免弹簧脱出。
在本实施例中，为了第一连接件41更好的回中，即在第一壳体10和第二壳体20出现第二方向上的相对移动时可以更好的回中，浮动调整机构还包括第二弹性结构43，第二弹性结构43连接于第一连接件41和第二壳体20之间，在第一壳体10和第二壳体20相对移动时，第二弹性结构43产生第二形变量。
通过设置第二弹性结构43可以在第一壳体10和第二壳体20发生第二方向的位移时利用第二弹性结构43进行缓冲，并可以提供一部分恢复的作用力。由于第一壳体10和第二壳体20产生相对移动时，若使第一连接件41出现倾斜，则会对第二弹性结构43产生第二形变量，第二弹性结构43相应地为第一连接件41提供使其居中的作用力。
在本实施例中，居中可以是指第一连接件41处于第二弹性结构43的中部，其向第二弹性结构43周向上的各部分施加的作用力的大小相同或者类似，由此实现浮动壳体多个自由度的浮动和回中。
在一示例中，若第一连接件41产生倾斜，则该倾斜作用在第二弹性结构43上的力可以分解为平行于第一连接件41长度方向的力和垂直于该长度方向的作用力，这两个方向的作用力施加于第二弹性结构43，使其产生第二形变量，进而第二弹性结构43向第一连接件41提供反向作用力，以使其居中。
下面结合附图对浮动壳体装置的结构和工作过程进行说明如下：
在本实施例中，第一壳体10和第二壳体20的结构和形状可以根据需要确定。例如，第一壳体10和第二壳体20配合时形成矩形的盒体，或者是其他适当的盒体。
如图3所示，第一连接件41的主体可以是杆体，为了与第一壳体10可靠连接，第一连接件41与第一壳体10球面铰接，以此保证第一连接件41能够相对第一壳体10转动，从而不会干涉第一壳体10移动。
例如，第一连接件41的第一端设置有球头412，第一壳体10上设置有安装件11，安装件11具有限位腔，球头412伸入限位腔内，并与限位腔球面配合。这样第一连接件41和第一壳体10之间就可以相对转动，又使得第一壳体10在第二方向上有移动时可以带动第一连接件41出现偏移，保证在不损坏第一壳体10和第一连接件41结构的情况下进行可靠传动。
其中，杆体和球头可以一体成型，以提升结构强度和可靠性。浮动止挡件45可以通过第三紧固件133和垫片461将其固定在第一连接件41上。在一种可行方式中，第三紧固件133和垫片461之间可以一体成型，这样安装和使用更加方便。当然，其也可以是相互独立的，对此不作限制。
安装件11可以对球头412进行限位，也可以将作用力传递到球头412上。在本实施例中，安装件11通过第一紧固件131可拆地连接于第一壳体10，这样可以便于球头412安装到第一壳体10，提升安装、拆卸和维护的便捷性。当然，在其他实施例中，安装件11可以采用其他适当的结构和固定方式，对此不作限制。
可选地，第一壳体10和安装件11之间设置有浮动保护件12，浮动保护件12具有用于与球头412配合的弧形面。
通过设置浮动保护件12可以与安装件11配合对球头412进行限位，也可以通过浮动保护件12上的弧形面与球头412配合。这样即使第一壳体10的壁厚较薄的情况下也可以通过设置浮动保护件12和在浮动保护件12上加工弧形面的方式使得能够球头412配合，由此使得第一壳体10的加工和生产比较方便，从而可以降低生产成本。
球头412可以是部分球体结构，也可以是整个球体。部分球体结构包括1/3球体，1/2球体或3/4球体等，只要保证具有部分球面即可。
在本实施例中，浮动保护件12可以通过第二紧固件132可拆卸地连接在第一壳体10上，且安装件11覆盖在浮动保护件12外，以实现对球头412的限位。
当然，在其他实施例中，可以省略浮动保护件12，球头412与安装件11之间通过过盈弹性装配的方式连接，以此满足需求。
在本实施例中，第一弹性结构42包括弹簧421。其中，弹簧421位于第二壳体20和浮动止挡件45之间。在第一壳体10被上提(即沿着第一方向向上运动)时，第一壳体10带动第一连接件41和浮动止挡件45向上移动，从而压缩弹簧421，弹簧421被压缩到一定程度后会推动第二壳体20向上移动，从而使得第二壳体20随着第一壳体10移动，使得浮动壳体装置整体被提起。
在第一壳体10被提起的作用力消失后，由于弹簧421的恢复力，使得浮动止挡件45被推动向下移动，而带动第一连接件41和第一壳体10向下移动，第二壳体20也可以随之移动，从而实现复位。
浮动止挡件45可以一体成型在第一连接件41的杆体上，也可以通过螺钉等紧固结构紧固在杆体上，只要保证其能够随杆体一体移动即可。
为了保持第一壳体10在初始状态下的高度，第一连接件41和第二壳体20之间设置 有限位组件，以对第一壳体10和第二壳体20的相对移动限位。由于限位组件的止挡作用在第一连接件41受到重力的情况下也可以对齐进行止挡，从而使第一壳体10和第二壳体20之间的高度能够满足需求。
例如，限位组件包括凸沿411，凸沿411设置于第一连接件41的侧壁，且位于第一壳体10和第二壳体20之间，凸沿411的最大之间大于第二壳体的通孔211的直径。这样凸沿411就可以和第二壳体20之间形成止挡，从而防止第一连接件41和第一壳体10继续下移，实现止挡效果。这样可以保证第一壳体10和第二壳体20之间有足够的高度能够满足其他结构的安装要求。
例如，如图2所示，凸沿411在第一连接件41的杆体外周形成一圈环台。或者，凸沿411也可以是多个独立的、沿杆体的周向分布的凸起，凸沿的延伸方向为杆体(杆体的横截面形状为圆形)的径向。
在一个实施例中，凸沿411可以360°包围第一连接件41的侧壁。这种凸沿411的加工更加方便，有助于降低加工成本。
可选地，限位组件还包括挡块423，挡块423套设于第一连接件41外，且设置于第二壳体20和凸沿411之间，挡块423的最大直径大于第二壳体20的通孔的直径，且凸沿411的最大直径大于挡块423的用于容纳第一连接件41的容纳孔的直径，以使挡块423止挡在凸沿411和第二壳体20之间。
具体地，当第一壳体10被提起一段距离后，由于第一连接件41随第一壳体10移动，因此第一连接件41上的凸沿411与挡块423分离，在第一壳体10被提起的作用力消失时，第一壳体10和第一连接件41回落，挡块423对凸沿411产生止挡，从而使其恢复到被提起前的状态。
在第一壳体10处于初始状态时，由于挡块423的支撑作用，第一壳体10无法被压下。这样通过挡块423保证了第一壳体10被提起后复位时能够恢复到初始状态。而弹簧421在第一壳体10相对第二壳体20向上运动时进行一定的弹性保护，且实现在第一方向上的回中(即恢复初始状态)，从而提升了浮动壳体装置的自由度和适应性，而且这种结构较为简单、零部件较少，因此可靠性更高。
可选地，由于第二壳体20和第一连接件41之间设置有第二弹性结构43，为了避免挡块423压设在第二弹性结构43上，保证第二弹性结构43的安装空间足够，浮动壳体装置还包括第二保护环222，第二保护环222连接于第二壳体20的设置有通孔211的安装壁21，且围设在通孔211外，第二保护环222凸出于安装壁21的高度大于第二弹性结构43凸出于安装壁21的高度，挡块423抵接于第二保护环222靠近第一壳体10的表面。
在一种方式中，为了挡块423能够更好地与第二保护环222配合，挡块423包括同轴相接的第一圆筒段423a和第二圆筒段423b，第一圆筒段423a外壁的直径小于第二圆筒段423b外壁的直径，以止挡第一连接件41。这样通过第一圆筒段423a和第二圆筒段423b组成纵截面形状类似L型的挡块423，这种结构的挡块423的第一圆筒段423a在受 到第一方向的压力时具有较好的支撑能力。
由于第一圆筒段423a和第二圆筒段423b的直径不同，这样在满足止挡需要的直径长度的情况下，可以减小第二圆筒段423b的直径，从而减少加工成本，降低材料使用。
当然，挡块423的结构并不限于此，其还可以是其他适当的结构，例如为圆筒形等，本实施例对此不作限制。
可选地，为了避免第二圆筒段423b外壁的直径过大而影响第一壳体10和第一连接件41摆动，第二圆筒段423b外壁的直径大于第二保护环222的内径，且第二圆筒段423b外壁的直径与第二保护环222的内径之间的距离的取值范围为0.5mm～15mm。这样既保证了第二圆筒段423b外壁的直径较大，能够被第二保护环222止挡，又保证了不会因为第二圆筒段423b过大而限制摆动角度。
本实施例中所述的第二圆筒段423b外壁的直径与第二保护环222的内径之间的距离是指在同一直径方向上，第二圆筒段423b外壁的直径末端到第二保护环222的内径末端之间的距离。
可选地，为了便于描述第二壳体20上设置有供第一连接件41穿过的通孔211的侧壁记作安装壁21。安装壁21上设置有供第一连接件41穿过的通孔211，第二弹性结构43包括弹性套431，弹性套431嵌入通孔211内，第一连接件41穿过弹性套431。弹性套431可以是橡胶圈或者橡胶套等其他柔性零件。通过在第一连接件41外套设弹性套431，不仅可以在第一连接件41和第二壳体20产生相对移动时进行保护，而且可以为第一壳体10和第二壳体20提供一定的回中力，从而辅助第一连接件41回中。
例如，当第一壳体10相对第二壳体20在第二方向上移动时，第一壳体10可以带动第一连接件41产生偏移，从而对弹性套431进行局部压缩，同时也会对第一弹性结构42造成一定形变。当第一壳体10偏移的力消失时，第一弹性结构42为第一壳体10提供大部分使其恢复的作用力，弹性套431可以为第一壳体10和第一连接件41提供小部分的使其恢复并居于弹性套431中心的作用力。
可选地，为了保证弹性套431在通孔211内可靠固定，弹性套431和通孔211之间设置有限位结构，以阻止弹性套431从通孔211内脱出。
在一示例中，限位结构包括弹性套431的最大外径对应的表面开设的凹槽4311，弹性套431装入通孔211内时，通孔211的孔壁卡接于凹槽4311内。这样通过凹槽和凸起的配合可以对弹性套431进行有效限位，从而防止其脱出，以此保证结构可靠性。
在本实施例中，由于安装壁21的厚度相对较薄，为了使弹簧421不与弹性套431干涉，第二壳体20上设置有第一保护环221，第一保护环221围设在通孔211外，第一弹性结构42的一部分套设在第一保护环221外。
这种浮动壳体装置不仅可以在第一壳体10在第二方向上相对第二壳体20移动时实现浮动移动和自动回中，而且在第一壳体10在第一方向上相对第二壳体20移动时，也可以实现浮动移动和自动回中。
可选地，为了能够检测到第一壳体10和第二壳体20的相对位移，可以在第一壳体 10和第二壳体20之间设置位置检测器。
在一种示例中，位置检测器可以包括霍尔元件和磁体。第一壳体10靠近第二壳体20的表面设置有霍尔元件，第二壳体20靠近所述第一壳体10的表面设置有磁体。霍尔元件与磁体正对设置，霍尔元件用于检测磁体。当第一壳体10和第二壳体20产生相对位移时，霍尔元件可以检测到磁体的位置变化。
其中，位置检测器可以有两个，一个用于检测第一壳体10和第二壳体20在第一方向上的相对位移，其磁体和霍尔元件在第一方向上分布；另一个用于检测第一壳体10和第二壳体20在第二方向上的相对位移，其磁体和霍尔元件在第二方向上分布。
具体的，当第一壳体10碰撞障碍物时，第二壳体20在第一方向或第二方向上相对于第一壳体10发生移动；霍尔元件和磁体在第一方向或第二方向上发生相对位移，霍尔元件检测到磁体的位置发生变化，可以产生偏移信号，用于检测碰撞。
在第一方向上，第一壳体10被碰撞后朝向第二壳体20运动，这时磁体与霍尔元件之间的距离减小，霍尔元件根据磁体的这个位置变化情况产生第一偏移信号，以提示第一壳体10在第一方向上碰撞障碍物。
在第二方向上，第一壳体10被碰撞后朝向第二壳体20运动，分布在第二方向上的磁体与霍尔元件之间的距离可能增加或减小，霍尔元件根据磁体的这个位置变化情况产生第二偏移信号，以提示第一壳体10在第二方向上碰撞障碍物。
当第一壳体10被抬起一定高度时，第二壳体10在重力作用下相对于第一壳体10在第一方向上位置发生变化，分布在第一方向上的霍尔元件和磁体之间的距离增大，霍尔元件根据磁体的这个位置变化情况产生升高信号，以提示第一壳体10在第一方向上被抬起。
根据本申请实施例的第二方面，提供一种自移动设备，其包括上述的浮动壳体装置和驱动轮组，驱动轮组设置于浮动壳体装置，并用于驱动浮动壳体装置移动。
该自移动设备可以是自动割草机，当然，在其他实施例中，该自移动设备还可以是其他自助园艺设备。或者，自移动设备其他可以实现自行走的设备。自动割草机可以用于对草坪进行修剪，以保证草坪内的草的高度满足需求。
具有此种浮动壳体装置的自移动设备当碰到障碍物或者加速等情况中，第一壳体10和第二壳体20发生如图3中前后或左右(即第二方向)的相对位移，通过检测位移的检测器，可以检测到碰撞。在此过程中，第一壳体10在外力作用下左右(或前后)移动时，球头412在安装件11和浮动保护件12组成的腔体内转动，同时第一连接件41会带动挡块423撬动而与第二壳体20相倾斜，在倾斜过程中也会在一定程度上压缩弹簧421。由于弹性套431具有一定的弹性，因此可以允许第一连接件41在弹性套431内有相对位移。
当外力撤去时，第一连接件41和挡块423会在弹簧的作用力的驱动下恢复与第二壳体20相垂直配合的状态。同时由于弹性套431的弹性作用而使第一连接件41处于居中状态。
当用户将自动割草机抬起时，第一壳体10和第二壳体20发生上下(即第一方向) 的相对位移，通过检测器可以检测到该位移，进而确定第一壳体10被抬起。
第一壳体10在外力作用下向上运动时，会带动第一连接件41一起向上运动，同时会带动浮动止挡件45向上运动，而使弹簧421压缩，当其压缩到极限时会带动第二壳体20向上运动。
当外力撤去时，弹簧421的作用力使第一壳体10和第二壳体20恢复到初始状态。
通过这种方式使得第一壳体10可以相对第二壳体20在XY平面(即垂直于第一连接件41的长度方向的平面)内移动和回中，也可以相对第二壳体20在Z方向(即平行第一连接件41的长度方向的方向)上移动和回中。
根据本申请实施例的第三方面，提供一种割草机，其包括前述的浮动壳体装置和切割装置，切割装置连接于浮动壳体装置的第二壳体20，切割装置用于切割草坪中的草，以使草坪中草的高度能够满足需求。
由于该割草机具有前述的浮动壳体装置，因此也相应具有浮动壳体装置具有的效果。
需要说明的是，在本发明的描述中，术语“第一”、“第二”仅用于方便描述不同的部件或名称，而不能理解为指示或暗示顺序关系、相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
需要说明的是，虽然结合附图对本发明的具体实施例进行了详细地描述，但不应理解为对本发明的保护范围的限定。在权利要求书所描述的范围内，本领域技术人员不经创造性劳动即可做出的各种修改和变形仍属于本发明的保护范围。
本发明实施例的示例旨在简明地说明本发明实施例的技术特点，使得本领域技术人员能够直观了解本发明实施例的技术特点，并不作为本发明实施例的不当限定。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (20)

  1. 一种浮动壳体装置，其特征在于，包括第一壳体(10)、第二壳体(20)和浮动调整机构，所述浮动调整机构包括：
    第一连接件(41)，所述第一连接件(41)的第一端与所述第一壳体(10)连接，所述第一连接件(41)的第二端穿过所述第二壳体(20)，且所述第一连接件(41)的第二端连接有浮动止挡件(45)；
    第一弹性结构(42)，所述第一弹性结构(42)的一端连接于所述浮动止挡件(45)，所述第一弹性结构(42)的另一端连接于所述第二壳体(20)靠近所述浮动止挡件(45)的表面，所述第一弹性结构(42)用于当所述第一壳体(10)和所述第二壳体(20)相对移动时产生第一变形量，以使所述第一壳体(10)和所述第二壳体(20)复位。
  2. 根据权利要求1所述的浮动壳体装置，其特征在于，所述第一弹性结构(42)位于所述第二壳体(2)和所述浮动止挡件(45)之间，所述第一弹性结构(42)的一端抵接于所述浮动止挡件(45)，所述第一弹性结构(42)的另一端抵接于所述第二壳体(20)靠近所述浮动止挡件(45)的表面。
  3. 根据权利要求2所述的浮动壳体装置，其特征在于，所述第一弹性结构(42)包括弹簧(421)，第一连接件(41)的主体可以是杆体，所述弹簧(421)套设在所述杆体外，所述弹簧(421)的一端抵接于所述浮动止挡件(45)，所述弹簧(421)的另一端抵接于所述第二壳体(20)。
  4. 根据权利要求1所述的浮动壳体装置，其特征在于，所述浮动调整机构还包括：
    第二弹性结构(43)，所述第二弹性结构(43)连接于所述第一连接件(41)和所述第二壳体(20)之间，在所述第一壳体(10)和所述第二壳体(20)相对移动时，所述第二弹性结构(43)产生第二形变量。
  5. 根据权利要求4所述的浮动壳体装置，其特征在于，所述第二壳体(20)开设通孔(211)，所述第二弹性结构(43)包括弹性套(431)，所述弹性套(431)嵌入所述通孔(211)内，所述第一连接件(41)穿过所述弹性套(431)。
  6. 根据权利要求5所述的浮动壳体装置，其特征在于，所述弹性套(431)的最大外径对应的表面开设的凹槽(4311)，所述弹性套(431)装入所述通孔(211)内时，所述通孔(211)的孔壁卡接于所述凹槽(4311)内。
  7. 根据权利要求5所述的浮动壳体装置，其特征在于，所述第二壳体(20)上设置有第一保护环(221)，所述第一保护环(221)围设在所述通孔(211)外，所述第一弹性结构(42)的一部分套设在所述第一保护环(221)外。
  8. 根据权利要求1-7中任一项所述的浮动壳体装置，其特征在于，所述第一连接件(41)和所述第二壳体(20)之间设置有限位组件，以对所述第一壳体(10)和所述第二壳体(20)的相对移动限位。
  9. 根据权利要求8所述的浮动壳体装置，其特征在于，所述限位组件包括：
    凸沿(411)，所述凸沿(411)设置于所述第一连接件(41)的侧壁，且位于所述 第一壳体(10)和所述第二壳体(20)之间，所述凸沿(411)的最大直径大于所述第二壳体(20)的通孔(211)的直径。
  10. 根据权利要求9所述的浮动壳体装置，其特征在于，所述限位组件还包括：
    挡块(423)，所述挡块(423)套设于所述第一连接件(41)外，且设置于所述第二壳体(20)和所述凸沿(411)之间，所述挡块(423)的最大直径大于所述第二壳体(20)的通孔(211)的直径，且所述凸沿(411)的最大直径大于所述挡块(423)的用于容纳所述第一连接件(41)的容纳孔的直径。
  11. 根据权利要求10所述的浮动壳体装置，其特征在于，所述浮动壳体装置还包括第二保护环(222)，所述第二保护环(222)连接于所述第二壳体(20)的设置有通孔(211)的安装壁(21)，且围设在所述通孔(211)外，所述第二保护环(222)凸出于所述安装壁(21)的高度大于第二弹性结构(43)凸出于所述安装壁(21)的高度，所述挡块(423)抵接于所述第二保护环(222)靠近所述第一壳体(10)的表面。
  12. 根据权利要求11所述的浮动壳体装置，其特征在于，所述挡块(423)包括同轴相接的第一圆筒段(423a)和第二圆筒段(423b)，所述第一圆筒段(423a)外壁的直径小于所述第二圆筒段(423b)外壁的直径，以止挡所述第一连接件(41)。
  13. 根据权利要求12所述的浮动壳体装置，其特征在于，所述第二圆筒段(423b)外壁的直径大于所述第二保护环(222)的内径，且所述第二圆筒段(423b)外壁的直径与所述第二保护环(222)的内径之间的距离的取值范围为0.5mm～15mm。
  14. 根据权利要求1-7中任一项所述的浮动壳体装置，其特征在于，所述第一连接件(41)与所述第一壳体(10)球面铰接。
  15. 根据权利要求14所述的浮动壳体装置，其特征在于，所述第一连接件(41)的第一端设置有球头(412)，所述第一壳体(10)上设置有安装件(11)，所述安装件(11)具有限位腔，所述球头(412)伸入所述限位腔内，并与所述限位腔球面配合。
  16. 根据权利要求15所述的浮动壳体装置，其特征在于，所述第一壳体(10)和所述安装件(11)之间设置有浮动保护件(12)，所述浮动保护件(12)具有用于与所述球头(412)配合的弧形面。
  17. 根据权利要求1-7中任一项所述的浮动壳体装置，其特征在于，所述浮动壳体装置还包括位置检测器，所述位置检测器安装在所述第一壳体(10)和所述第二壳体(20)上，能够检测到所述第一壳体(10)和所述第二壳体(20)的相对位移。
  18. 根据权利要求17所述的浮动壳体装置，其特征在于，所述位置检测器包括霍尔元件和磁体，所述霍尔元件设置在所述第一壳体(10)靠近所述第二壳体(20)的表面上，所述磁体设置在所述第二壳体(20)靠近所述第一壳体(10)的表面上，所述霍尔元件与所述磁体正对设置，所述霍尔元件用于检测所述磁体的位置变化。
  19. 一种自移动设备，其特征在于，包括权利要求1-18中任一项所述的浮动壳体装置和驱动轮组，所述驱动轮组设置于所述浮动壳体装置，并用于驱动所述浮动壳体装置移动。
  20. 一种割草机，其特征在于，包括切割装置和权利要求1-18中任一项所述的浮动壳体装置，所述切割装置连接于所述浮动壳体装置的第二壳体(20)。
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