Marine manipulator capable of preventing mistaken touch

Abstract

The utility model discloses a marine manipulator capable of preventing mistaken touch, which comprises an electric control box, a control rod is arranged on the electric control box, a body surface sensing module is mounted on a handle of the control rod, the body surface sensing module is connected with a handle control system of the electric control box, and the system control can be allowed by detecting that a hand holds the handle of the control rod. And an enabling key is mounted at the end part of the control rod, is linked with a mechanical locking mechanism of the controller through an electric signal, and is connected and matched with the mechanical locking mechanism of the controller through a speed regulating rod. The gear structure of the electric control box is provided with a gear sensing module and a display module. The manipulator is further provided with a magnetic induction sudden stop module. According to the utility model, a plurality of mistaken touch prevention methods are integrated, and potential safety hazards caused by a manipulator without mistaken touch prevention protection are solved. Through mechanical, electrical and software protection, linkage protection of a control system, starting and operation is achieved, and operation safety and reliability are improved.

Description

Technical Field

[0001] The utility model relates to an electric outboard motor controller, in particular to a marine controller which can prevent accidental touch. Background Art

[0002] After powering on, conventional electric outboard motor controllers enter a controllable state. However, if a human or other uncontrollable factor accidentally touches the controller's joystick, the electric controller can issue commands to the electric hull thrusters, causing them to rapidly respond and cause uncontrolled movement of the boat, posing a significant safety hazard.

[0003] Conventional electric controller solutions are shown in Figure 1 By pushing or pulling the joystick forward or backward, the underwater electric propeller is controlled to rotate forward or reverse, allowing the boat to move forward or backward. In normal state, the joystick is in the middle position and the motor does not rotate.

[0004] The existing technology has designed a clamping type emergency stop switch, which is used to prevent the underwater propeller from continuing to work after a person falls into the water, thus playing a role in protecting people from falling into the water. Figure 2 , connect the hand rope through the clamping piece, and the clamping piece is clamped into the emergency stop switch of the electric control box, the switch reed separates, and the underwater thruster works normally. When a person falls into the water, the hand rope drives the clamping piece to separate from the emergency stop switch, the switch reed contacts, and the underwater thruster stops immediately.

[0005] The above two methods can provide the basic functions of an electric controller and control the underwater electric propeller normally.

[0006] In actual use, the above two conventional electric controllers have some shortcomings and are not carefully and comprehensively considered in their designs.

[0007] Defect 1, which is a key area of ​​improvement and enhancement required by the present invention, involves the safety issue of uncontrolled operation caused by accidentally touching the joystick. For example, if a person boards a boat and the circuit is connected, and their clothing, hands, or feet touch the joystick, causing the joystick to shift from its neutral position, the underwater propellers will immediately activate, potentially throwing the person into the water and causing drowning, or causing the boat to collide with an obstacle, resulting in loss of life or property.

[0008] Disadvantage 2 is that the conventional emergency stop switch is set on the handle, which affects the waterproof treatment and appearance, and fails to achieve a high waterproof level and a neat and beautiful appearance design, affecting the product grade.

[0009] Disadvantage 3 is that the conventional joystick does not have the gear sensing and display function, and the operator cannot clearly feel the gear position. Utility Model Content

[0010] The purpose of the utility model is to provide a marine controller that prevents accidental touch, which realizes linkage protection of the control screen display system, startup and operation by combining multiple accidental touch prevention methods, thereby improving the safety and reliability of operation.

[0011] The technical solution of the utility model is:

[0012] The anti-accidental-touch marine controller includes an electric control box, a control lever is provided on the electric control box, and a surface sensing module is installed on the handle of the control lever. The surface sensing module is connected to the handle control system of the electric control box. The system is allowed to be controlled only after detecting that a human hand is holding the handle of the control lever.

[0013] Preferably, when the body surface sensing module is normally powered on, a uniform capacitance field is formed around the handle. The HOD sensor senses the change in the capacitance field to determine whether the operator's hand accidentally touches the handle or completely grasps the handle; the HOD sensor senses the signal to the control chip, and the control chip is connected to the control handle operating system.

[0014] Preferably, an enabling button is installed at the end of the control lever, and the enabling button is linked to the mechanical locking mechanism of the controller through an electric signal, and is also connected and cooperated with the mechanical locking mechanism of the controller through a speed regulating lever.

[0015] Preferably, the enabling button includes two dry reeds, and pressing one dry reed causes the two dry reeds to contact each other, thereby sending an enabling signal to the controller.

[0016] Preferably, the mechanical locking mechanism is fixed to the end of the rotating shaft of the controller, a limiting hole is provided on the mechanical locking mechanism, and a limiting plunger is provided at the end of the speed regulating rod to cooperate with the limiting hole;

[0017] After the two reeds of the enabling button come into contact, continue to press it, pushing the speed regulating lever to move, causing the limit plunger to exit the limit hole and unlocking the mechanical locking mechanism.

[0018] Preferably, the gear structure of the electric control box has a gear sensing module and a display module. The gear structure includes forward, reverse and neutral positions, which are divided into 7 positions according to the control position. The middle is the neutral position. Pushing forward one gear is the forward gear. Continuing to push forward is the speed regulation range corresponding to the forward throttle opening. The front end is the forward limit position. Similarly, pulling backward from the neutral position corresponds to the reverse gear, the reverse speed regulation range and the reverse limit position in sequence.

[0019] Preferably, the gear structure includes a forward gear slot, a neutral gear slot, a reverse gear slot and a joystick; the gear sensing module includes a spring plunger for sensing the force of the joystick; when the joystick is in a non-neutral position, the electric underwater thruster will not rotate after power is turned on. The underwater thruster can only be started by pushing the joystick to the neutral position and then pushing it forward or pulling it backward.

[0020] Preferably, the manipulator is also provided with a magnetic induction emergency stop module, and a magnetic induction module is provided on the electric control box. If the magnetic induction module does not recognize the magnetic body, the control is invalid; if the magnetic body falls during driving, the power of the electric propeller decreases rapidly instead of losing power immediately.

[0021] Preferably, a power switch is provided on the wiring harness of the electric control box for controlling power on of the manipulator.

[0022] Preferably, the body surface sensing module adopts a pressure or temperature sensing module.

[0023] The advantages of the utility model are:

[0024] 1. This utility model integrates multiple anti-accidental touch methods to solve the safety risks caused by controllers without anti-accidental touch protection. Through mechanical, electrical and software protection, it realizes the linkage protection of control system, startup and operation, improving the safety and reliability of operation.

[0025] 2. The utility model adds a power switch solution. The controller can be used only after the switch is powered on. The function is simple and reliable.

[0026] 3. This utility model incorporates a surface sensing module within the joystick grip, utilizing changes in physical quantities such as capacitance to determine whether misoperation has occurred. The surface sensing module offers a simple structure, reliable and stable functionality, and can be designed with decorative and styling considerations in mind, enhancing the controller's aesthetic and quality.

[0027] 4. The utility model adopts a mechanical and electrical linkage locking mechanism, which can simultaneously have an anti-accidental touch function. The mechanical lock ensures that the control rod / handle will not be touched and displaced. Only when the electric enable button is pressed will the control signal be sent to the controller to allow the underwater thruster to operate.

[0028] 5. The present invention incorporates a gear position sensing mechanism in the joystick / handle that clearly identifies the current position of the controller, providing the operator with the most direct gear position indication and reducing the risk of misoperation. The control software performs a neutral position detection. If the joystick is not in the neutral position, the electric underwater thruster will not rotate after power is applied. Returning the joystick or handle to the neutral position and then pushing or pulling it forward will allow the underwater thruster to start, providing safety protection before starting.

[0029] 6. This utility model features a magnetic emergency stop module that detects whether a magnetic element is detached from the controller based on the magnetic field changes caused by its approach and separation. Compared to conventional card-type emergency stop switches, this module offers improved design and waterproofing for the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0031] Figure 1 It is a schematic diagram of a conventional electric manipulator;

[0032] Figure 2 This is a schematic diagram of a conventional electric controller with a clamping type emergency stop switch;

[0033] Figure 3 Schematic diagram of an electric controller with a body surface sensing module and an enabling button;

[0034] Figure 4 Schematic diagram of the electric manipulator for the capacitive body surface sensing module;

[0035] Figure 5 Schematic diagram for enabling button control of electric manipulator;

[0036] Figure 6 This is the functional principle diagram of the gear structure;

[0037] Figure 7 This is the functional principle diagram of gear position sensing;

[0038] Figure 8 This is a schematic diagram of the magnetic sensor of the magnetic emergency stop module falling;

[0039] Figure 9 This is a schematic diagram of the power switch being set at the cable end of the control box;

[0040] Figure 10 Schematic diagram of the pull-out linkage locking structure. DETAILED DESCRIPTION

[0041] like Figure 3 As shown, the utility model realizes the linkage protection of control screen display system, startup and operation by combining multiple anti-accidental touch methods, thereby improving the safety and reliability of operation. Figure 3 .

[0042] The utility model adds a power switch for the electric controller. In normal operation, the controller can be used only after power is turned on.

[0043] This utility model installs a body surface sensing module at the handle of the joystick. It detects the change of physical quantities such as capacitance value after the human hand holds the joystick handle. The control chip collects and processes the data before allowing the joystick to be operated. Taking the capacitive sensing module as an example, the principle diagram is shown in Figure 4. When the capacitive surface sensing module is normally powered on, a uniform capacitive field is formed around the handle. When the hand approaches or touches the handle, the capacitive field around the handle changes. When measuring, the sensor will emit a sine wave to the hand being measured, establish a voltage on the load being measured, and the internal detector will then receive the mirror current feedback from the load. The built-in transimpedance amplifier converts the current signal into a voltage signal, and the demodulator demodulates and separates the I and Q signals, and performs separation processing according to different phase values. The I and Q values ​​correspond to the resistor R and the capacitor C, respectively. The execution system measures and judges the signals of the resistor R and the capacitor C. This determines whether the operator's hand is accidentally touched or fully grasped, and whether the operation is normal.

[0044] The utility model has the function of enabling the electric signal linkage of the key and the mechanical locking function. Figure 5 To operate effectively, the enable button must be pressed in the neutral position while simultaneously pushing the speed lever. The mechanical locking mechanism prevents the limit plunger from being accidentally activated or operated abnormally, locking it against the upper limit hole on the rotating shaft, preventing the speed lever from being pushed. During normal operation, the locking mechanism is released, allowing the speed lever to be pushed forward or pulled backward. Pressing the enable button electrically connects the reed contact, sending an enable signal and allowing the underwater thruster to operate. This mechanical and electrical linkage prevents accidental triggering of the electric controller.

[0045] The gear structure of this utility model has the gear sensing and display function, and the operator can clearly sense and display the forward, reverse and neutral gear positions. Figure 6 , forward, reverse and neutral are divided into 7 positions according to the control position, the middle is the neutral position, push forward one gear for the forward gear, continue to push forward for the speed adjustment range corresponding to the forward throttle opening, and the front end is the forward limit position; similarly, pull back from the neutral position, corresponding to the reverse gear, reverse speed adjustment range and reverse limit position in sequence. Figure 7 , the spring plunger presses on the forward / neutral / reverse gear slot to sense the force of the joystick / handle slot.

[0046] The utility model has a neutral position detection in the control software. That is, when the joystick is not in the neutral position, the electric underwater thruster will not rotate after power is turned on, which serves as a safety protection before starting. The underwater thruster can only be started when the joystick is pushed to the neutral position and then pushed forward or pulled back.

[0047] The utility model magnetic induction emergency stop module places the magnetic induction module on the control assembly box. If the magnetic induction body is not recognized, the control is invalid. In addition, the magnetic induction body falls during driving. The principle is shown in Figure 8 The electric propeller power is quickly reduced rather than lost immediately, minimizing the impact on the boat's safety and the ride quality that could result from a sudden power loss. Compared to conventional card-type emergency stop switches, the magnetic emergency stop module does not affect the control box's appearance or sealing.

[0048] In addition to installing a power switch on the controller body, the utility model can also install a switch power supply for controlling the controller at the wiring harness end. Figure 9 .

[0049] In addition to detecting changes in capacitance values, the body surface sensing module of the present invention can also detect changes in physical quantities such as pressure values ​​and temperature values, and is considered an alternative to the present invention.

[0050] Mechanical and electrical linkage locking mechanism In the straight handle control lever, the pull-out linkage locking can also be used as an alternative to the push-button mechanism of the utility model. Figure 10 .

[0051] This utility model integrates multiple anti-accidental touch methods to solve the safety risks caused by controllers without anti-accidental touch protection. Through mechanical, electrical and software protection, it realizes the linkage protection of control system, startup and operation, improving the safety and reliability of operation.

[0052] Add a power switch solution, the controller can be used only after the switch is powered on, which is simple and reliable.

[0053] A surface sensing module is installed at the handlebar grip. It detects changes in physical quantities like capacitance to determine if there's been misoperation. The surface sensing module offers a simple structure, reliable and stable functionality, and can be designed with decorative and styling considerations to enhance the controller's appearance and quality.

[0054] The mechanical and electrical interlocking locking mechanism can simultaneously have the anti-accidental touch function. The mechanical lock ensures that the joystick / handle will not be touched and displaced. Only when the electric enable button is pressed will the control signal be sent to the controller to allow the underwater thruster to operate.

[0055] This new joystick / handle gear position sensing mechanism clearly identifies the current position of the controller, providing the operator with the most direct gear position indication and reducing the risk of misoperation. The control software performs a neutral position detection. If the joystick is not in the neutral position, the electric underwater thruster will not rotate after power is applied. Returning the joystick or handle to the neutral position and then pushing or pulling it forward or backward will allow the underwater thruster to start, providing safety protection before starting.

[0056] This new magnetic emergency stop module detects whether a magnetic object is detached from the controller based on the magnetic field changes caused by its approach and separation. Compared to conventional card-type emergency stop switches, the magnetic emergency stop module offers improved design and waterproofing for the controller.

[0057] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those familiar with the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any modifications based on the spirit of the main technical solution of the present invention shall be included in the scope of protection of the present invention.

Claims

1. An anti-accidental-touch marine controller, comprising an electric control box, on which a control lever is provided, characterized in that: The electric control box is equipped with a power switch, and the handle of the control rod is equipped with a body surface sensing module, which is connected to the handle control system of the electric control box. The system control is allowed only after detecting that a person is holding the handle of the control rod.

2. The anti-accidental-touch marine controller according to claim 1, characterized in that: The body surface sensing module adopts a capacitive sensing module. Under normal power-on conditions, a uniform capacitive field is formed around the handle. The HOD sensor senses the change in the capacitive field to determine whether the operator's hand accidentally touches the handle or fully grasps the handle; the HOD sensor senses the signal and sends it to the control chip, which is connected to the control handle operating system.

3. The anti-accidental-touch marine controller according to claim 1 or 2, characterized in that: An enabling button is installed at the end of the control lever. The enabling button is linked to the mechanical locking mechanism of the controller through an electric signal, and is also connected and matched with the mechanical locking mechanism of the controller through a speed regulating lever.

4. The anti-accidental-touch marine controller according to claim 3, characterized in that: The enabling button includes two dry reeds. Pressing one dry reed causes the two dry reeds to contact each other, thereby sending an enabling signal to the controller.

5. The anti-accidental-touch marine controller according to claim 4, characterized in that: The mechanical locking mechanism is fixed to the end of the rotating shaft of the controller, a limiting hole is provided on the mechanical locking mechanism, and a limiting plunger matching the limiting hole is provided at the end of the speed regulating rod; After the two reeds of the enabling button come into contact, continue to press it, push the speed regulating rod to move, the limit plunger exits the limit hole, and unlocks the mechanical locking mechanism.

6. The anti-accidental-touch marine controller according to claim 1, characterized in that: The gear structure of the electric control box has a gear sensing module and a display module. The gear structure includes forward, reverse and neutral positions, which are divided into 7 positions according to the control position. The middle is the neutral position. Pushing one gear forward is the forward gear. Continuing to push forward is the speed regulation range corresponding to the forward throttle opening. The front end is the forward limit position. Similarly, pulling backward from the neutral position corresponds to the reverse gear, the reverse speed regulation range and the reverse limit position respectively.

7. The anti-accidental-touch marine controller according to claim 6, characterized in that: The gear structure includes a forward gear slot, a neutral gear slot, a reverse gear slot and a joystick; the gear sensing module includes a spring plunger for sensing the force of the joystick; when the joystick is in a non-neutral position, the electric underwater thruster will not rotate after power is turned on. The underwater thruster can only be started after the joystick is pushed to the neutral position and then pushed forward or pulled backward.

8. The anti-accidental-touch marine controller according to claim 7, characterized in that: The controller is also equipped with a magnetic induction emergency stop module, and a magnetic induction module is set on the electric control box. If the magnetic induction module fails to recognize the magnetic body, the control is invalid; if the magnetic body falls during driving, the power of the electric propeller will decrease rapidly instead of losing power immediately.

9. The anti-accidental-touch marine controller according to claim 1, characterized in that: A power switch is arranged on the wiring harness of the electric control box to control the power on of the controller.

10. The anti-accidental-touch marine controller according to claim 2, characterized in that: The body surface sensing module adopts a pressure type or a temperature type sensing module.

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