Control device, propeller system and water area movable equipment

Abstract

The utility model provides a control device, a propeller system and water area movable equipment, the control device comprises a base and a control rod, the control rod can be rapidly and detachably connected to the base, and the control rod can rotate relative to the base in the state of being connected with the base. The control rod rotates relative to the base to at least form torque on the base, and the torque can be transmitted to a propeller on a ship in a mechanical transmission mode or can be transmitted to the propeller on the ship in a mode that the torque is converted into an electric signal through electronic induction so as to control operation of the propeller. The control rod can be quickly and detachably connected to the base, so that when the control rod does not need to be used for control, the control rod can be quickly detached from the base, the situation that the control rod is accidentally collided by an external object to cause abnormal operation of the control rod is avoided, and the safety problem of misoperation is also avoided.

Description

Technical Field

[0001] This application relates to the field of electromechanical equipment, and particularly to a control device, a propulsion system, and a waterborne mobile device. Background Art

[0002] Currently, many ships are equipped with throttle control devices. The throttle control device usually sets a rotatable control lever to control the power and propulsion direction of the marine propeller. On sailing ships, ropes are often used to drive the sails, which easily causes the ropes to hang on the control lever of the throttle control device, resulting in accidental rotation of the control lever and causing safety accidents. That is, the current throttle control device has a safety risk problem caused by accidental misoperation. Summary of the Utility Model

[0003] Embodiments of this application provide a control device, a propulsion system, and a waterborne mobile device, which can avoid the safety problem of misoperation caused by the interference of external objects.

[0004] Embodiments of this application provide a control device. The control device includes a base and a control lever. The control lever is detachably connected to the base. When the control lever is connected to the base, it can rotate relative to the base, and the rotation of the control lever relative to the base can be used to control the operation of the marine propeller on the ship.

[0005] Embodiments of this application provide a propulsion system. The propulsion system includes the above-mentioned control device. The propulsion system further includes a marine propeller, which is used to be connected to the hull of the ship, and the control device can control the operation of the marine propeller.

[0006] Embodiments of this application provide a waterborne mobile device. The waterborne mobile device includes the above-mentioned propulsion system. The waterborne mobile device further includes a hull. The base of the control device is fixed on the hull, and the marine propeller is connected to the hull.

[0007] For the control device, propulsion system, and waterborne mobile device of the embodiments of this application, since the control lever is detachably connected to the base, when the control lever is not needed for operation, the control lever can be quickly detached from the base, and external objects will not accidentally collide with the control lever and cause abnormal operation of the control lever, thus avoiding the safety problem of misoperation. Brief Description of the Drawings

[0008] In order to more clearly illustrate the technical solutions in the embodiments of this application or the background art, the following will describe the drawings required to be used in the embodiments of this application or the background art.

[0009] Figure 1Schematic diagram of the installation of the control device according to the embodiment of the present application on a boat;

[0010] Figure 2 Stereoscopic schematic diagram of the control device according to the embodiment of the present application;

[0011] Figure 3 Cross-sectional schematic diagram of the control device according to the embodiment of the present application;

[0012] Figure 4 For Figure 3 Schematic diagram of the disassembled state of the control device;

[0013] Figure 5 Cross-sectional schematic diagram of the control device according to other embodiments of the present application;

[0014] Figure 6 Partial schematic diagram of the control device according to other embodiments of the present application;

[0015] Figure 7 Cross-sectional schematic diagram of the control device according to other embodiments of the present application;

[0016] Figure 8 Partially enlarged cross-sectional schematic diagram of the control device according to the embodiment of the present application;

[0017] Figure 9 For Figure 8 Stereoscopic exploded schematic diagram of the control device;

[0018] Figure 10 Cross-sectional schematic and unlocking change schematic diagram of the control device according to other embodiments of the present application;

[0019] Figure 11 Cross-sectional schematic and unlocking change schematic diagram of the control device according to other embodiments of the present application;

[0020] Figure 12 Cross-sectional schematic and unlocking change schematic diagram of the control device according to other embodiments of the present application;

[0021] Figure 13 Cross-sectional schematic and unlocking change schematic diagram of the control device according to other embodiments of the present application;

[0022] Figure 14 Cross-sectional schematic diagram of the control device according to other embodiments of the present application;

[0023] Figure 15 Cross-sectional schematic diagram of the control device according to other embodiments of the present application;

[0024] Figure 16 Figure 15 Schematic diagram of the disassembly of the control lever and the base of the control device;

[0025] Figure 17 Cross-sectional schematic diagram of a control device according to other embodiments of the present application;

[0026] Figure 18 Schematic diagram of a propulsion system according to an embodiment of the present application. Specific embodiments

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the embodiments of the present invention belong; the terms used in the specification of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention; the terms "including" and "having" and any variations thereof in the specification and claims of the embodiments of the present invention and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of the embodiments of the present invention or the above drawings are used to distinguish different objects and not to describe a specific order.

[0028] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase does not necessarily refer to the same embodiment at every occurrence in the specification, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0029] In order to enable those skilled in the art of the present technology to better understand the solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a control device 100 for installation on the side of a ship 02. The control device 100 includes a base 10 and a control lever 20. The control lever 20 is detachably connected to the base 10. In a state where the control lever 20 is connected to the base 10, the control lever 20 can rotate relative to the base 10, and the rotation of the control lever 20 relative to the base 10 can be used to control the operation of a thruster on the ship.

[0031] It can be understood that the control device 100 of the present application can be used to be installed on the ship's side 02, that is, the control device 100 can be used as a side throttle control device. Of course, the control device 100 can also be used to be installed on the ship's bridge, for example, as a remote throttle control device. The base 10 of the control device 100 is fixed to the hull of the ship, so that after the control lever 20 is connected to the base 10, it can rotate relative to the base 10 under the action of a control force. In the present application, taking the example that the control device 100 can be installed on the side 02 of the boat 01, for example, it can be installed on the inner wall of the left side of the boat 01 or on the inner wall of the right side of the boat 01. The inner wall of the left side or the right side of the boat 01 is mainly the side of the left or right side of the hull facing the control position of the ship's driver, so that the driver on the ship can very conveniently use the left hand or the right hand to operate the control device 100. The control device 100 of the present application can control the operation of the propeller 200, and the propeller 200 is designed to push the boat 01 to move by outputting propulsion power. There is no specific limitation on the installation position of the propeller 200. The boat 01 can be any water vehicle such as a sailboat, a yacht, a passenger ship, a bamboo raft, a kayak, etc. without specific limitation. Of course, the implementation manner of installing the control device 100 of the present application as a remote throttle control device on the bridge is substantially the same as the implementation manner of installing it on the side, and will not be specifically described.

[0032] For the control device 100 of the present application, the control lever 20 is detachably connected to the base 10, so that when the control lever 20 is not needed for operation, the control lever 20 can be quickly detached from the base 10, and external objects will not accidentally collide with the control lever 20 to cause abnormal operation of the control lever 20, thus avoiding the safety problem of misoperation.

[0033] Please refer to Figure 1 , the base 10 is installed on the ship's side 02. The base 10 can be fixed on the surface of the ship's side 02 or embedded in the ship's side 02, leaving only the control lever 20 exposed on the surface of the ship's side 02. When the driver operates the control lever 20, the control lever 20 rotates relative to the base 10 along a direction substantially parallel to the surface of the ship's side 02. For example, when the base 10 is installed on the right side of the ship, the driver holds the control lever 20 with the right hand and pushes the control lever 20 forward approximately, so that the control lever 20 rotates forward approximately along the surface parallel to the ship's side 02. Then, such an operation is transmitted to the propeller 200, and the propeller 200 can be controlled to output the power to push the hull forward.

[0034] Of course, it can be understood that the position of the control lever 20 on the base 10 can be unrestricted. The control lever 20 can be connected to the inner surface side of the base 10 facing away from the ship's side 02, or can be connected to the inner surface side of the base 10 close to the ship's side 02.

[0035] The fact that the joystick 20 is detachably connected to the base 10 means that the joystick 20 can be quickly detached from the base 10 without using any tools. For further illustration, the detachment using tools can be, for example, the detachment by loosening screws with a screwdriver, or the detachment by loosening nuts with an Allen wrench, or the detachment by using tools such as a clamp, or pliers, or a pin, or a key to release the fastening restriction of a structure in a fastened state. Similarly, the detachment using screws that can be manually loosened should also be understood as the detachment using tools. The joystick 20 of the present application can be quickly detached from the base 10, aiming at a detachment method that only requires one or two simple operation actions to release the locking restriction of the joystick 20 from the base 10 and make it detachable. It can be understood that the state where the joystick 20 is connected to the base 10 means that, without performing a detachment action, the joystick 20 maintains a mechanical cooperation relationship with the base 10 with a certain structural strength support.

[0036] The rotation of the joystick 20 relative to the base 10 forms at least a torque on the base 10, and this torque can be transmitted to the thruster 200 by means of mechanical transmission, or transmitted to the thruster 200 by means of being converted into an electrical signal through electronic induction and then transmitted, so as to enable the thruster 200 to operate in response to this torque. For example, the torque direction of the joystick 20 can be used to control the direction of the propulsion power output by the thruster 200, and the torque magnitude of the joystick 20 can be used to control the magnitude of the propulsion power output by the thruster 200. It can be understood that when the joystick 20 transmits control information to the thruster 200 by means of mechanical transmission, it can utilize a stretchable and movable transmission wire connecting the base 10 and the thruster 200, and the movement of this transmission wire can control the throttle size on the thruster 200, or control the electronic throttle size on the thruster 200. When the joystick 20 transmits control information to the thruster 200 by being converted into an electrical signal through electronic induction, it can utilize a sensor arranged on the base 10. The sensor can sense the torque of the joystick 20 and convert the torque of the joystick 20 into a control signal, and this control signal is used to control the operation of the thruster 200. The base 10 and the thruster 200 are connected by a communication wire, and the control signal of the sensor is transmitted to the thruster 200 through the communication wire. This control signal can indicate and control the rotation speed and direction of the motor on the thruster 200, so as to achieve the control of the magnitude of the propulsion power and the propulsion direction of the thruster 200.

[0037] Please refer to Figure 2 、 Figure 3 and Figure 4, embodiments of the present application will be exemplified by the base 10 being provided with a sensor 30 that can sense the torque of the joystick 20. The base 10 is provided with at least two interfaces, a power supply line interface 101 and a signal line interface 102. The power supply line interface 101 is used to connect a direct current with a low voltage into the base 10 to maintain the operation of the sensor 30. The signal line interface 102 is used to connect a communication line into the base 10, so that the sensor 30 in the base 10 can communicate with the thruster 200. The base 10 may be provided with a control circuit board 11, and the sensor 30 may be disposed on the control circuit board 11. The control circuit board 11 can process the sensing signal of the sensor 30 to ensure that the thruster 200 can effectively identify the sensing signal of the sensor 30. The low-voltage direct current connected through the power supply line interface 101 is supplied to the control circuit board 11 to ensure that the control circuit board 11 is in a standby state. The communication line connected through the signal line interface 102 is connected to the control circuit board 11 to ensure communication interaction between the control circuit board 11 and the thruster 200.

[0038] In some embodiments, the control device 100 includes a rotating member 40 that can rotate relative to the sensor 30. The control lever 20 can drive the rotating member 40 to rotate. The sensor 30 is used to sense the rotation amount of the control lever 20 according to the rotation of the rotating member 40. The rotating member 40 can be directly driven to rotate by the control lever 20, or can be driven to rotate by the control lever 20 via a transmission component. By arranging the rotating member 40 between the control lever 20 and the sensor 30, the sensible position of the rotating member 40 can be set as needed to match various sensing modes of the sensor 30. For example, a gear set is arranged between the rotating member 40 and the control lever 20 to configure an appropriate speed ratio between the rotating member 40 and the control lever 20, so as to adapt and adjust the accuracy of the sensor 30 in sensing the rotation of the rotating member 40. Also for example, the rotation radius of the sensible position of the rotating member 40 is set, so as to configure the torque of the sensible position of the rotating member 40, and further adapt and adjust the accuracy of the sensor 30 in sensing the rotation of the rotating member 40. The rotating member 40 can be arranged on the base 10, or can be arranged on the control lever 20. When the rotating member 40 is arranged on the base 10 and the control lever 20 is detached from the base 10, the rotating member 40 remains on the base 10, and the rotating member 40 is separated from the control lever 20, thereby avoiding frequent detachment of the rotating member 40 from the base 10, and further ensuring the rotational mating accuracy of the rotating member 40 on the base 10. Of course, it can be understood that when the rotating member 40 is arranged on the control lever 20, the rotating member 40 can be detached from the base 10 together with the control lever 20, that is, when the control lever 20 is detached from the base 10, the rotating member 40 will also be separated from the base 10, thereby ensuring the structural strength of the rotating member 40 and the control lever 20, so that the control lever 20 can effectively drive the rotating member 40 to rotate.

[0039] In some embodiments, the rotating member 40 is rotatably arranged on the base 10. The axis of rotation of the rotating member 40 and the axis of rotation of the control lever 20 can be coaxially arranged, can be substantially perpendicular, or can be parallel to the axis of rotation of the control lever 20. When the control lever 20 is connected to the base 10, the rotation of the control lever 20 can drive the rotating member 40 to rotate on the base 10, so that the rotating member 40 can rotate relative to the sensor 30 to realize the sensor 30 sensing the rotation of the rotating member 40.

[0040] In some other embodiments, as Figure 5 shown, the rotating member 40 is fixed to the control lever 20, that is, the rotating member 40 is fixedly arranged on the control lever 20. When the control lever 20 is connected to the base 10, the control lever 20 rotates relative to the base 10, and further drives the rotating member 40 to rotate relative to the base 10.

[0041] It can be understood that in the embodiments of the present application, the rotation mode of the rotating member 40 relative to the sensor 30 is not limited to the above mode. Any mode that aims to transfer the rotation torque of the joystick 20 relative to the base 10 to the rotating member 40 through the rotation of the joystick 20, enable the rotating member 40 to rotate relative to the sensor 30, and the sensor 30 can sense the rotation of the rotating member 40 belongs to the embodiments of the present application.

[0042] In some embodiments, as Figure 3 and Figure 4 shown, a magnet 401 is disposed on the rotating member 40, the sensor 30 is a Hall sensor, and the sensor 30 senses the rotation of the rotating member 40 according to the magnetic field change of the magnet 401. The rotating member 40 rotates under the drive of the joystick 20, thereby driving the magnet 401 to rotate relative to the sensor 30, realizing the change of the position of the sensor 30 in the magnetic field of the magnet 401. The sensor 30 can sense the magnetic field change and convert the magnetic field change into a digital signal to identify the rotation amount of the rotating member 40. For example, the magnet 401 is fixed on the side of the rotating member 40 facing the sensor 30, the magnet 401 is directly opposite to the sensor 30, and there is a gap between the magnet 401 and the sensor 30. The gap can be set as needed to adapt to different induction accuracy requirements of the sensor 30.

[0043] In other embodiments, as Figure 6 shown, an infrared light reflecting member 402 is disposed on the rotating member 40, the sensor 30 includes an infrared light emitting member 301 and an infrared light sensing member 302, and the sensor 30 senses the rotation of the rotating member 40 according to the light reflection change of the infrared light reflecting member 402. For example, the rotating member 40 is provided with a rotating disk 409, and the infrared light reflecting members 402 are arranged in an array on the circumference of the rotating disk 409. The sensor 30 is within the rotation range directly opposite to the infrared light reflecting member 402. When the rotating member 40 rotates, the infrared light emitting member 301 on the sensor 30 continuously emits infrared light, and the infrared light reflecting member 402 reflects the infrared light at intervals during the rotation process. Thus, the infrared light sensing member 302 senses the infrared light at intervals. According to the number of times of infrared light sensed and the interval time, the rotation amount of the rotating disk can be calculated, thereby obtaining the rotation amount of the rotating member 40, that is, the rotation amount of the joystick 20 is sensed.

[0044] In other embodiments, please refer to Figure 7, a strain gauge 403 is disposed on the rotating member 40, the sensor 30 is a pressure sensor, and the sensor 30 senses the rotation of the rotating member 40 according to the deformation pressure of the strain gauge 403. For example, one end of the strain gauge 403 is relatively fixed to the sensor 30, and the other end is fixed to the rotating member 40. To adapt to the fact that the rotating member 40 can have a relatively large rotation range, the strain gauge 403 can be a thin sheet bent in a spiral curve, and the axis of the spiral curve is coaxial with the axis of the rotating member 40. During the rotation of the rotating member 40, the strain gauge 403 deforms under the torque of the rotating member 40, and the sensor 30 senses the deformation pressure of the strain gauge 403, thereby sensing the rotation of the rotating member 40, that is, obtaining the rotation amount of the joystick 20.

[0045] In the embodiments of the present application, the sensor 30 sensing the rotation of the rotating member 40 is not limited to the above manner, and any manner aimed at converting the torque information of the rotating member 40 into electronic information can be considered as the sensor 30 of the present application sensing the rotation of the rotating member 40.

[0046] It can be understood that the rotation of the joystick 20 relative to the base 10 in the present application is not limited to obtaining the rotation amount of the joystick 20 through the sensor 30 and then controlling the thruster 200 on the ship according to the rotation amount. In some ways of controlling the thruster 200 by using mechanical force conduction, it can be a steel cable that movably connects the base 10 to the thruster 200 on the ship. One end of the steel cable is fixed to the rotating arm of the joystick 20. When the joystick 20 rotates, it drives the steel cable to move. The other end of the steel cable is fixed to the moving part of the thruster 200. The steel cable pulls the moving part to move, and the movement of the moving part can control the opening and closing amount of the throttle valve of the thruster 200, etc., so as to control the engine fuel amount of the thruster 200, thereby adjusting the propulsion power of the thruster 200.

[0047] Please continue to refer to Figure 2 、 Figure 3 and Figure 4, in the embodiments of the present application, the base 10 is provided with a first side portion 103 for connecting to the ship's side 02 and a second side portion 104 opposite to the first side portion 103, and the control lever 20 is detachably connected to the second side portion 104. The first side portion 103 can be understood as the bottom of the base 10, and the second side portion 104 can be understood as the top of the base 10. For example, the first side portion 103 is fixed on the side of the ship's side 02, and the base 10 protrudes from the side of the ship's side 02. The control lever 20 is detachably connected to the second side portion 104, that is, there is a certain distance between the control lever 20 and the side of the ship's side 02, so as to prevent the driver's hand from being pinched during the rotation of the control lever 20 due to the control lever 20 being too close to the side of the ship's side 02, and to prevent foreign objects from being caught between the control lever 20 and the side of the ship's side 02, causing interference with the rotation of the control lever 20. Of course, in the embodiments of the present application, if the control device 100 is installed on the ship's cockpit, the first side portion 103 can be understood as the bottom of the control device 100, the second side portion 104 can be understood as the top of the control device 100, the control lever 20 is rotatably connected to the position between the first side portion 103 and the second side portion 104, and the rotation axis of the control lever 20 is substantially perpendicular to the direction in which the first side portion 103 and the second side portion 104 face each other, that is, the rotation axis direction of the control lever 20 is substantially parallel to the surface of the cockpit and perpendicular to the longitudinal direction of the ship.

[0048] In the embodiments of the present application, the control lever 20 has a rotation axis 201, and after the control lever 20 is connected to the base 10, it can rotate around the rotation axis 201, and the rotation axis 201 is substantially perpendicular to the side of the ship's side 02 that cooperates with the first side portion 103. The control lever 20 has a first end 21 for connecting to the base 10 and a second end 22 opposite to the first end 21. The rotation axis 201 is arranged at the first end 21. The second end 22 is used to receive the control force of the driver, so as to drive the control lever 20 to rotate around the rotation axis 201. After the first end 21 is connected to the base 10, the second end 22 protrudes from the circumferential side surface of the base 10 and protrudes by a certain height, so as to increase the rotation arm of the control lever 20 and increase the distance from the second end 22 to the circumferential side surface of the base 10, prevent the base 10 from interfering with the second end 22 receiving the control of the driver, and improve the convenience of the driver operating the control lever 20. More specifically, the direction of the second end 22 opposite to the first end 21 is substantially perpendicular to the rotation axis 201, that is, the direction of the second end 22 opposite to the first end 21 is substantially parallel to the side of the ship's side 02. Using the rotation axis being substantially perpendicular to the side of the ship's side 02 that cooperates with the first side portion 103, the included angle between the control lever 20 and the side of the ship's side 02 is maintained unchanged, which is convenient for operating the control lever 20.

[0049] In some embodiments, a first link 23 and a second link 24 are provided between the first end 21 and the second end 22 of the joystick 20. The first link 23 and the second link 24 are separated at the first end 21 and approach each other at the second end 22, so that the first link 23 and the second link 24 generally form a triangular structure. The joystick 20 is further provided with a rotating plate 25 at the first end 21. The rotating plate 25 is arranged between the first link 23 and the second link 24, and the outer peripheral surface of the rotating plate 25 is generally tangent to the length direction of the first link 23 and the length direction of the second link 24. The central axis of the rotating plate 25 forms the rotation axis 201 of the joystick 20. The joystick 20 forms a hollow area between the first link 23 and the second link 24, so that the weight of the joystick 20 can be reduced. Since the rotating plate 25 can be provided with a relatively large contact surface with the base 10, the connection structure strength between the rotating plate 25 and the base 10 can be increased, so that the joystick 20 is not easily shaken after being connected to the base 10.

[0050] In an embodiment of the present application, a transverse grip 26 is provided at the end of the joystick 20 away from the base 10, and the protruding direction of the transverse grip 26 is generally parallel to the rotation axis 201. The second end 22 constitutes the end of the joystick 20 away from the base 10, and the transverse grip 26 is provided at the second end 22.

[0051] In some embodiments, the transverse grip 26 connects the end of the first link 23 and the end of the second link 24. The protruding direction of the transverse grip 26 is generally perpendicular to the length direction of the first link 23 and generally perpendicular to the length direction of the second link 24. One end of the transverse grip 26 is connected to the first link 23 and the second link 24, and the other end protrudes in a direction away from the ship's side 02, so as to facilitate the driver to hold the transverse grip 26. Moreover, the length direction of the transverse grip 26 is generally parallel to the rotation axis 201 of the joystick 20, so that the transverse grip 26 can easily receive the operating force of the driver to drive the joystick 20 to rotate around the rotation axis 201. The transverse grip 26, the first link 23, the second link 24 and the rotating plate 25 can be an integral structure to facilitate increasing the structural strength of the joystick 20.

[0052] In some embodiments, the joystick 20 can be detached from the base 10 generally along a direction parallel to the rotation axis 201. To avoid damaging the rotational mating relationship between the joystick 20 and the base 10, the joystick 20 is detached from the base 10 along a direction parallel to the rotation axis 201, so as to prevent accidental detachment from the base 10 during the rotation of the joystick 20 relative to the base 10, thereby reducing the failure risk of the joystick 20. That is to say, by detaching the joystick 20 from the base 10 generally along a direction parallel to the rotation axis 201, there is no need to worry that the rotational acting force received by the joystick 20 is converted into a detachment acting force along the rotation axis 201.

[0053] In the embodiments of the present application, the base 10 includes a bottom plate 12 and a cover plate 13 covering the bottom plate 12. The bottom plate 12 is located at the first side portion 103, and the cover plate 13 is located at the second side portion 104. An accommodation cavity 14 is formed between the bottom plate 12 and the cover plate 13. The accommodation cavity 14 houses a control assembly 15, and the control assembly 15 is used to obtain the rotation of the joystick 20 and control the operation of the thruster 200 on the ship. The cover plate 13 is generally in a bowl-shaped structure. The cover plate 13 has an open end, and the bottom plate 12 seals the open end. The bottom plate 12 and the cover plate 13 are closely fitted to form a sealed cavity for the accommodation cavity 14, so that the accommodation cavity 14 meets the waterproof requirement. The sensor 30 is disposed in the accommodation cavity 14, and the control assembly 15 is provided with a circuit board. The sensor 30 is arranged on the circuit board, facilitating the sensor 30 to send an electrical signal to the thruster 200 to control the operation of the thruster 200. By utilizing the waterproof performance of the accommodation cavity 14, the electrical safety of the sensor 30 and the control assembly 15 is effectively guaranteed, and the reliability of the control device 100 is improved. The portion of the cover plate 13 away from the bottom plate 12 is generally in a planar structure to be adapted to the rotation surface of the joystick 20, that is, to reduce the gap between the joystick 20 and the surface of the cover plate 13 facing away from the bottom plate 12, and prevent objects such as ropes from being caught in the gap between the joystick 20 and the cover plate 13. The adaptation between the joystick 20 and the second side portion 104 of the cover plate 13 only needs to satisfy the minimum clearance fit relationship allowing the rotation of the joystick 20, avoiding an increase in the gap between the joystick 20 and the cover plate 13, and effectively preventing the joystick 20 from being accidentally involved in interfering objects between the joystick 20 and the cover plate 13 during the state of being connected to the base 10, resulting in misoperation of the joystick 20.

[0054] In some embodiments, to increase the firmness strength between the bottom plate 12 and the ship side 02, a plurality of protruding plates 121 are arranged on the periphery of the bottom plate 12, and screw holes are provided on the plurality of protruding plates 121. Thus, by cooperating the screw holes with screws, the bottom plate 12 can be fixed on the ship side 02 through a plurality of screws.

[0055] Please refer to Figure 8 , in some embodiments, the part of the cover plate 13 away from the bottom plate 12 is also provided with concave and convex structures as needed, so that it can be well adapted to the second end 22 of the joystick 20 as needed to reduce the gap with the joystick 20.

[0056] In the embodiments of the present application, the receiving cavity 14 is a closed cavity, and a sealing ring can be provided between the peripheral side of the bottom plate 12 and the open end of the cover plate 13 to ensure the sealing performance between the bottom plate 12 and the cover plate 13. The control assembly 15 includes a control circuit, and the control circuit is used for electrically connecting Figure 1 to the thruster 200. The control circuit is arranged on the circuit board, and the circuit board is connected to Figure 1 the motor driver on the thruster 200 through a communication cable. The motor driver can control the operation of the motor of the thruster 200, so as to enable the control circuit to obtain the induction signal of the sensor 30 and convert the induction signal of the sensor 30 into a control signal that can control the operation of the motor of the thruster 200. The airtight and waterproof performance of the receiving cavity 14 can ensure the electrical safety of the control assembly 15, so that the control assembly 15 can accurately and reliably obtain the rotation amount of the joystick 20.

[0057] In the embodiments of the present application, the bottom plate 12 is provided with a power supply interface 101 and a signal line interface 102. The power supply interface 101 is used to connect a power supply line to the control circuit, and the signal line interface 102 is used to connect a signal line to the control circuit. The power supply line can obtain low-voltage direct current from the auxiliary power supply on the thruster 200 to ensure that the control circuit can operate with power. The signal line connects the control circuit and Figure 1 the central controller of the thruster 200, as well as the motor driver, so as to realize the interaction with the central controller and the motor driver of the thruster 200. The central controller of the thruster 200 is used for the interaction with other devices outside the thruster 200, including the battery manager of the battery, Figure 1 the steering wheel on the boat 01, the display screen on the boat 01 and other devices. Therefore, in addition to being used to control the thruster 200, the control device 100 can interact and control with other devices through the thruster 200 as the central management end to realize the control of the whole ship system.

[0058] It can be understood that both the power supply interface 101 and the signal line interface 102 are provided with sealing and waterproof structures. For example, sealing rings are provided between the power supply line and the bottom plate 12 and between the signal line and the bottom plate 12 to ensure the waterproof and airtight performance of the receiving cavity 14.

[0059] In an embodiment of the present application, the rotating member 40 can receive the driving force of the control lever 20, and the sensor 30 housed in the receiving cavity 14 needs to sense the rotation of the rotating member 40. To improve the cooperation reliability between the rotating member 40 and the cover plate 13, the rotating member 40 passes through the cover plate 13. In some embodiments, the cover plate 13 is provided with a rotating shaft hole 131, and the control device 100 includes a rotating member 40 that is hermetically fitted with the rotating shaft hole 131, and the control lever 20 can drive the rotating member 40 to rotate. The rotating member 40 is provided with a rotating shaft 41, and the rotating shaft 41 is rotatably fitted with the rotating shaft hole 131. One end of the rotating shaft 41 extending into the receiving cavity 14 is used to output a rotational torque for the sensor 30 to sense. Specifically, the rotating member 40 includes an external part 42 and an internal part 43 fixed to the external part 42. The external part 42 can receive the drive of the control lever 20, and the internal part 43 is coupled to the control assembly 15. The rotating shaft 41 is disposed on the external part 42. The internal part 43 is fixed to one end of the rotating shaft 41 extending into the receiving cavity 14. The internal part 43 is housed in the receiving cavity 14. The sensor 30 can sense the rotation of the internal part 43, thereby sensing the rotation of the rotating member 40 to achieve the rotation sensing of the control lever 20. For example, a magnet 401 is provided on the internal part 43. The sensor 30 senses the magnetic field change of the magnet 401 on the internal part 43. The external part 42 is detachably connected to the internal part 43, so as to facilitate the installation of the rotating member 40 on the cover plate 13. The specific installation process is that before the bottom plate 12 and the cover plate 13 are closed, the internal part 43 is placed in the receiving cavity 14, then the rotating shaft 41 of the external part 42 is fitted with the rotating shaft hole 131, and the rotating shaft 41 is fixed to the internal part 43, so as to realize the rotational fit of the rotating member 40 on the cover plate 13, and the rotating member 40 is not easily detached from the cover plate 13.

[0060] In some embodiments, the external part 42 is configured with a rotating block 421 at one end of the rotating shaft 41 away from the internal part 43. The rotating block 421 can be connected to the rotating plate 25 of the control lever 20, and the rotating plate 25 of the control lever 20 can be quickly detached from the rotating block 421. The rotating block 421 is located outside the receiving cavity 14. At least part of the rotating block 421 protrudes relative to the cover plate 13 so that the rotating plate 25 can be quickly installed on the rotating block 421.

[0061] In some embodiments, the rotating shaft 41 and the built-in part 43 can be fastened by a threaded post, so that the rotating shaft 41 and the built-in part 43 can be detachably separated. After the built-in part 43 and the rotating shaft 41 are fastened, by adjusting the tightening force between the rotating shaft 41 and the built-in part 43, the clamping force of the built-in part 43 and the rotating block 421 for clamping the cover plate 13 can be adjusted, so as to adjust the damping force of the rotating member 40 rotating relative to the cover plate 13.

[0062] In some embodiments, the external part 42 has a first abutting surface 422, the built-in part 43 has a second abutting surface 431, a first sealing ring 423 in close contact is arranged between the first abutting surface 422 and the cover plate 13, a second sealing ring 432 in close contact is arranged between the second abutting surface 431 and the cover plate 13, and both the first sealing ring 423 and the second sealing ring 432 are arranged around the opening end of the rotating shaft hole 131. The first abutting surface 422 is arranged on the rotating block 421. The first abutting surface 422 is arranged around the rotating shaft 41. The first sealing ring 423 can be an elastic rubber ring. When the built-in part 43 and the rotating shaft 41 are in a fastened state, the first sealing ring 423 is clamped between the rotating block 421 and the cover plate 13. The built-in part 43 includes a fastener 433 and a sealing washer 434. The fastener 433 is provided with a fastening post 4331 and a fastening cap 4332 arranged at one end of the fastening post 4331. The fastening post 4331 can be screwed into the threaded hole of the rotating shaft 41 by a thread. The fastening cap 4332 applies a clamping force to the second sealing ring 432. The sealing washer 434 is sleeved around the fastening post 4331, the sealing washer 434 is clamped between the second sealing ring 432 and the fastening cap 4332, and the second abutting surface 431 is arranged on the sealing washer 434.

[0063] The second sealing ring 432 is an elastic rubber ring. Since both the first sealing ring 423 and the second sealing ring 432 are elastic, the fitting gap between the rotating shaft hole 131 and the rotating shaft 41 can be effectively sealed, so as to ensure the sealing performance of the receiving cavity 14, and a damping force exists when the rotating member 40 rotates relative to the cover plate 13, so that when the control lever 20 is rotated relative to the base 10, a damping feel exists, and it is convenient to position the control lever 20 at a required position.

[0064] In some embodiments, the cover plate 13 has an annular limiting structure 132, and the annular limiting structure 132 is in limiting cooperation with the rotating member 40 to position the rotation axis 201 of the control lever 20. The cover plate 13 is provided with a mounting groove 133 recessed into the bottom plate 12. The mounting groove 133 is an annular groove. The rotating shaft hole 131 communicates with the mounting groove 133. The inner peripheral surface of the mounting groove 133 forms the annular limiting structure 132. The rotating block 421 has a rotating outer peripheral surface, and the rotating outer peripheral surface is in rotational cooperation with the inner peripheral surface of the mounting groove 133. A third sealing ring 134 is provided between the rotating outer peripheral surface and the inner peripheral surface of the mounting groove 133 to seal the mounting groove 133 of the rotating block 421 and the cover plate 13, thereby further improving the sealing performance between the rotating member 40 and the cover plate 13. The rotating block 421 has a connecting boss 424 protruding from the mounting groove 133, and the connecting boss 424 is detachably connected to the rotating plate 25 of the control lever 20. The third sealing ring 134 may be an elastic rubber ring. The third sealing ring 134 can also provide a damping force for the rotation of the rotating member 40 relative to the cover plate 13.

[0065] In the embodiments of the present application, the rotation of the control lever 20 relative to the base 10 has a zero position 001. When the control lever 20 rotates to the zero position 001, the control device 100 controls the thruster 200 to stop outputting power, and the control lever 20 provides a position feedback signal.

[0066] In some embodiments, by calibrating the sensor 30 and the joystick 20 at the zero position 001, the sensor 30 can identify the zero position 001 of the joystick 20. And when the joystick 20 rotates to the zero position 001, the sensor 30 can convert the zero position 001 information into a stop signal, and the stop signal can control the thruster 200 to stop outputting power. Since the driver needs to control the power output of the thruster 200 by operating the control device 100 during the process of driving the boat 01, the control device 100 needs to at least implement two states: the power output of the thruster 200 and the stop of the power output. And the driver needs to be able to clearly know whether the thruster 200 starts or stops power output by perceiving the state of the joystick 20. Therefore, when the driver operates the joystick 20 to rotate to the zero position 001, the position signal sensed by the sensor 30 can indicate that the thruster 200 stops power output, and the joystick 20 provides a position feedback signal to the driver, so that the driver can perceive that the joystick 20 rotates to the zero position 001, to prompt the driver that the thruster 200 stops power output. By the joystick 20 can provide a feedback signal of the zero position 001 to the driver, so that the driver can clearly know that the thruster 200 stops power output, to avoid the driver leaving the driver's seat after misjudging the shutdown of the thruster 200 and prevent safety accidents.

[0067] In the embodiments of the present application, the feedback signal provided by the joystick 20 to the driver includes but is not limited to a vibration force signal, or an indicator light signal, or an indication sound signal.

[0068] In some embodiments, the joystick 20 rotates to the zero position 001, and there is mechanical force feedback between the joystick 20 and the base 10, so that the driver can sense that the joystick 20 enters the zero position 001 according to the force feedback signal. The control device 100 includes a damping and positioning component 50, which provides a damping force when the joystick 20 rotates at a non-zero position 001 and provides a positioning force when the joystick 20 rotates to the zero position 001. By providing a damping force to the joystick 20 through the damping and positioning component 50, the driver needs to apply a certain force when operating the joystick 20 to rotate at a non-zero position 001, thereby avoiding accidental operations. When the driver operates the joystick 20 to enter the zero position 001, the positioning force provided by the damping and positioning component 50 to the joystick 20 can keep the joystick 20 at the zero position 001 and prevent the joystick 20 from accidentally rotating and wrongly controlling the output power of the thruster 200. The damping and positioning component 50 provides force feedback when the joystick 20 enters the zero position 001 from a non-zero position 001. By setting the damping force to be less than the positioning force, when the joystick 20 enters the zero position 001 from a non-zero position 001, the damping force received by the joystick 20 suddenly and rapidly increases to the positioning force, so that the rotation of the joystick 20 stops, enabling the driver to sense the stopping force of the joystick 20.

[0069] In some embodiments, the damping and positioning component 50 includes a first turntable 51 driven to rotate by the joystick 20 and a second turntable 52 disposed on the base 10 and fixed relative to the ship's side 02. A bump 511 is provided on the first turntable 51, and a concave hole 521 is provided on the second turntable 52. When the bump 511 is screwed into the concave hole 521, the joystick 20 enters the zero position 001. When the bump 511 is screwed out of the concave hole 521, the bump 511 abuts against a position on the second turntable 52 outside the concave hole 521.

[0070] In some embodiments, the first turntable 51 is disposed on the portion of the rotating block 421 facing the cover plate 13. The second turntable 52 is disposed on the portion of the cover plate 13 facing the rotating block 421. The cover plate 13 is provided with a damping boss 135 protruding upward at the bottom of the mounting groove 133. The second turntable is disposed on the top of the damping boss 135. The rotating block 421 is provided with a damping groove 424 adapted to the damping boss 135. The first turntable 51 is disposed at the bottom of the damping groove 424. The bump 511 protrudes at the bottom of the damping groove 424. The first turntable 51 is provided with two bumps 511 symmetrically arranged around the axis of the rotating shaft 41, and the second turntable 52 is provided with two concave holes 521 symmetrically arranged around the axis of the rotating shaft 41. When the two bumps 511 enter the concave holes 521, since the rotational resistance of the bumps 511 relative to the cover plate 13 changes rapidly, the rotating block 421 obtains a force feedback of rotational stagnation, and the rotating block 421 feeds back the force of rotational stagnation to the control lever 20, so as to enable the driver to sense that the control lever 20 rotates to the zero position 001. When the bump 511 rotates out of the concave hole 521, the bump 511 abuts against the top surface of the damping boss 135 at a position outside the concave hole 521, and due to the clamping action of the rotating block 421 and the built-in part 43 on the cover plate 13, there is a frictional force between the bump 511 and the top surface of the damping boss 135, thereby providing a damping force for the rotation of the rotating member 40 relative to the cover plate 13, that is, there is a damping force for the rotation of the control lever 20 relative to the base 10.

[0071] In the embodiments of the present application, the damping force provided by the damping positioning assembly 50 when the control lever 20 is in a non-zero position 001 and the positioning force provided when the control lever 20 is in the zero position 001 are not limited to the above manner. Any mechanical structure that can enable the control lever 20 to obtain resistance during the rotation in the non-zero position 001 and obtain a stagnation force in the zero position 001 belongs to the embodiments of the damping positioning assembly 50 of the present application.

[0072] In some embodiments, the bump 511 is a ball detent that elastically expands and contracts relative to the first turntable 51. The first turntable 51 is provided with two expansion holes 512 symmetrically arranged around the axis of the rotating shaft 41. A spring is provided in the expansion hole 512, and the ball abuts against one end of the spring. The spring is used to provide an elastic restoring force for the ball to protrude from the expansion hole 512. In a state where the bump 511 screws out of the concave hole 521, the ball tightly abuts against the cover plate 13 under the elastic action of the spring. In a state where the bump 511 screws into the concave hole 521, the ball tightly fits with the inner surface of the concave hole 521 under the action of the spring, and the inner surface of the concave hole 521 restricts the ball from screwing out of the concave hole 521 to provide positioning for the bump 511. The shape of the concave hole 521 is adapted to the shape of the ball, which is beneficial to the positioning of the bump 511.

[0073] In the embodiments of the present application, the matching form of the bump 511 and the concave hole 521 is not limited to the above form. Any matching structure that can be designed to allow the rotating member 40 to have a damping force relative to the rotation of the cover plate 13 and be positioned at the zero position 001 belongs to the embodiments of the present application. For example, the bump 511 can be arranged on the cover plate 13, and the concave hole 521 can also be arranged on the rotating block 421 of the rotating member 40. The bump 511 can be a flexible deformation member integrated with the rotating block 421, or the bump 511 can also be a pin that elastically expands and contracts in the rotating block 421.

[0074] In the embodiments of the present application, through the rotational cooperation between the rotating member 40 and the cover plate 13, and by configuring a damping positioning assembly 50 between the rotating member 40 and the cover plate 13, the control lever 20 can obtain a rotational damping force and a zero position 001 positioning force after being connected to the rotating member 40, so as to ensure the safe operation of the control device 100. After the rotating member 40 is separated from the control lever 20, the control lever 20 can be quickly disassembled from the base 10.

[0075] In the embodiments of the present application, please refer to Figure 8 and Figure 9, the control device 100 includes an unlocking member 60 which has an unlocking state for allowing the joystick 20 to be quickly detached from the base 10. The unlocking member 60 can receive the operation of the driver so that the unlocking member 60 obtains the unlocking state. The unlocking member 60 can be arranged at a position on the control device 100 that is easy for the driver to operate. The unlocking member 60 can be exposed on the surface of the control device 100 to facilitate the driver to conveniently operate the unlocking member 60 for unlocking. When the driver operates the unlocking member 60 in the unlocking state and simultaneously applies a detachment force to the joystick 20, the joystick 20 can be quickly detached from the base 10.

[0076] In some embodiments, when the unlocking member 60 is manipulated to the unlocking state, the connection boss 424 of the rotating member 40 and the rotating plate 25 of the joystick 20 are disengaged from the locking and limiting relationship, so that the rotating plate 25 of the joystick 20 can be separated from the connection boss 424 of the rotating member 40 to achieve the quick detachment of the joystick 20 from the base 10. By using the unlocking member 60 having an unlocking state and the unlocking member 60 only requiring a single-action operation to reach the unlocking state, and after the locking and limiting relationship between the joystick 20 and the base 10 is released, only a single-action operation is required to achieve the detachment of the joystick 20 from the base 10. The quick detachment of the joystick 20 from the base 10 in the embodiment of the present application can be understood as being achieved by only two simple single-action operations.

[0077] In some embodiments, the unlocking member 60 is arranged on the rotating member 40 of the base 10. The rotating block 421 of the rotating member 40 is externally disposed in the receiving cavity 14, and the unlocking member 60 is arranged on the rotating block 421 of the rotating member 40 to facilitate the driver to operate the unlocking member 60.

[0078] The rotating plate 25 is provided with a hollow hole 251. After the rotating plate 25 is connected to the connection boss 424 of the rotating member 40, the unlocking member 60 is exposed from the hollow hole 251, so that it is convenient for the user to operate the unlocking member 60 from the hollow hole 251 of the rotating plate 25 to achieve the unlocking and locking of the joystick 20, and then the joystick 20 can be quickly detached. The position of the unlocking member 60 is close to the position where the joystick 20 is detached from the rotating member 40, so that it is convenient to operate the unlocking of the unlocking member 60 and the detachment of the joystick 20 from the rotating member 40 with one hand. The arrangement of the unlocking member 60 on the rotating member 40 is not limited to the above method, and the unlocking member 60 can also be arranged on the side surface of the boss where the rotating block 421 passes through the hollow hole 251.

[0079] In some embodiments, the unlocking member 60 adopts mechanical unlocking and is used to provide an unlocking force according to mechanical movement. The unlocking member 60 is movably disposed on the top of the connecting boss 424. The unlocking member 60 can move relative to the connecting boss 424 under the operation of the driver, so that the movement torque of the unlocking member 60 can cause the locking limit between the connecting boss 424 and the rotating plate 25 to be released.

[0080] In some embodiments, the unlocking member 60 is a button, and the unlocking member 60 enters the unlocking state when it is pressed down. The unlocking member 60 is pressably disposed on the connecting boss 424 along the axial direction of the rotating shaft 41. When the unlocking member 60 is pressed down, the torque of the unlocking member 60 moving downward can cause the locking structure between the connecting boss 424 and the rotating plate 25 to release the locking limit, so that the control lever 20 can be detached from the base 10.

[0081] In an embodiment of the present application, the control device 100 includes a locking member 70. The locking member 70 is telescopically disposed on one of the base 10 or the control lever 20, and a card slot 80 is provided on the other of the base 10 or the control lever 20. The unlocking member 60 is coupled to the locking member 70. When the unlocking member 60 enters the unlocking state, it can drive the locking member 70 to withdraw from the card slot 80 to allow the control lever 20 to be detached from the base 10. When the unlocking member 60 does not enter the unlocking state, at least a part of the locking member 70 can extend into the card slot 80 to prohibit the control lever 20 from being detached from the base 10.

[0082] The unlocking movement of the locking member 70 withdrawing from the card slot 80 responds to the unlocking action of the unlocking member 60. By coupling the unlocking member 60 with the locking member 70, the unlocking action of the unlocking member 60 can be effectively transmitted to the locking member 70, so that the locking member 70 withdraws from the card slot 80 to achieve unlocking. The movement torque of the unlocking member 60 can be transmitted to the locking member 70 through a mechanical transmission method, causing the locking member 70 to move and push out of the card slot 80 to achieve unlocking. For example, a mechanical transmission component is provided between the unlocking member 60 and the locking member 70, and the downward pressing movement of the unlocking member 60 along the axis of the rotating shaft 41 is transmitted to the locking member 70 through the mechanical transmission component, so that the locking member 70 can move out of the card slot 80 to achieve unlocking. Of course, the movement torque of the unlocking member 60 can also be sensed by an electrical inductor and the sensed signal is transmitted to an electrical actuator to drive the locking member 70 to move out of the card slot 80 to achieve unlocking.

[0083] In some embodiments, by coupling the locking member 70 with the unlocking member 60, the locking member 70 can quickly respond to the unlocking member 60 to quickly exit the card slot 80, so as to quickly disassemble the control lever 20 from the base 10. If the unlocking member 60 is disposed on the base 10 and the locking member 70 is disposed on the base 10, the card slot 80 is provided on the control lever 20.

[0084] Combine Figure 8 and Figure 9In the illustrated embodiment, it is schematically shown that the locking member 70 is disposed on the rotating member 40 of the base 10, and the card slot 80 is provided on the rotating plate 25 of the control lever 20. The connecting boss 424 of the rotating member 40 has two opposite first clamping surfaces 4241, and the direction in which the two first clamping surfaces 4241 face each other is perpendicular to the axis of the rotating shaft 41. The first clamping surface 4241 is provided with a telescopic groove 4242, and the locking member 70 is movably fitted in the telescopic groove 4242 along a direction perpendicular to the first clamping surface 4241. One end of the locking member 70 can extend out of the telescopic groove 4242 to be snapped into the card slot 80. The rotating plate 25 is provided with a clamping groove 252, and the clamping groove 252 is adapted to the connecting boss 424 to prevent the control lever 20 from rotating relative to the rotating member 40 after the control lever 20 is connected to the rotating member 40. The clamping groove 252 has two opposite second clamping surfaces. The second clamping surface is in limit fit with the first clamping surface 4241. The card slot 80 is opened on the second clamping surface. Two locking members 70 are arranged on the rotating member 40, and the two locking members 70 are respectively fitted in the two telescopic grooves 4242, and two corresponding card slots 80 are arranged on the control lever 20. When the unlocking member 60 is not in the unlocking state, the end of the locking member 70 extends out of the telescopic groove 4242 and is snapped into the card slot 80, thereby preventing the control lever 20 from moving relative to the rotating member 40 along the axis direction of the rotating shaft 41, that is, preventing the control lever 20 from being disassembled relative to the base 10 along the axis direction of the rotating shaft 41, and combining the cooperation between the first clamping surface 4241 and the second clamping surface to limit the circumferential rotation of the control lever 20 around the rotating shaft 41, that is, preventing the control lever 20 from moving relative to the rotating member 40 in a direction other than the axis direction of the rotating shaft 41, so that the control lever 20 maintains a stable connection with the rotating member 40. The control lever 20 can drive the rotating member 40 to rotate, and the sensor 30 can sense the rotation of the rotating member 40. When the unlocking member 60 is in the unlocking state, for example, when the unlocking member 60 is pressed down, the moment of the unlocking member 60 pressing down can cause the locking member 70 to retract from the telescopic groove 4242, and the end of the locking member 70 withdraws from the card slot 80, thereby releasing the position limit of the control lever 20 in the axis direction of the rotating shaft 41, so that the control lever 20 can be quickly disassembled from the rotating member 40 along a direction parallel to the axis of the rotating shaft 41.

[0085] In the embodiment of the present application, the control device 100 includes an actuating member 90, and the actuating member 90 is connected to the locking member 70, and can actuate the locking member 70 and the slot 80 when the unlocking member 60 is in the non-unlocking state. The actuation form of the actuating member 90 on the locking member 70 can be elastic force actuation, electromagnetic force actuation, or expansion force actuation. The unlocking member 60 can be in the unlocking state only when receiving the unlocking operation, and always maintain the non-unlocking state when not receiving the unlocking operation, that is, when the unlocking member 60 does not receive the unlocking operation, the actuating member 90 continues to provide an actuating force to the locking member 70, so that the locking member 70 can be continuously stuck in the slot 80, so that the control rod 20 remains connected to the base 10.

[0086] In some embodiments, the actuating member 90 is a spring. When the unlocking member 60 is in a non-unlocking state, the locking member 70 is snapped into the slot 80 under the elastic restoring force of the actuating member 90. Figure 8 and Figure 9 The embodiment shown schematically illustrates that the two ends of the actuating member 90 are respectively connected to the ends of the two locking members 70 away from the slot 80. When the unlocking member 60 is in the non-unlocking state, the actuating member 90 is in a clamping tendency to drive the two locking members 70 to open, so that the ends of the locking members 70 away from the actuating member 90 are continuously clamped into the slot 80. When the unlocking member 60 is in the unlocking state, the downward pressing force of the unlocking member 60 can drive the two locking members 70 to retreat through the transmission structure, so that the actuating member 90 is compressed. When the pressing force of the unlocking member 60 is cancelled, the locking member 70 returns to the state of extending outward.

[0087] In some embodiments, the unlocking member 60 is mechanically connected to the locking member 70 , and the unlocking member 60 can be moved into an unlocked state. The movement of the unlocking member 60 is transmitted to the locking member 70 to drive the locking member 70 to withdraw from the engagement with the slot 80 .

[0088] exist Figure 8 and Figure 9 In the illustrated embodiment, after the unlocking member 60 is pressed, the unlocking member 60 outputs a moving torque pressing downward toward the base, and the downward moving torque is transmitted to the locking member 70, so that the locking member 70 moves laterally out of the slot 80 to achieve unlocking.

[0089] In some embodiments, at least one of the unlocking member 60 and the locking member 70 is provided with a guiding inclined surface 601. The unlocking member 60 moves in the first direction A to the unlocking state, and under the guiding action of the guiding inclined surface 601, the locking member 70 moves in the second direction B to withdraw from the state of cooperating with the card slot 80. The first direction A is substantially perpendicular to the second direction B. In the illustrated embodiment, both the unlocking member 60 and the locking member 70 are provided with guiding inclined surfaces 601, and the guiding inclined surface 601 of the unlocking member 60 cooperates with the guiding inclined surface 601 of the locking member 70. After the unlocking member 60 is pressed downward, it moves in the first direction A, and the unlocking member 60 moves to the unlocking state. Under the combined guiding action of the two guiding inclined surfaces 601, the locking member 70 moves in a direction substantially perpendicular to the axis of the rotating shaft 41, that is, in the second direction B, and the end of the locking member 70 withdraws from the card slot 80 to release the locking restriction of the control lever 20 and the base 10. In Figure 8 the illustrated embodiment, the first direction A is parallel to the direction of the rotation axis 201 of the control lever 20, and the second direction B is perpendicular to the direction of the rotation axis 201 of the control lever 20. Of course, in other embodiments, it may also be that the first direction is perpendicular to the direction of the rotation axis 201 of the control lever 20, the second direction B is perpendicular to the first direction, and is perpendicular to the direction of the rotation axis 201 of the control lever 20. The second direction B of the locking member 70 is set according to the disassembly direction of the control lever 20. The locking member 70 moves in the second direction B to be inserted into the card slot 80 to be able to restrict the control lever 20 from being disassembled from the base 10 in the disassembly direction. The disassembly direction of the control lever 20 is not limited to the above-mentioned direction parallel to the axis of the rotating shaft 41, and may also be perpendicular to the axis of the rotating shaft 41, that is, the second direction B of the locking member 70 is not limited to the above-mentioned direction perpendicular to the axis of the rotating shaft 41, and may also be parallel to the axis of the rotating shaft 41. The first direction of the unlocking member 60 is not limited to the above-mentioned direction parallel to the axis of the rotating shaft 41, and may also be any direction as long as it can cause the locking member 70 to retreat in the second direction B.

[0090] Please continue to refer to Figure 8 and Figure 9 In some embodiments, the locking member 70 is provided with a jack 71, and the unlocking member 60 is provided with two latches 61. One of the guiding inclined surfaces 601 is provided on the inner wall of the jack 71, and the other guiding inclined surface 601 is provided on the latch 61 that can be inserted into the jack 71. The unlocking member 60 is provided with a space between the two latches 61 to allow the two locking members 70 to approach each other to compress the actuating member 90. By pressing the unlocking member 60 downward, the moment of the unlocking member 60 is guided by the guiding inclined surface 601 to provide a component force to the locking member 70, driving the locking member 70 to withdraw from the card slot 80 to release the locking restriction of the control lever 20 and the base 10.

[0091] In some other embodiments, please refer to Figure 10 , which is substantially the same as the embodiment shown in Figure 8 . The difference is that the actuator 90 is a motor. When the unlocking member 60 is in the unlocked state, an unlocking signal is sent to the actuator 90, and the actuator 90 drives the locking member 70 to move out of the state of cooperating with the card slot 80. When the unlocking member 60 is in the non-unlocked state, a locking signal can be sent to the actuator 90, and the actuator 90 can drive the locking member 70 to move into the state of being inserted into and cooperating with the card slot 80 through a transmission mechanism. The base 10 is configured with an induction switch 62 connected to the unlocking member 60. When the unlocking member 60 is in the unlocked state, the induction switch 62 can be triggered to send an unlocking electrical signal to the actuator 90, and the actuator 90 performs an unlocking action according to the unlocking electrical signal, thereby driving the locking member 70 to move out of the card slot 80. When the unlocking member 60 is in the non-unlocked state, the induction switch 62 can be triggered to send a locking electrical signal to the actuator 90, and the actuator 90 drives the locking member 70 to move into the state of being inserted into the card slot 80 according to the locking electrical signal.

[0092] In some other embodiments, the unlocking member 60 is a knob or a sliding button, and the unlocking member 60 rotates or slides to a set position to enter the unlocked state. For example, it is substantially the same as the embodiment shown in Figure 8 . The difference is that the movement mode of the unlocking member 60 can be replaced from downward pressing movement to rotational movement, or replaced by moving along the top surface of the parallel connecting boss 424. By setting the transmission structure disposed between the unlocking member 60 and the locking member 70, the movement torque of the unlocking member 60 is allowed to be transmitted to the locking member 70, causing the locking member 70 to exit the card slot 80, thereby meeting the requirement that the unlocking member 60 controls the locking member 70 to exit the card slot 80 for unlocking, and realizing that the control lever 20 can be detached from the base 10. In the embodiments of the present application, the mechanical movement form of the unlocking member 60 is not limited to the above forms, and the mechanical transmission method for the unlocking member 60 to control the locking member 70 to unlock is not limited to the above forms either. Any form that can control the unlocking member 60 to move on the outer surface of the control device 100 and cause the locking member 70 to exit the card slot 80 through the mechanical transmission between the unlocking member 60 and the locking member 70 to release the locking restriction between the control lever 20 and the base 10 belongs to the embodiments of the present application.

[0093] In some other embodiments, please refer to Figure 11 , the unlocking member 60 adopts electronic unlocking, and the unlocking member 60 is provided with an unlocking circuit 63, and enters the unlocked state according to the unlocking electrical signal sent by the unlocking circuit 63. For example, it is substantially the same as the embodiment shown in Figure 10The embodiments shown are substantially the same, except that the unlocking form of the unlocking member 60 is replaced by an electrical signal trigger instead of a mechanical movement, that is, the unlocking member 60 can be an electronic component that can be manipulated by the driver to send an electrical signal, for example, the unlocking member 60 can be an electronic key switch, or a virtual key on a display screen, or the unlocking member 60 is a pressure sensing switch 62. The electrical signal triggered by the unlocking member 60 is sent to the unlocking circuit 63, and the unlocking circuit 63 is connected to the actuator 90. The unlocking electrical signal of the unlocking circuit 63 can control the actuator 90 to perform an unlocking movement on the locking member 70. The actuator 90 is an electrical actuator that can output mechanical force, for example, the actuator 90 can be a motor, or an electromagnetic locking member. Under the triggering of the electrical signal of the unlocking member 60, the actuator 90 drives the locking member 70 to withdraw from the card slot 80, so as to realize the rapid disassembly of the control rod 20 and the base 10.

[0094] In some other embodiments, see Figure 12 The unlocking member 60 is disposed on the operating rod 20, the locking member 70 is disposed on the operating rod 20, and the base 10 is provided with the card slot 80. For example, Figure 12 As shown, Figure 8 The embodiments shown are substantially the same, except that the unlocking member 60 is arranged on the rotating plate 25 of the control lever 20 instead of being arranged on the rotating member 40. The unlocking member 60 can be arranged on the rotating plate 25 at a position staggered from the rotating block 421, that is, at a position on one side of the rotating block 421 after the control lever 20 is connected to the rotating block 421. The clamping groove 80 is replaced by the second clamping surface provided on the control lever 20 and is replaced by the first clamping surface 4241 provided on the connecting boss 424. The locking member 70 is also replaced by being arranged on the rotating plate 25 instead of being arranged on the rotating block 421, and the locking member 70 can be extended relative to the second clamping surface of the rotating plate 25. The downward pressing movement of the unlocking member 60 can cause the locking member 70 to withdraw from the slot 80 on the connecting boss 424 through the transmission structure, so as to realize the disassembly of the control rod 20 and the base 10. The transmission structure can be, for example, the cooperation of two guiding slopes 601 in the figure, so that the unlocking member 60 forms a component force along the second direction B through the guiding slope 601 after being subjected to the downward pressing force. The component force constitutes a driving force to drive the locking member 70 to retreat along the second direction B.

[0095] In some other embodiments, see Figure 13The matching mode of the operating rod 20 and the rotating member 40 is not limited to the above-mentioned mode of inserting the connecting boss 424 of the rotating member 40 into the connecting groove of the operating rod 20 for clamping and limiting. It can also be replaced by providing an insert block 29 on the operating rod 20, providing a slot 49 on the rotating member 40, and the slot 80 is provided on the inner wall of the slot 49. The locking member 70 can be telescopically moved on the side wall of the insert block 29, and the unlocking member 60 is provided on the operating rod 20, and can cause the locking member 70 to move at the position of the insert block 29. It is roughly the same as the embodiment in the figure. The actuating member 90 is connected to the locking member 70 to provide a driving force for the locking member 70 to be clamped into the slot 80. For example, the actuating member 90 is a spring. Under the pressing drive of the unlocking member 60, the two locking members 70 move closer to each other under the component force formed by the guiding inclined surface 601, so that the locking member 70 exits the slot 80.

[0096] In some other embodiments, see Figure 14 The disassembly of the operating lever 20 relative to the base 10 is not limited to the above-mentioned disassembly after releasing the locking limit by the unlocking member 60. The operating lever 20 can also be moved to the unlocking position to achieve unlocking, and then can be disassembled from the base 10. The operating lever 20 can be moved to the unlocking position and the non-unlocking position relative to the base 10. When the operating lever 20 moves to the unlocking position, the operating lever 20 can be disassembled relative to the base 10. When the operating lever 20 moves to the non-unlocking position, the operating lever 20 is prohibited from being disassembled relative to the base 10.

[0097] The joystick 20 can be freely switched between the unlocked position and the unlocked position. When the joystick 20 moves to the unlocked position, the joystick 20 remains connected to the base 10, and the joystick 20 is allowed to rotate relative to the base 10 to achieve the control of the joystick 20, thereby allowing the rotation of the joystick 20 to control the propulsion power output of the propeller 200. When the joystick 20 moves to the unlocked position, the joystick 20 can be disassembled from the base 10, thereby achieving the separation of the joystick 20 from the base 10, avoiding the joystick 20 from being accidentally manipulated when it is not needed, causing a safety accident. After the joystick 20 is switched from the unlocked position to the unlocked position, the joystick 20 can be allowed to be disassembled from the base 10, without having to operate the unlocking member 60 as in the illustrated embodiment, thereby realizing another disassembly method of the joystick 20.

[0098] In some embodiments, the control lever 20 can be moved from the unlocked position to the unlocked position along a direction parallel to the axis of the rotation axis of the control lever 20. Figure 14The embodiment of the invention is shown as an example, wherein a bayonet 429 is provided on the outer peripheral surface of the rotating block 421, and the rotating plate 25 is provided with a rotating groove 428 that cooperates with the rotating block 421. The inner peripheral side surface of the rotating groove 428 is clearance-matched with the outer peripheral side surface of the rotating block 421. The inner wall of the rotating groove 428 is provided with a slide groove 427 parallel to the axis 201 of the rotating shaft 41, and an unlocking opening 4271 is provided at one end of the slide groove 427 close to the base 10, and a fastening groove 4272 is provided at the other end of the slide groove 427. The bayonet 429 slides from the slide groove 427 into the fastening groove 4272, so that the bayonet 429 remains locked and matched with the fastening groove 4272, that is, the rotating block 421 and the rotating plate 25 remain tightly connected, the operating lever 20 can drive the rotating member 40 to rotate, and the operating lever 20 remains connected to the base 10. When a pulling force is applied to the control lever 20 along the axial direction of the rotating shaft 41, the latch 429 disengages from the fastening groove 4272 and slides along the slide groove 427 to the unlocking opening 4271, so that the latch 429 disengages from the slide groove 427, and the rotating plate 25 is separated from the rotating block 421, that is, the control lever 20 is removed from the base 10.

[0099] In some embodiments, the fastening groove 4272 may be provided with an elastic buckle, and the bayonet 429 may be clamped and fixed by the elastic buckle to achieve locking and limiting of the bayonet 429 and the rotating plate 25. Of course, in some other embodiments, the bayonet 429 may be a bayonet 429 with an elastic telescopic function, and the end of the bayonet 429 may be elastically extended into the deeper concave hole 521 of the fastening groove 4272, so as to limit the connection between the bayonet 429 and the rotating plate 25. When the operating lever 20 is subjected to a disassembly force, the elastic buckle or the elastic pin 429 can be deformed by the force so that the pin 429 withdraws from the fastening groove 4272. That is, the component force formed on the pin 429 by the disassembly force applied to the operating lever 20 is greater than the elastic limiting force applied to the pin 429, thereby releasing the elastic clamping limiting state of the pin 429 and enabling the pin 429 to detach from the fastening groove 4272.

[0100] In some other embodiments, see Figure 15 The operating lever 20 can be moved from the unlocking position to the non-unlocking position along the axis direction perpendicular to the rotation axis of the operating lever 20.

[0101] See also Figure 15 Schematic illustration, with Figure 14The embodiment shown is substantially the same, except that the rotation groove 428 on the rotation plate 25 is replaced by a guide groove 4270, and the guide groove 4270 is slidably matched with the rotation block 421, and is limited to only allow the rotation block 421 to slide relative to the rotation plate 25 along the extension direction of the guide groove 4270. The extension direction of the guide groove 4270 is perpendicular to the axis of the rotation shaft 41. The guide groove 4270 has an insertion opening 4271 away from the grip rod, and the rotation block 421 can be plugged with the connecting boss 424 of the rotation block 421 through the insertion opening 4271, and the connecting boss 424 can slide into the guide groove 4270. The slide groove 427 allows the connecting boss 424 to be separated from the rotation plate 25 in a direction parallel to the axis 201 of the rotation shaft 41 at the position of the insertion opening 4271, so as to realize the separation and quick disassembly of the control rod 20 relative to the base 10. The guide slot 4270 is provided with a fastening slot 4272 at one end away from the insertion opening 4271. The connecting boss 424 slides into the fastening slot 4272 along the guide slot 4270, so that the connecting boss 424 maintains a locking fit with the fastening slot 4272, that is, the rotating block 421 and the rotating plate 25 maintain a fastening connection, the control lever 20 can drive the rotating member 40 to rotate, the control lever 20 and the base 10 remain connected, and the control lever 20 is prohibited from being separated relative to the rotating block 421 in a direction parallel to the axis 201 of the rotating shaft 41, so as to prevent the control lever 20 from being disassembled relative to the base 10. When a pulling force is applied to the control rod 20 in a direction perpendicular to the axis of the rotating shaft 41, the connecting boss 424 is disengaged from the fastening groove 4272 and slides along the slide groove 427 to the insertion opening 4271, so that the connecting boss 424 is disengaged from the guide groove 4270, and the rotating block 421 is separated from the rotating plate 25, that is, the control rod 20 is disassembled from the base 10. Figure 14 The fastening groove 4272 of the illustrated embodiment is substantially the same and will not be described in detail herein. The insertion opening 4271 forms the unlocking position of the operating lever 20, and the fastening groove 4272 forms the non-unlocking position of the operating lever 20. A dovetail protrusion structure is provided at the end of the connecting boss 424, and the guide groove 4270 is provided with a dovetail groove that cooperates with the dovetail protrusion structure to prevent the connecting boss 424 from moving relative to the rotating plate 25 in the non-sliding direction.

[0102] In the embodiment of the present application, the control lever 20 can be quickly detached from the base 10, which is not limited to the above method. The unlocked position and the unlocked position are set to switch the state in which the control lever 20 can be detached from the base 10. The control lever 20 can also be directly and quickly detached from the base 10 along the axial direction of the rotating shaft 41.

[0103] In some embodiments, see Figure 16 The base 10 is provided with a connecting shaft 410, and the control lever 20 is provided with a sleeve 49 that cooperates with the connecting shaft 410 for damping. The rotation of the control lever 20 relative to the base 10 can drive the connecting shaft 410 to rotate. The rotation of the connecting shaft 410 is used to control the operation of the propeller 200. The sleeve 49 can overcome the damping force along the axial direction of the connecting shaft 410 and disengage relative to the rotating shaft 41 to allow the control lever 20 to be removed from the base 10.

[0104] Combination Figure 16 , Figure 17 The embodiment shown schematically illustrates that the connecting shaft 410 is arranged on the rotating member 40, and the sleeve 49 is arranged on the rotating plate 25. The sleeve 49 can be plugged and matched with the connecting shaft 410 to achieve non-axial fixation of the sleeve 49 and the connecting shaft 410. For example, a rotation-stopping plane is provided on one side of the connecting shaft 410, and the sleeve 49 is provided with a rotation-stopping limit surface that cooperates with the rotation-stopping plane. An elastic damping pad 491 is provided on the inner surface of the sleeve 49 to provide a damping force for the sleeve 49 to be plugged and pulled out of the connecting shaft 410. The sleeve 49 and the connecting shaft 410 are only allowed to move in the axial direction parallel to the connecting shaft 410, that is, the control rod 20 can be plugged in, pulled out and disassembled relative to the base 10 along the axial direction parallel to the rotating shaft 41. When the operating lever 20 needs to be connected to the base 10, the sleeve 49 of the operating lever 20 is inserted into the connecting shaft 410, and the operating lever 20 is connected to the connecting shaft 410 of the rotating member 40 by overcoming the damping force, so that the operating lever 20 can drive the rotating member 40 to rotate. When the operating lever 20 needs to be removed from the base 10, the operating lever 20 can be directly pulled away from the base 10 along the axial direction parallel to the rotating shaft 41, and the sleeve 49 is separated from the connecting shaft 41 by overcoming the damping force, thereby achieving rapid removal.

[0105] See also Figure 18The embodiment of the present application also provides a propulsion system 1000, the propulsion system 1000 includes any one of the above-mentioned control devices 100, the propeller 200 system also includes a marine propeller 200, the marine propeller 200 is used to be connected to the hull, and the control device 100 can control the operation of the marine propeller 200. The marine propeller 200 can be any type of outboard motor, inboard motor, pod propeller 200, inboard outboard motor, stern motor, etc. The marine propeller 200 is provided with a central controller, a motor, a driver for controlling the motor, and a propeller connected to the motor. The driver controls the operation of the motor, and the motor drives the propeller to rotate to output power. The central controller can interact with the control device 100 to send the control signal of the control device 100 to the driver to control the operation of the motor. The central controller is also responsible for communicating and interacting with other control devices other than the control device 100, for example, the central controller is also responsible for communicating and interacting with devices such as display screens, batteries, and steering wheels.

[0106] For example, the control device 100 is provided with a power switch 99, and the power switch 99 is provided on the base 10. Of course, in some other embodiments, the power switch 99 can also be provided on the control rod 20. The power switch 99 is electrically connected to the control component 15 of the base 10, and is used to send power on and off signals, so as to control the propulsion system 1000 to be powered on or off. The power switch 99 sends a signal to the control component 15, and the control component 15 sends a signal to the central controller, and the central controller sends a signal to the battery, so as to control the battery to provide current to realize the power on of the propulsion system 1000.

[0107] In the embodiment of the present application, the marine propeller 200 is taken as an outboard motor for example. The marine propeller 200 is connected to the transom of the ship. The control device 100 is connected to the marine propeller 200 via a cable.

[0108] The embodiment of the present application also provides a mobile device 2000 in water area, the mobile device 2000 in water area includes the propulsion system 1000 of the embodiment shown in the figure, the mobile device 2000 in water area also includes a hull 210, the base 10 of the control device 100 is fixed on the side 02 of the hull 210, and the ship propeller 200 is connected to the hull 210. As shown in the embodiment of the figure, the ship propeller 200 is connected to the hull 210. The mobile device 2000 in water area can be the aforementioned boat 01. The mobile device 2000 in water area obtains propulsion power through the ship propeller 200.

[0109] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control device, characterized in that: The control device includes a base and a control lever. The control lever can be quickly detachably connected to the base. When the control lever is connected to the base, it can rotate relative to the base. The rotation of the control lever relative to the base at least forms a torque on the base. The torque can be used to be transmitted to the propeller on the ship through mechanical transmission, or can be used to be converted into an electrical signal by electronic induction and transmitted to the propeller on the ship to control the operation of the propeller.

2. The control device according to claim 1, characterized in that: The base is provided with a sensor, which can sense the torque of the joystick and convert the torque of the joystick into a control signal, and the control signal is used to control the operation of the propeller.

3. The control device according to claim 2, characterized in that: The control device includes a rotating member that can rotate relative to the sensor. The control rod can drive the rotating member to rotate. The sensor is used to sense the rotation amount of the control rod according to the rotation of the rotating member.

4. The control device according to claim 3, characterized in that: The rotating member is rotatably disposed on the base; Alternatively, the rotating member is fixed to the operating rod, and the rotation of the operating rod relative to the base drives the rotating member to rotate.

5. The control device according to claim 3, characterized in that: A magnet is disposed on the rotating member, and the sensor is a Hall sensor, and the sensor senses the rotation of the rotating member according to the magnetic field of the magnet; Or, an infrared light reflecting element is disposed on the rotating element, the sensor comprises an infrared light emitting element and an infrared light sensing element, and the sensor senses the rotation of the rotating element according to the light reflection change of the infrared light reflecting element; Alternatively, a strain gauge is disposed on the rotating member, and the sensor is a pressure sensor, and the sensor senses the rotation of the rotating member according to the deformation pressure of the strain gauge.

6. The control device according to claim 1, characterized in that: The base is provided with a first side portion and a second side portion opposite to the first side portion, the control lever is detachably connected to the second side portion, the control lever has a rotation axis, and the control lever can rotate around the rotation axis after being connected to the base, and the rotation axis is roughly parallel to the direction from the first side portion to the second side portion relative to each other.

7. The control device according to claim 6, characterized in that: The control rod can be removed from the base substantially along a direction parallel to the rotation axis.

8. The control device according to claim 6, characterized in that: The base includes a bottom plate and a cover plate covering the bottom plate, the bottom plate forms the first side portion, the portion of the cover plate away from the bottom plate forms the second side portion, a receiving cavity is formed between the bottom plate and the cover plate, the receiving cavity accommodates a control component, and the control component is used to obtain the rotation of the control rod and control the operation of the propeller on the ship.

9. The control device according to claim 8, characterized in that: The receiving cavity is a closed cavity, the control component includes a control circuit, the control circuit is used to electrically connect the thruster, the bottom plate is provided with a power line interface and a signal line interface, the power line interface is used to connect the power line to the control circuit, and the signal line interface is used to connect the signal line to the control circuit.

10. The control device according to claim 8, characterized in that: The cover plate is provided with a shaft hole, the control device comprises a rotating member sealed with the shaft hole, and the control rod can drive the rotating member to rotate.

11. The control device according to claim 1, characterized in that: The rotation of the joystick relative to the base has a zero position. When the joystick rotates to the zero position, the control device controls the propeller to stop outputting power, and the joystick provides a position feedback signal.

12. The control device according to claim 11, characterized in that: The control device comprises a damping positioning assembly, which provides a damping force when the control rod rotates in a non-zero position and provides a positioning force when the control rod rotates to a zero position.

13. The control device according to claim 12, characterized in that: The damping positioning assembly provides force feedback when the joystick enters the zero position from a non-zero position.

14. A propulsion system, characterized in that: The propulsion system comprises the control device according to any one of claims 1 to 13, and the propulsion system also comprises a ship propeller, wherein the ship propeller is used to be connected to a ship hull, and the control device can control the operation of the ship propeller.

15. A movable device in water area, characterized in that: The movable device in water area comprises the propulsion system as claimed in claim 14, and the movable device in water area also comprises a hull, the base of the control device is fixed on the hull, and the ship propulsion device is connected to the hull.

Images