Operational device, water propeller and water movable device

Abstract

This application discloses an operating device, a water propulsion device, and a water-mobile device. The operating device includes a base, a mounting bracket, a grip rod, and a detection component. The base includes a tail end and a front end, with the tail end connecting to the main body. The mounting bracket includes a swing end and a fixed end, with the swing end near the front end and the fixed end fixed between the tail end and the front end. The grip rod includes a first end and a second end, with the first end rotating around a first axis and engaging with the swing end, and the second end extending away from the tail end relative to the front end. The portion between the first and second ends rotates around a second axis and engages with the base, with the swing end deflecting relative to the fixed end around the second axis. The detection component is mounted on the mounting bracket and generates an electrical signal based on the deformation between the swing end and the fixed end. This signal is electrically connected to a controller via an electrical connector. The detection component outputs an electrical signal to the controller, which then issues a control command to control the propulsion direction of the water propulsion device based on the electrical signal.

Description

Technical Field

[0001] This application relates to the field of marine equipment technology, and in particular to an operating device, a water propulsion device, and a water-mobile device. Background Technology

[0002] When a water-based mobile device is in motion, the user adjusts the propulsion direction of the water jets via a control device, thereby controlling the device's direction of travel. However, existing control devices are not flexible enough in adjusting the propulsion direction of the water-based mobile device, making it difficult for the user to operate and resulting in low control precision. Utility Model Content

[0003] The embodiments of this application provide an operating device, a water propulsion device, and a water-mobile device.

[0004] This application provides an operating device for a water propulsion device, which can adjust the propulsion direction of the water propulsion device. The operating device includes a base, a mounting bracket, a grip rod, and a detection component. The base includes a tail end and a front end away from the tail end, the tail end being used to connect to the main body of the water propulsion device. The mounting bracket includes a swing end and a fixed end opposite to the swing end, the swing end being close to the front end, and the fixed end being fixed between the tail end and the front end of the base. The grip rod includes a first end and a second end opposite to the first end, the first end being rotatably engaged with the swing end around a first axis, the second end extending away from the tail end relative to the front end, and the portion between the first end and the second end being rotatably engaged with the base around a second axis, the swing end being able to deflect relative to the fixed end around the second axis, the second axis being perpendicular to the first axis. The detection component is mounted on the mounting bracket. The detection component is used to generate an electrical signal based on the deformation of the mounting bracket between the swing end and the fixed end, and is electrically connected to a controller located in the base or the main body of the machine via an electrical connector. The detection component is used to output the electrical signal to the controller of the water propeller. The controller issues a control command based on the electrical signal to control the propulsion direction of the water propeller.

[0005] This application also provides a water propulsion device for propelling a waterborne vehicle in water. The water propulsion device includes a main body, a connecting device, a propulsion device, a steering shaft, a steering actuator, and an operating device as described in any of the above embodiments. The connecting device connects the main body to the waterborne vehicle. The operating device is connected to the main body. The propulsion device is connected to the main body and outputs propulsion force. The steering shaft is located on one of the connecting device and the main body. The steering actuator is located on the other of the connecting device and the main body, and is connected to the steering shaft. The steering actuator drives the main body to turn relative to the connecting device. The control command controls the steering actuator to drive the main body to turn around the axis of the steering shaft according to the swing amount of the grip lever.

[0006] This application also provides a water-based mobile device. The water-based mobile device includes a water-based carrier and a water-based propulsion device as described in any of the above embodiments, and the connecting device is connected to the water-based carrier.

[0007] The operating device, water propeller, and water-mobile device of this application allow the user to apply force to the gripping rod, causing the swing end to oscillate relative to the fixed end around a second axis and generate deformation between the swing end and the fixed end. The detection component generates an electrical signal based on this deformation, and the controller issues a control command based on the electrical signal to adjust the propulsion direction of the water propeller. This translates the user's intention to operate the gripping rod into an adjustment of the propulsion direction of the water propeller, enabling more flexible adjustment of the propulsion direction, enhancing the maneuverability of the water-mobile device, and improving control precision. Because the fixed end is fixed, the mounting bracket begins to deform when the gripping rod is subjected to a swaying force, thus allowing for a rapid response to the swaying force of the gripping rod.

[0008] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0009] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein: Figure 1 This is a plan view of a water-based mobile device according to some embodiments of this application; Figure 2 This is a schematic diagram illustrating the movement of a water-based mobile device according to some embodiments of this application; Figure 3 yes Figure 1A three-dimensional structural diagram of the operating device for a water-based mobile device is shown. Figure 4 yes Figure 3 A three-dimensional structural schematic diagram of one embodiment of a portion of the operating device shown. Figure 5 yes Figure 3 A plan view of part of the structure of the operating device shown; Figure 6 yes Figure 3 A plan view and a partially enlarged view of a portion of the structure of the operating device shown; Figure 7 yes Figure 3 A cross-sectional view and a partially enlarged view of the operating device are shown. Figure 8 yes Figure 3 A plan view of part of the structure of the operating device shown; Figure 9 yes Figure 3 A three-dimensional structural schematic diagram of another embodiment of the operating device shown. Figure 10 yes Figure 3 A three-dimensional structural schematic diagram of another embodiment of the operating device shown. Figure 11 yes Figure 3 The schematic diagram shown illustrates the principle of the detection component in the operating device detecting the deformation of the extension.

[0010] Explanation of key component symbols: The system includes: a water-based mobile device 10,000; a water-based thruster 1,000; a water-based carrier 3,000; an operating device 100; a main body 300; a connecting device 500; a propulsion device 700; a steering shaft 800; and a steering actuator 900. Basic component 10; Tail end 101; Front end 103; Bottom 11; Top 13; Side 15; Cover assembly 20; Display screen 21; Mounting bracket 30; swing end 31; first mounting part 311; second mounting part 313; accommodating cavity 315; fixed wall 317; fixed end 33; top surface 331; bottom surface 333; side surface 335; positioning hole 337; through hole 3371; first fixed end 3301; second fixed end 3302; extension part 35; first side wall 351; second side wall 353; hollow area 355; third side wall 357; fourth side wall 359; first extension arm 3501; second extension arm 3502; Grip lever 40; operating component 41; first end 401; second end 403; inner cavity 411; magnetic component 413; bearing 43; elastic component 45; grip sleeve 47; button control part 471; end face 472; inclined surface 473; top surface 474; grip cavity 475; flexible deformable part 477. Detection component 50; strain gauge 501; first strain gauge 51; second strain gauge 52; positive wire 53; negative wire 54; protective component 55; controller 56; key circuit board 57; key device 58; cable 59; Locking component 60; pin 61; clamping component 70; rotation sensor 80; sealing cavity 90. Detailed Implementation

[0011] The embodiments of this application are described in detail below. These embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0012] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0013] When a water-based mobile device is in motion, the user adjusts the propulsion direction of the water thruster via an operating device, thereby adjusting the direction of travel of the water-based mobile device. However, existing operating devices are not flexible enough in adjusting the propulsion direction of the water-based mobile device, making it difficult for the user to operate. To solve this problem, this application provides an operating device 100 ( Figure 3 As shown), water thruster 1000 ( Figure 1 (as shown) and 10,000 water-based mobile devices ( Figure 1 (As shown).

[0014] Please see Figure 1 The water-based mobile device 10000 includes a water-based thruster 1000 and a water-based carrier 3000. The water-based thruster 1000 is a detachable power unit. When in use, the water-based thruster 1000 is connected to the water-based carrier 3000, providing power and propelling the water-based carrier 3000 in the water. When not in use, the water-based thruster 1000 can be detached from the water-based carrier 3000 for maintenance and repair.

[0015] For example, the water-based mobile device 10000 in this embodiment can be various boats such as passenger ships and yachts. Correspondingly, the water-based carrier 3000 can be a hull, and the water-based propulsion device 1000 can be an outboard motor. For example, the water-based mobile device 10000 can also be a fishing boat, sailboat, or other vessel, without limitation. For example, the water-based propulsion device 1000 can also be a podded propulsion device, a stern motor, or a trolley motor, without limitation. The water-based carrier 3000 can also be a buoy or a rubber buoy, without limitation.

[0016] Please see Figure 1 The water propulsion device 1000 includes an operating device 100, a main body 300, a connecting device 500, and a propulsion device 700. The connecting device 500 connects the main body 300 to the water carrier 300. The operating device 100 is connected to the main body 300. The propulsion device 700 is also connected to the main body 300 and is used to output propulsion force.

[0017] Specifically, the fuselage body 300 provides mounting positions for other structures of the water propulsion device 1000. The connecting device 500, propulsion device 700, and operating device 100 are all connected to the fuselage body 300. The connecting device 500 is a structure used to connect two or more other components; in this application, the connecting device 500 connects the fuselage body 300 and the water carrier 3000. The connecting device 500 enables the fuselage body 300 to be fixed relative to the water carrier 3000 or to move relative to the water carrier 3000. For example, the connecting device enables the fuselage body 300 to turn and tilt relative to the water carrier 3000. The operating device 100 can adjust the propulsion heading of the water propulsion device 1000. The user can manipulate the water propulsion device 1000 by holding it, thereby controlling the water propulsion device 1000 to perform corresponding actions. For example, the user can control the water propulsion device 1000 to perform actions such as turning, tilting, acceleration, and deceleration through the operating device 100, thereby controlling the movement of the water-mobile device 10000. The propulsion device 700 provides propulsion to the waterborne carrier 3000 to move the waterborne carrier 3000. The propulsion device 700 includes a propeller, which is placed underwater during use. The propeller of the propulsion device 700 rotates to move the waterborne carrier 3000.

[0018] Please see Figure 1In some embodiments, the water propulsion device 1000 further includes a steering shaft 800 and a steering actuator 900. The steering shaft 800 is disposed on one of the connecting device 500 and the main body 300. The steering actuator 900 is disposed on the other of the connecting device 500 and the main body 300, and is connected to the steering shaft 800. The steering actuator 900 is used to drive the main body 300 to turn relative to the connecting device 500. Control commands are used to control the steering actuator 900 to drive the main body 300 to turn around the axis of the steering shaft 800 according to the swing amount of the grip lever 40.

[0019] Specifically, in one embodiment, the steering shaft 800 is disposed on the connecting device 500, and the steering actuator 900 is disposed on the main body 300. The operating device 100 can be electrically connected to the steering actuator 900. The operating device 100 outputs control commands through the controller 56 (described below). The steering actuator 900 responds to the control commands and drives the main body 300 to rotate around the axis of the steering shaft 800 in an electrically assisted manner according to the swing amount of the grip lever 40. The steering actuator 900 includes a motor and a transmission assembly connected to the motor. The transmission assembly is connected to the steering shaft 800 and transmits the steering torque of the motor to the steering shaft 800, thereby driving the main body 300 to rotate around the axis of the steering shaft 800. In another embodiment, the steering shaft 800 is disposed on the main body 300, and the steering actuator 900 is disposed on the connecting device 500.

[0020] Please see Figure 1 , Figures 3 to 7 ,as well as Figure 9 or Figure 10This application provides an operating device 100 for a water propulsion device 1000, which can adjust the propulsion direction of the water propulsion device 1000. The operating device 100 includes a base component 10, a mounting bracket 30, a gripping rod 40, and a detection component 50. The base component 10 includes a tail end 101 and a front end 103 away from the tail end 101. The tail end 101 is used to connect to the main body 300 of the water propulsion device 1000. The mounting bracket 30 includes a swing end 31 and a fixed end 33 opposite to the swing end 31. The swing end 31 is close to the front end 103, and the fixed end 33 is fixed between the tail end 101 and the front end 103 of the base component 10. The grip lever 40 includes a first end 401 and a second end 403 opposite to the first end 401. The first end 401 is rotatably engaged with the swing end 31 about a first axis X. The second end 403 extends away from the tail end 101 relative to the front end 103. The portion between the first end 401 and the second end 403 is rotatably engaged with the base component 10 about a second axis Z. The swing end 31 can deflect relative to the fixed end 33 about the second axis Z, which is perpendicular to the first axis X. The detection component 50 is mounted on the mounting bracket 30. The detection component 50 generates an electrical signal based on the deformation of the mounting bracket 30 between the swing end 31 and the fixed end 33. The signal is electrically connected to the controller 56 located on the base component 10 or the main body 300 via an electrical connector. The detection component 50 outputs an electrical signal to the controller 56. The controller 56 issues a control command based on the electrical signal to control the propulsion direction of the water propeller 1000.

[0021] Specifically, the base component 10 is a structure used for mounting other components. The base component 10 of this application is used to mount the mounting bracket 30 and the detection assembly 50, and at least a portion of the gripping rod 40 is housed within the base component 10 to protect the mounting bracket 30, the gripping rod 40, and the detection assembly 50. The base component 10 can be made of plastic or metal, etc. When the base component 10 is made of plastic, it has good insulation properties, low cost, and light weight. When the base component 10 is made of metal, it has high strength, good wear resistance, and a long service life. In the first axial direction X, the base component 10 includes a tail end 101 and a front end 103, with the tail end 101 closer to the fuselage body 300 than the front end 103.

[0022] The mounting bracket 30 is housed inside the base component 10. The fixed end 33 of the mounting bracket 30 is connected to the base component 10, and there is no relative movement between the fixed end 33 and the base component 10. The connection between the fixed end 33 and the base component 10 can be a detachable connection or a non-detachable connection, which is not limited in this application. The detachable connection includes, but is not limited to, a snap-fit ​​connection, a threaded connection, or a combination of both. The non-detachable connection includes, but is not limited to, a glued connection, a welded connection, or a combination of both. The explanations of "detachable connection" and "non-detachable connection" elsewhere in this document are the same as here, and will not be repeated hereafter. The fixed end 33 is fixed between the tail end 101 and the front end 103 of the base component 10, which allows the swing end 31 to be closer to the front end 103 of the base component 10, which is beneficial to the connection between the first end 401 of the gripping rod 40 and the swing end 31 in the following text. When the swing end 31 is subjected to a force, the swing end 31 can swing relative to the fixed end 33 about the second axis Z, and deformation occurs between the swing end 31 and the fixed end 33. The direction of the oscillation Y of the Z-axis about the second axis is as follows Figure 6 As shown, the swing direction can be either the first swing direction Y1 or the second swing direction Y2, with the first swing direction Y1 and the second swing direction Y2 being opposite.

[0023] The swing direction Y, which deflects about the second axis Z, is perpendicular to both the first axis X and the second axis Z. The swing direction Y is not limited to deflecting about the second axis Z; it can also deflect about the first axis X. This application only describes the swing direction Y as deflecting about the second axis Z. The grip lever 40 is for the user to hold. The user can control the relative position of the grip lever 40 and the main body 300, thereby controlling the propulsion direction of the water propulsion device 1000. Along the first axis X, the grip lever 40 includes a first end 401 and a second end 403, with the first end 401 extending from the front end 103 of the base member 10 into the interior of the base member 10. The grip lever 40 is rotatably connected to the swing end 31. Rotatable means that the grip lever 40 can rotate relative to the swing end 31 about the first axis X. The second end 403 of the grip lever 40 extends from the front end 103 of the base member 10 and is located in the external environment, allowing the user to grip and control the grip lever 40. For example, when the user applies a force in a first swing direction Y1 or a second swing direction Y2 to the second end 403 of the grip lever 40, the swing end 31 can be tilted relative to the fixed end 33, causing deformation in the portion between the swing end 31 and the fixed end 33. Additionally, when the user applies a torque to the second end 403 of the grip lever 40, the grip lever 40 can rotate relative to the swing end 31 around a first axis X (rotation direction N is as follows). Figure 1 (As shown). It is understandable that when the grip lever 40 rotates in the rotation direction N, the swing end 31 does not rotate with the grip lever 40.

[0024] The detection component 50 is used to detect the deformation generated between the swing end 31 and the fixed end 33, and generates an electrical signal based on the deformation. The connection between the detection component 50 and the mounting bracket 30 or the main body 300 can be detachable or non-detachable, and this application is not limited thereto. There can be one or more detection components 50, and this application is not limited thereto. The detection component 50 can be installed on one or more of the swing end 31 of the mounting bracket 30, the fixed end 33 of the mounting bracket 30, the portion between the swing end 31 and the fixed end 33, and the main body 300, as long as it can detect the deformation generated between the swing end 31 and the fixed end 33.

[0025] When the user applies force to the second end 403 of the grip rod 40, the grip rod 40 causes the swing end 31 to oscillate around the second axis Z, and the portion of the mounting bracket 30 between the swing end 31 and the fixed end 33 deforms. The detection component 50 generates an electrical signal based on the deformation and outputs the electrical signal to the controller 56 of the water propeller 1000. After receiving the electrical signal, the controller 56 issues a control command based on the electrical signal. The control command is used to control the propulsion direction of the water propeller 1000. For example, if a user applies a force in the first swing direction Y1 to the second end 403 of the grip lever 40, the detection component 50 generates an electrical signal based on the deformation of the portion between the swing end 31 and the fixed end 33. After receiving the electrical signal, the controller 56 issues a control command based on the electrical signal. The steering actuator 900 responds to the control command and drives the main body 300 to turn around the axis of the steering shaft 800 in the opposite direction of the first swing direction Y1 in an electrically assisted manner according to the swing amount of the grip lever 40. This achieves the control of the water propeller 1000 to yaw in the opposite direction of the first swing direction Y1, so as to drive the entire water mobile device 10000 to turn in the first swing direction Y1 (e.g., Figure 2 (a) shows a right turn from the operator's perspective. Similarly, if the user applies a force in the second swing direction Y2 to the second end 403 of the grip lever 40, the detection component 50 generates an electrical signal based on the deformation of the portion between the swing end 31 and the fixed end 33. After receiving the electrical signal, the controller 56 issues a control command based on the electrical signal. The steering actuator 900 responds to the control command and drives the main body 300 to turn around the axis of the steering shaft 800 in the opposite direction of the second swing direction Y2 in an electrically assisted manner according to the swing amount of the grip lever 40. This causes the propulsion device 700 to also yaw in the opposite direction of the second swing direction Y2, thereby controlling the water propulsion device 1000 to turn in the second swing direction Y2, so as to drive the entire water mobile device 10000 to turn in the second swing direction Y2 (e.g., Figure 2 (b) shows a left turn from the operator's perspective.

[0026] In the operating device 100 of this application, when the user applies a force to the gripping rod 40, it causes the swing end to sway relative to the fixed end 33 around the second axis Z, and deformation occurs in the portion between the swing end 31 and the fixed end 33. The detection component 50 can generate an electrical signal based on the deformation of the portion between the swing end 31 and the fixed end 33. The controller 56 can issue a control command based on the electrical signal to adjust the propulsion direction of the water propeller 1000. This converts the user's intention to operate the gripping rod 40 into an adjustment of the propulsion direction of the water propeller 1000, allowing the water propeller 1000 to adjust its propulsion direction more flexibly, enhancing the maneuverability of the water mobile device 10000, and improving control precision. Since the fixed end 33 is fixed, when the gripping rod 40 is subjected to a swaying force, the mounting bracket 30 begins to deform, thus enabling a rapid response to the swaying force of the gripping rod 40.

[0027] Please see Figure 4 , Figure 9 or Figure 10 In some embodiments, the mounting bracket 30 further includes an extension 35 located between the swing end 31 and the fixed end 33. The swing of the swing end 31 relative to the fixed end 33 can cause the extension 35 to bend and deform. The detection assembly 50 includes two strain gauges 501, which are respectively disposed on opposite sides of the extension 35. The strain gauges 501 are used to sense the bending deformation of the extension 35.

[0028] Specifically, the extension 35 is used to generate bending deformation and to mount the strain gauge 501. When the user applies force to the gripping rod 40, the force is transmitted through the gripping rod 40 to the swing end 31, causing the swing end 31 to deflect relative to the fixed end 33, resulting in bending deformation of the extension 35. The strain gauge 501 can sense the bending deformation of the extension 35. The strain gauge 501 is a sensor based on the strain effect. When the extension 35 bends, the strain gauge 501 mounted on the extension 35 also deforms, and the deformation causes a change in the internal resistance of the strain gauge 501. According to the principle of the strain effect, the relative change in resistance is directly proportional to the strain on the strain gauge 501. The strain gauge 501 can convert the relative change in resistance into an electrical signal output, thereby realizing the sensing of the bending deformation of the extension 35. The strain gauge 501 is small in size and light in weight, making it easy to install on the extension 35. The strain gauge 501 is low in cost and easy to integrate and maintain.

[0029] The detection component 50 includes two strain gauges 501 (a first strain gauge 51 and a second strain gauge 52). In other embodiments, the number of strain gauges 501 may be different, such as three or four, and this application is not limited thereto. The two strain gauges 501 are respectively attached to opposite sides of the extension 35 in the swing direction Y. The two strain gauges 501 can sense the bending deformation reflected by different parts of the extension 35, thereby improving the measurement accuracy of the bending deformation of the extension 35. For example, when the user applies a force in the first swing direction Y1 to the gripping rod 40, the side of the extension 35 facing the first swing direction Y1 undergoes compressive deformation, and the side facing away from the first swing direction Y1 undergoes tensile deformation. One strain gauge 501 senses the bending deformation of the compressive deformation, and the other senses the bending deformation of the tensile deformation. Similarly, when the user applies a force in the second swing direction Y2 to the grip lever 40, the side of the extension 35 facing the second swing direction Y2 undergoes compressive deformation, and the side away from the second swing direction Y2 undergoes tensile deformation. One strain gauge 501 senses the bending deformation of the compressive deformation, and the other senses the bending deformation of the tensile deformation. In this way, the detection assembly 50 can accurately reflect the actual deformation state of the extension 35 and acquire the bending deformation of the extension 35, improving the accuracy of the electrical signal generated by the strain gauge 501 based on the bending deformation, thereby improving the control precision of the water propeller 1000.

[0030] Please see Figure 4 , Figure 9 or Figure 10 In some embodiments, the size of the extension 35 is smaller than the size of the swing end 31 and / or the size of the fixed end 33 in the swing direction Y of the swing end 31 relative to the fixed end 33 about the second axis Z.

[0031] Specifically, in the swing direction Y, in one embodiment, the size of the extension 35 is smaller than the size of the swing end 31; in another embodiment, the size of the extension 35 is smaller than the size of the fixed end 33; in yet another embodiment, the size of the extension 35 is smaller than both the size of the swing end 31 and the size of the fixed end 33. Exemplarily, the size of the extension 35 in this application is smaller than both the size of the swing end 31 and the size of the fixed end 33. Because the extension 35 has a smaller size in the swing direction Y, it is more prone to bending deformation when subjected to force. This allows the extension 35 to generate a larger bending deformation under a smaller force, enabling the strain gauge 501 to more sensitively sense the bending deformation of the extension 35, improving the accuracy of the electrical signal generated based on the bending deformation, thereby improving the control precision of the water thruster 1000.

[0032] Furthermore, in the second axis Z, in some embodiments, the size of the extension 35 is the same as the size of the swing end 31; in other embodiments, the size of the extension 35 is the same as the size of the fixed end 33; in still other embodiments, the size of the extension 35 is the same as the size of the swing end 31, and the size of the extension 35 is also the same as the size of the fixed end 33. Having the extension 35 the same size as the swing end 31, and / or the extension 35 the same size as the fixed end 33, can, on the one hand, improve the structural strength of the extension 35 in the second axis Z, enabling the extension 35 to better withstand the torque generated during the swing in the second axis Z, thus extending the service life of the extension 35; on the other hand, it can also concentrate the bending deformation in the swing direction Y, improving the sensing accuracy of the strain gauge 501 for bending deformation.

[0033] Please see Figure 6 In some embodiments, the extension 35 includes opposing first sidewalls 351 and second sidewalls 353, and the two strain gauges 501 include a first strain gauge 51 and a second strain gauge 52, with the first strain gauge 51 disposed on the first sidewall 351 and the second strain gauge 52 disposed on the second sidewall 353. The gripping rod 40 oscillates between opposing sides 15 of the base member 10, with the first sidewall 351 and the second sidewall 353 respectively opposite to the opposing sides 15.

[0034] Specifically, the first sidewall 351 and the second sidewall 353 are opposite each other in the swing direction Y. The first strain gauge 51 is disposed facing the first swing direction Y1, and the second strain gauge 52 is disposed facing the second swing direction Y2. The two sides 15 are opposite each other in the swing direction Y. The sides 15 can limit the gripping rod 40. When the gripping rod 40 swings between the two opposite sides 15 of the base member 10, the sides 15 can ensure that the swinging movement of the gripping rod 40 is within a predetermined range, preventing excessive swinging of the gripping rod 40 that could lead to structural damage or loss of operational control.

[0035] In some embodiments, the extension 35 is provided with a hollowed-out region 355, the opening direction of which is parallel to the second axis Z.

[0036] Specifically, the hollowed-out area 355 is used to reduce the rigidity of the extension 35, specifically by thinning the dimension of the extension 35 in the swing direction Y, making the extension 35 easier to bend and deform. There can be one or more hollowed-out areas 355, which is not limited in this application. The hollowed-out area 355 can be a through hole penetrating the extension 35 or a groove not penetrating the extension 35. The opening direction of the hollowed-out area 355 is parallel to the second axis Z, which can reduce the dimension of the extension 35 in the swing direction Y, making the extension 35 easier to bend and deform in the swing direction Y. Exemplarily, the number of hollowed-out areas 355 in this application matches the number of extensions 35. Please see Figure 4 , Figure 9 or Figure 10 In some embodiments, the extension 35 includes a first sidewall 351 and a second sidewall 353 opposite to each other in the swing direction Y, and a third sidewall 357 and a fourth sidewall 359 opposite to each other in the second axis Z. The hollowed-out area 355 passes through the third sidewall 357 and the fourth sidewall 359 and is located between the first sidewall 351 and the second sidewall 353.

[0037] Specifically, the hollow area 355 is a through hole that penetrates the third side wall 357 and the fourth side wall 359 along the second axis Z. The cross-section of the through hole, which is cut by a plane perpendicular to the second axis Z, is racetrack-shaped. The racetrack shape does not have sharp right angles, so it is not easy for stress concentration to occur. This makes it easier for the extension 35 to bend and deform in the swing direction Y, while also ensuring the structural strength of the extension 35 and extending the service life of the extension 35.

[0038] For example, in the swing direction Y, the distance between the inner wall of the hollow area 355 and the first side wall 351 is the same as the distance between the inner wall of the hollow area 355 and the second side wall 353. In this way, the mechanical properties of the extension 35 in the swing direction Y are more uniform, ensuring that when the extension 35 is subjected to the force transmitted from the swing end 31, the deformation can be evenly distributed on both sides of the extension 35, avoiding uneven deformation or stress concentration caused by excessive force on one side, and extending the service life of the extension 35.

[0039] Please see Figure 4 , Figure 9 or Figure 10 In some embodiments, the fixed end 33 includes a top surface 331 and a bottom surface 333 opposite each other in the second axial direction Z, and a side surface 335 surrounding and connecting the top surface 331 and the bottom surface 333.

[0040] Specifically, the extension 35 is connected to at least one of the side surface 335 of the fixed end 33 facing the swing end 31, the top surface 331 of the fixed end 33, and the bottom surface 333 of the fixed end 33. In some embodiments, the extension 35 is connected to one of the side surface 335 of the fixed end 33 facing the swing end 31, the top surface 331 of the fixed end 33, and the bottom surface 333 of the fixed end 33. In other embodiments, the extension 35 is connected to two of the side surface 335 of the fixed end 33 facing the swing end 31, the top surface 331 of the fixed end 33, and the bottom surface 333 of the fixed end 33. In still other embodiments, the extension 35 is connected to all three of the side surface 335 of the fixed end 33 facing the swing end 31, the top surface 331 of the fixed end 33, and the bottom surface 333 of the fixed end 33. The extension 35 is connected to the side 335 of the fixed end 33 facing the swing end 31, which can improve the structural strength of the extension 35 in the swing direction Y; the extension 35 is connected to the top surface 331 of the fixed end 33, which can improve the structural strength of the extension 35 in the second axis Z; the extension 35 is connected to the bottom surface 333 of the fixed end 33, which can also enhance the structural strength of the extension 35 in the second axis Z. The connection of the extension 35 to the side 335 of the fixed end 33 facing the swing end 31 and the bottom surface 333 of the fixed end 33 in this application can simultaneously ensure the structural strength in the swing direction Y and the second axis Z, thus extending the service life of the extension 35.

[0041] In some embodiments, the extension portion 35 and the fixed end 33 are an integral structure, that is, the extension portion 35 and the fixed end 33 are a single unit, which improves the bonding strength between the extension portion 35 and the fixed end 33 and prevents separation of the extension portion 35 and the fixed end 33 during the operation of the mounting bracket 30, thereby ensuring the stability and reliability of the mounting bracket 30. In other embodiments, the extension portion 35 and the fixed end 33 are separate structures, that is, the extension portion 35 and the fixed end 33 are two different structures. In one example, the extension portion 35 and the fixed end 33 can be detachably connected or non-detachably connected. Exemplarily, the extension portion 35 and the fixed end 33 of this application are an integral structure.

[0042] Similarly, in some embodiments, the extension 35 and the swing end 31 are an integral structure, that is, the extension 35 and the swing end 31 are a single unit, which can improve the bonding strength between the extension 35 and the swing end 31 and prevent the extension 35 and the swing end 31 from separating during the operation of the mounting bracket 30, thereby ensuring the stability and reliability of the mounting bracket 30. In other embodiments, the extension 35 and the swing end 31 are separate structures, that is, the extension 35 and the swing end 31 are two different structures. The extension 35 and the swing end 31 can be detachably connected or non-detachably connected. Exemplarily, the extension 35 and the swing end 31 of this application are an integral structure.

[0043] Please see Figure 4 , Figure 8 , Figure 9 or Figure 10 In some embodiments, the operating device 100 includes four locking members 60 arranged in an array, and the fixed end 33 is provided with four positioning holes 337 in an array. The locking members 60 are positioned and engaged with the positioning holes 337 to connect the fixed end 33 and the base member 10.

[0044] Specifically, the four locking members 60 are arranged in a rectangular array. Exemplarily, the four locking members 60 are located at the four corners of the fixed end 33, thereby more stably connecting the fixed end 33 to the base member 10, preventing displacement or rotation of the fixed end 33 relative to the base member 10, and ensuring the connection between the mounting bracket 30 and the base member 10. Exemplarily, the mounting bracket 30 has a mirror-symmetrical structure based on a mirror plane M. When the mirror plane M is parallel to both the first axis X and the second axis Z, two sets of locking members 60 are distributed on both sides of the mirror plane M, each set including two locking members 60. The two sets of locking members 60 are mirror-symmetrical based on the mirror plane M, preventing structural deformation or loosening of the fixed end 33 due to uneven force on one side. In some embodiments, the locking members 60 are plug screws.

[0045] Please see Figure 6 In some embodiments, the operating device 100 further includes a pin 61, and the fixed end 33 is provided with a through hole 3371. The central axis of the through hole 3371 is perpendicular to the plane (XY plane) where the swing range of the swing end 31 is located. The pin 61 is interference-fitted with the through hole 3371 to connect the fixed end 33 and the base member 10.

[0046] Specifically, during the installation process of the interference fit between the pin 61 and the through hole 3371, the pin 61 is restricted to planar positioning in the vertical Z direction. The pin 61 exerts no clamping force on the fixed end 33 in the second axis Z, thus avoiding deformation of the fixed end 33 under clamping force in the second axis Z. This prevents torsional deformation of the fixed end 33 due to inconsistent clamping forces at multiple locations, and avoids deformation of the extension 35 before it is subjected to the action of the swinging part, which would affect the deformation consistency of the extension 35. Secondly, the central axis of the through hole 3371 is perpendicular to the plane where the swinging end 31 is located (i.e., the XY plane). Therefore, the pin 61 extends along the second axis Z and does not hinder the swinging movement of the swinging end 31 relative to the fixed end 33 around the second axis Z, thereby improving the accuracy of the strain gauge 501 detection. Furthermore, the interference fit ensures that the connection between the fixed end 33 and the base component 10 remains stable and is not prone to loosening during long-term use.

[0047] Please see Figure 6 and Figure 8In some embodiments, the operating device 100 further includes at least one clamping member 70, which is located between the fixed end 33 and the top 13 of the base member 10. One end of the clamping member 70 is connected to the base member 10, and the other end of the clamping member 70 is spaced apart from the fixed end 33.

[0048] Specifically, in some embodiments, a clamping member 70 is provided between the fixed end 33 and the top 13 of the base member 10 along the second axis Z. In other embodiments, a clamping member 70 is provided between the fixed end 33 and the bottom 11 of the base member 10. In still other embodiments, a clamping member 70 is provided between the fixed end 33 and the top 13 of the base member 10, and also between the fixed end 33 and the bottom 11 of the base member 10. Regardless of the embodiment described above, one end of the clamping member 70 is connected to the base member 10, and the other end is spaced apart from the fixed end 33. After prolonged use, the fixed end 33 may loosen under the swaying of the swing end 31 and cause jumping along the second axis Z. If this jumping exceeds the distance between the other end of the clamping member 70 and the fixed end 33, the clamping member 70 will apply a clamping force to the fixed end 33 along the second axis Z to prevent the mounting bracket 30 from shifting and failing. Meanwhile, during normal use of the operating device 100, the interval maintained between the other end of the clamping member 70 and the fixed end 33 can prevent the clamping member 70 from directly contacting the fixed end 33 and generating torque force, thereby improving the detection accuracy of the strain gauge 501.

[0049] Please see Figure 4 , Figure 9 or Figure 10 In some embodiments, the swing end 31 includes a first mounting portion 311 and a second mounting portion 313. The first end 401 is supported within the first mounting portion 311. The second mounting portion 313 is connected to the first mounting portion 311, and the first mounting portion 311 and the second mounting portion 313 together form a receiving cavity 315, which is used to receive the first end 401.

[0050] Specifically, the swing end 31 may include a first mounting portion 311 and a first mounting portion 311 connected along the second axis Z. In some embodiments, the first mounting portion 311, the extension portion 35, and the fixed end 33 are an integral structure, that is, the first mounting portion 311, the extension portion 35, and the fixed end 33 are a single unit, thereby improving the bonding strength between the first mounting portion 311, the extension portion 35, and the fixed end 33 and preventing separation of the first mounting portion 311, the extension portion 35, and the fixed end 33 during the operation of the mounting bracket 30, thus ensuring the stability and reliability of the mounting bracket 30. In other embodiments, the first mounting portion 311, the extension portion 35, and the fixed end 33 are separate units in pairs, that is, the first mounting portion 311, the extension portion 35, and the fixed end 33 are three different structures, and the pairs of the three different structures can be detachably connected or non-detachably connected.

[0051] Exemplarily, the first mounting portion 311, the extension portion 35, and the fixed end 33 of this application are an integral structure. The first mounting portion 311 and the second mounting portion 313 are connected by a locking member, which facilitates the installation and fixation of the first end 401 of the gripping rod 40. In one assembly method, the first end 401 of the gripping rod 40 is first inserted into the first mounting portion 311 to ensure its initial positioning. Then, the second mounting portion 313 is aligned with and connected to the first mounting portion 311, for example, by means of bolts, clips, or other connection methods, so that the first mounting portion 311 and the second mounting portion 313 fit together to form a complete receiving cavity 315. The receiving cavity 315 formed by the first mounting portion 311 and the second mounting portion 313 can protect the first end 401 of the gripping rod 40 and extend the service life of the gripping rod 40.

[0052] Please see Figure 6 ,as well as Figure 4 , Figure 9 or Figure 10 In some embodiments, the accommodating cavity 315 includes a fixed wall 317 opposite to the first axial direction X, and the operating device 100 also includes a rotation sensor 80, which is fixed to the fixed wall 317 and is used to sense the amount of rotation of the first end 401 about the first axial direction X.

[0053] Specifically, the rotation sensor 80 is used to sense the amount of rotation of the first end 401 around the first axis X, thereby controlling the acceleration and deceleration of the water propeller 1000, and thus driving the water carrier 3000 to accelerate and decelerate. For example, the rotation sensor 80 of this application is a Hall sensor. The first end 401 of the grip rod 40 is provided with a magnetic element 413. During the rotation of the first end 401 of the grip rod 40 around the first axis X, the magnetic field of the magnetic element 413 detected by the Hall sensor will change. After detecting the change in the magnetic field, the Hall sensor generates an electrical signal corresponding to the change in the magnetic field according to the Hall effect principle. The magnitude and change of the electrical signal represent the angle of rotation of the grip rod 40 around the first axis X. The electrical signal is transmitted to the controller 56 of the water propeller 1000. The controller 56 analyzes and processes the signal, and converts it into specific control commands for the water propeller 1000 according to preset control logic, such as adjusting the propulsion speed, thereby controlling the speed of the water propeller 1000.

[0054] Please see Figure 6 In some embodiments, the mounting bracket 30 is disposed within the base member 10, and the first end 401 extends into the base member 10 to connect with the mounting bracket 30.

[0055] Specifically, the mounting bracket 30 is housed within the base component 10, and the first end 401 of the gripping rod 40 extends into the base component 10 and connects to the mounting bracket 30. This reduces the size of the operating device 100, which is beneficial for its miniaturization. The base component 10 also protects the mounting bracket 30 and the first end 401 of the gripping rod 40 from impacts and wear. The base component 10 also prevents water, mud, and other impurities from entering and damaging the mounting bracket 30 and the first end 401 of the gripping rod 40, thus extending the service life of the operating device 100.

[0056] Please see Figure 6 and Figure 7 In some embodiments, the grip lever 40 includes an operating element 41 and a bearing 43 sleeved on a first end 401. The operating element 41 includes an opposing first end 401 and a second end 403, the first end 401 extending into a receiving cavity 315. The first end 401 is rotatably mounted in the receiving cavity 315 via the bearing 43.

[0057] Specifically, the bearing 43 provides a fulcrum for the first end 401 of the grip lever 40 to rotate about the first axis X, enabling the grip lever 40 to rotate about the first axis X. Exemplarily, the receiving cavity 315 has a groove matching the size of the outer ring of the bearing 43, which can accommodate and limit the bearing 43. The inner ring of the bearing 43 matches the size of the first end 401 of the grip lever 40, and the bearing 43 is sleeved on the first end 401 of the grip lever 40 and received in the groove. Thus, the bearing 43 can reduce wear on the grip lever 40 during rotation about the first axis X, improving the smoothness of rotation of the grip lever 40 about the first axis X.

[0058] Please see Figure 5 and Figure 7 In some embodiments, the base 10 includes a bottom 11, a top 13 spaced apart from the bottom 11, and a side 15 connecting the bottom 11 and the top 13; a first end 401 passes through the side 15 into the base 10, and there is a gap between the side 15 and the grip 40, which can swing within the gap. The grip 40 also includes an elastic element 45, which is sleeved on the operating member 41 and accommodated in the gap.

[0059] Specifically, the gap provides space for the swaying of the grip rod 40 relative to the base 10, preventing direct collision or friction between the grip rod 40 and the side 15, reducing mechanical wear, and improving the service life of both the grip rod 40 and the base 10. The elastic element 45 is sleeved on the grip rod 40 and located within the gap. When the force applied to the grip rod 40 exceeds the deformation resistance of the elastic element 45, the grip rod 40 compresses the elastic element 45, causing it to deform. This allows the grip rod 40 to oscillate within the gap, thereby enabling the grip rod 40 to rotate relative to the base 10 around the second axis Z. The elastic element 45 also acts as a buffer, absorbing and mitigating the impact force generated during the swaying of the grip rod 40, reducing vibration and noise. Furthermore, the elastic element 45 acts as a seal, preventing external water, dust, and other impurities from entering the base 10.

[0060] Please see Figure 6 In some embodiments, the mounting bracket 30 is based on a mirror-symmetric structure with a mirror plane M, which is parallel to both the first axis X and the second axis Z.

[0061] Specifically, the mounting bracket 30 has a mirror-symmetric structure based on the mirror plane M, ensuring that when the mounting bracket 30 swings in the swing direction Y, under the same force, the swing amplitude of the swing end 31 is consistent regardless of whether it is along the first swing direction Y1 or the second swing direction Y2. This helps to reduce stress concentration and uneven deformation during the swing process, thereby improving the stability and reliability of the mounting bracket 30, and improving the detection accuracy of the detection component 50 in the first swing direction Y1 and the second swing direction Y2. In addition, the mirror-symmetric structure simplifies the design and manufacturing process, facilitating the production and assembly of the mounting bracket 30.

[0062] Please see Figure 6 and Figure 11 In some embodiments, the mounting bracket 30 further includes an extension 35 located between the swing end 31 and the fixed end 33. The swing of the swing end 31 relative to the fixed end 33 can cause the extension 35 to bend and deform. The detection component 50 includes two strain gauges 501, namely a first strain gauge 51 and a second strain gauge 52. The first strain gauge 51 and the second strain gauge 52 are respectively disposed on opposite sides of the extension 35. The strain gauges 501 are used to sense the bending deformation of the extension 35. The first strain gauge 51 is equivalent to a first strain resistance R1 in the region near the swing end 31, the second strain gauge 52 is equivalent to a second strain resistance R2 in the region near the swing end 31, the first strain gauge 51 is equivalent to a third strain resistance R3 in the region near the fixed end 33, and the second strain gauge 52 is equivalent to a fourth strain resistance R4 in the region near the fixed end 33. The first strain resistance R1, the second strain resistance R2, the third strain resistance R3 and the fourth strain resistance R4 constitute a full-bridge sensing circuit.

[0063] Specifically, the full-bridge induction circuit composed of the first strain gauge R1, the second strain gauge R2, the third strain gauge R3, and the fourth strain gauge R4 is connected as follows: the first end of the first strain gauge R1 is connected to the power supply; the first end of the second strain gauge R2 is connected to the second end of the first strain gauge R1, wherein the connection point between the first strain gauge R1 and the second strain gauge R2 serves as the first sensing end; the first end of the fourth strain gauge R4 is connected to the second end of the second strain gauge R2 and grounded; the first end of the third strain gauge R3 is connected to the second end of the fourth strain gauge R4, and the second end of the third strain gauge R3 is connected to the first end of the first strain gauge R1, wherein the connection point between the third strain gauge R3 and the fourth strain gauge R4 serves as the second sensing end.

[0064] The detection component 50 may further include a signal amplifier disposed between the controller 56 and the strain gauge 501. The first end of the signal amplifier is connected to the first sensing end and is used to receive the first voltage signal S1. The second end of the signal amplifier is connected to the second sensing end and is used to receive the second voltage signal S2. The third end of the signal amplifier is connected to the controller 56 and is used to output the third voltage signal S3. The resistance values ​​of the first strain resistor R1, the second strain resistor R2, the third strain resistor R3, and the fourth strain resistor R4 will change based on the change in deformation.

[0065] When no force is applied to the gripping rod 40, the resistances of the first strain gauge R1, the second strain gauge R2, the third strain gauge R3, and the fourth strain gauge R4 remain unchanged, and all four resistors have the same resistance value. Based on the Wheatstone bridge principle, when a force is applied to the gripping rod 40, the swing end 31 will cause the extension 35 to deform, which in turn causes the strain gauge 501 to be affected by deformation. At this time, at least some of the resistance values ​​of the first strain gauge R1, the second strain gauge R2, the third strain gauge R3, and the fourth strain gauge R4 change, causing the first voltage signal S1 to be unequal to the second voltage signal S2. The relationship between the first voltage signal S1, the second voltage signal S2, and the third voltage signal S3 is: S3 = K(S1 - S2), where K is a constant.

[0066] When a force is applied to the grip lever 40 to make it swing in the first swing direction Y1, S3 is greater than zero; when a force is applied to the grip lever 40 to make it swing in the second swing direction Y2, S3 is less than zero. Therefore, after receiving the third voltage signal S3, the controller 56 can determine the direction of propulsion that the operator wants to adjust, and then output a corresponding control signal to the steering actuator 900. For example, when the third voltage signal S3 received by the controller 56 is greater than zero, it can be determined that the water-based mobile equipment 10000 needs to turn in the first swing direction Y1; when the third voltage signal S3 received by the controller 56 is less than zero, it can be determined that the water-based mobile equipment 10000 needs to turn in the second swing direction Y2.

[0067] Please see Figure 6 and Figure 7 In some embodiments, the detection assembly 50 further includes a positive wire 53 and a negative wire 54, which are attached to the top surface 331 of the fixed end 33 and / or the sidewall of the extension 35 (i.e., at least one of the first sidewall 351, the second sidewall 353, the third sidewall 357, and the fourth sidewall 359), and the positive wire 53 and the negative wire 54 are electrically connected to the first strain gauge 51 and the second strain gauge 52.

[0068] Specifically, the positive wire 53 and the negative wire 54 are used to electrically connect to the first strain gauge 51 and the second strain gauge 52, respectively, to the first terminal and the second terminal of the signal amplifier. The positive wire 53 and the negative wire 54 are attached to the top surface 331 of the fixed end 33 or the top surface 331 of the extension 35, which can prevent the positive wire 53 and the negative wire 54 from being mechanically interfered with within the active area of ​​the swing end 31, reducing wear or damage to the circuit that may be caused by the sway of the swing end 31, thereby extending the service life of the circuit.

[0069] Please see Figure 6 In some embodiments, the detection assembly 50 further includes a protective member 55 covering the strain gauge 501, the protective member 55 covering the strain gauge 501 and used to fix the strain gauge 501 to the extension 35.

[0070] Specifically, the protective element 55 is used to protect and fix the strain gauge 501. The strain gauge 501 is located between the extension 35 and the protective element 55, and the protective element 55 can fix the strain gauge 501 to the extension 35. The protective element 55 can be made of soft and elastic materials, such as silicone, rubber, or polyvinyl chloride. Rubber includes, but is not limited to, natural rubber, nitrile rubber, fluororubber, polyurethane rubber, EPDM rubber, or silicone rubber. The protective element 55 can absorb and disperse forces, prevent the strain gauge 501 from being subjected to external impacts and wear, and protect the strain gauge 501. The protective element 55 can also act as a seal to prevent external water, dust, and other impurities from contacting the strain gauge 501. The protective element 55 can also be made of a material with a certain degree of hardness to prevent the strain gauge 501 from being subjected to external impacts and wear.

[0071] Please see Figure 7 In some embodiments, the detection component 50 further includes a controller 56, which is fixed to the base 10 and electrically connected to the strain gauge 501. The controller 56 is located between the fixed end 33 and the tail end 101.

[0072] Specifically, as described above, the strain gauge 501 generates an electrical signal, and the controller 56 uses this signal to issue a control command that controls the propulsion direction of the water propeller 1000. This control command controls the steering actuator 900 to drive the main body 300 to turn. The controller 56 is located between the fixed end 33 and the tail end 101, that is, along the first axial direction X, the controller 56 is located between the strain gauge 501 and the steering actuator 900, which takes into account the positions of both and results in a more rational layout. In some embodiments, the controller 56 may also be located within the main body of the vessel.

[0073] Please see Figure 7In some embodiments, the operating device 100 further includes a cover 20 that covers the base 10. The operating device 100 includes a sealed cavity 90 disposed between the cover 20 and the base 10, and the controller 56, strain gauge 501 and mounting bracket 30 are housed in the sealed cavity 90.

[0074] Specifically, the cover 20 is located on the top 13 of the base 10 and is used to form a sealed cavity 90 after being covered with the base 10. The sealed cavity 90 can protect the controller 56, strain gauge 501 and mounting bracket 30, and prevent the controller 56, strain gauge 501 and mounting bracket 30 from being corroded by external mechanical impact, water vapor, dust and chemical substances, thereby improving the service life of the operating device 100.

[0075] Please see Figure 3 In some embodiments, the top 13 of the cover 20 is provided with a display screen 21, which is electrically connected to the controller 56. The detection component 50 is used to convert the sensed bending deformation into an electrical signal and send it to the controller 56. The controller 56 converts the electrical signal into a display signal, which includes at least one of the yaw angle or yaw direction electrical signals. The display screen 21 is used to display the display signal.

[0076] Specifically, through the display screen 21, the user can obtain the current status of the water propulsion device 1000, which includes at least the yaw angle or yaw direction, which is beneficial for the user to control the water mobile device 10000.

[0077] Please see Figure 3 and Figure 7 In some embodiments, the grip lever 40 includes a grip sleeve 47 and an operating member 41, the operating member 41 cooperating with the base member 10, and the grip sleeve 47 being fitted onto the second end 403 of the operating member 41 away from the base member 10.

[0078] Specifically, the second end 403 of the operating component 41 is for the user to hold, and the grip sleeve 47 is fitted onto the operating component 41 to reduce collision and wear between the hand and the operating component 41, thereby increasing the lifespan of the operating component 41. The grip sleeve 47 can be made of a material that is comfortable for the hand, improving the user's grip experience and preventing hand injuries caused by prolonged holding.

[0079] Please see Figure 3 and Figure 7 In some embodiments, the end of the grip sleeve 47 away from the base member 10 is provided with a button control part 471, and the detection component 50 also includes a button device 58. The button control part 471 is opposite to the button device 58, and the button control part 471 is used to control the button device 58 to issue control commands by pressing.

[0080] Specifically, the button control unit 471 is used by the user to press to control the button device 58 to issue control commands. Since the button device 58 is located inside the grip sleeve 47 and cannot be directly seen by the user, the button control unit 471 can be marked to correspond to different button functions, making it easy for the user to identify and operate. For example, the button control unit 471 of this application corresponds to the button on the button device 58 related to the tilt function. The user can trigger the tilt function, deactivate the tilt function, tilt upwards, or tilt downwards by pressing the corresponding marked area on the button control unit 471.

[0081] Please see Figure 3 and Figure 7 In some embodiments, the end of the grip sleeve 47 away from the base member 10 includes an end face 472 and a top face 474, with an inclined surface 473 between the end face 472 and the top face 474, and the button control part 471 is disposed on the inclined surface 473.

[0082] Specifically, the inclined surface 473 faces the direction in which the user sits inside the water carrier 3000, and the button control part 471 is set on the inclined surface 473 in an ergonomic manner, so that the user can naturally apply pressure when holding it, reducing hand fatigue during operation, and also making it easier for the user to observe the markings on the button control part 471.

[0083] Please see Figure 3 and Figure 7 In some embodiments, the inclined surface 473 is provided on the flexible deformable part 477 of the grip sleeve 47. When the button control part 471 is pressed, the flexible deformable part 477 deforms and triggers the button device 58 to issue a control command.

[0084] Specifically, the inclined surface 473 is provided in the flexible deformable part 477 of the grip sleeve 47. The flexible deformable part 477 is more likely to deform when subjected to force, thereby making it easier to trigger the internal button device 58, improving the sensitivity of the button device 58 and reducing the resistance of the user pressing.

[0085] Please see Figure 3 and Figure 7 In some embodiments, the grip sleeve 47 is retractable relative to the operating member 41.

[0086] Specifically, the grip sleeve 47 is retractable relative to the operating member 41 in the first axis X, which can accommodate different user hand sizes, ensuring that everyone can find a suitable grip position and improving operational comfort and stability. Furthermore, the water-based mobile equipment 10000 experiences frequent shaking during operation; the retractable design provides cushioning for the user's hands, reducing hand and wrist fatigue. Rubber, springs, or other devices can be used between the grip sleeve 47 and the operating member 41 to achieve retractable movement; this is not limited here.

[0087] Please see Figure 7 In some embodiments, the operating member 41 has an inner cavity 411 that passes through the first end 401 and the second end 403, and the grip sleeve 47 has a grip cavity 475 that communicates with the inner cavity 411. The end of the grip sleeve 47 near the base member 10 is open to allow the operating member 41 to be inserted, and the end of the grip sleeve 47 away from the base member 10 is closed. The grip sleeve 47 and the operating member 41 are sealed together. The detection assembly 50 also includes a button circuit board 57, and a button device 58 is electrically connected to the button circuit board 57. The button device 58 and the button circuit board 57 are fixed in the grip cavity 475.

[0088] Specifically, the end of the grip sleeve 47 away from the base component 10 is closed and sealed to the operating component 41. The sealing fit can be an interference fit or a sealant or other sealant used to seal the gap between the operating component 41 and the grip sleeve 47. The sealing fit can prevent external moisture, dust and other impurities from entering the grip cavity 475, and extend the service life of the button components 58 and button circuit board 57 inside the grip cavity 475.

[0089] After the button device 58 is electrically connected to the button circuit board 57, the user pressing the button control unit 471 will trigger the button device 58, which in turn triggers the preset control command through the circuit on the button circuit board 57.

[0090] Please see Figure 7 In some embodiments, the button circuit board 57 is electrically connected to the cable 59, which passes through the cavity 411 to the base 10 for electrical connection to the controller 56.

[0091] Specifically, the inner cavity 411 provides a routing channel for the cable 59. On the one hand, it hides the cable 59, provides physical protection for the cable 59, and avoids mechanical damage, wear or chemical corrosion of the cable 59 in the external environment, thus extending the service life of the cable 59. On the other hand, it allows the cable 59 to be routed more regularly, optimizing the internal spatial layout of the operating device 100.

[0092] Please see Figure 4 In some embodiments, the mounting bracket 30 is provided with an extension 35, the line connecting one end of the extension 35 to the swing end 31 and the other end to the fixed end 33 is parallel to the first axial direction X.

[0093] Specifically, the line connecting one end of the extension 35 to the swing end 31 and the other end to the fixed end 33 is parallel to the first axial direction X. When the swing end 31 swings in the swing direction Y, under the same force, the swing amplitude of the extension 35 is consistent regardless of whether it is along the first swing direction Y1 or the second swing direction Y2. This helps to reduce stress concentration and uneven deformation during the swing process, thereby improving the stability and reliability of the extension 35 and improving the detection accuracy of the detection component 50 in the first swing direction Y1 and the second swing direction Y2.

[0094] Please see Figure 9 or Figure 10 In some embodiments, the extension 35 of the mounting bracket 30 includes a first extension arm 3501 and a second extension arm 3502, which are spaced apart.

[0095] Specifically, the first extension arm 3501 and the second extension arm 3502 are positioned at intervals, with the first extension arm 3501 and the second extension arm 3502 located on opposite sides of the mounting bracket 30 along the second axis Z. This symmetrical arrangement allows the mounting bracket 30 to maintain structural balance and stability when the swing end 31 sways around the second axis Z. The symmetrical extension arms can evenly distribute and transmit force, thereby improving the stability of the operating device 100. When the swing end 31 sways around the second axis Z, the first extension arm 3501 and the second extension arm 3502 will respectively undergo bending deformation, which can be more accurately detected by the strain gauge 501. This symmetrical deformation detection layout helps improve detection accuracy, ensuring that the controller 56 can receive more accurate signals, thereby achieving precise control of the propulsion direction of the water thruster 1000.

[0096] The extension arms are distributed on both sides of the mounting bracket 30, which can enhance the overall structural strength of the mounting bracket 30. When the swing end 31 is subjected to external force, the two extension arms can jointly bear and disperse the force, reduce local stress concentration, and improve the durability and service life of the mounting bracket 30.

[0097] Please see Figure 9 In some embodiments, the operating device 100 includes a fixed end 33, and the first extension arm 3501 and the second extension arm 3502 are both connected to the fixed end 33.

[0098] Specifically, along the first axial direction X, the ends of the first extension arm 3501 and the second extension arm 3502 that approach the fixed end 33 are both connected to one of the top surface 33, bottom surface 333, and side surface 335 of the fixed end 33. For example, the connection positions of the first extension arm 3501 and the second extension arm 3502 with the fixed end 33 are the same, and the connection positions are symmetrical with respect to the mirror plane M. The first extension arm 3501 and the second extension arm 3502 are connected to the fixed end 33 in the same way, both being integrally formed with the fixed end 33, thereby improving the connection strength between the first extension arm 3501 and the second extension arm 3502 and the fixed end 33. Furthermore, the first extension arm 3501 and the second extension arm 3502, the fixed end 33, and the swing end 33 are integrally formed. Connecting the first extension arm 3501 and the second extension arm 3502 to a single fixed end 33 reduces the number of components in the operating device 100, making the layout of the operating device 100 more compact and reducing assembly complexity.

[0099] Please see Figure 10 In some embodiments, the mounting bracket 30 has a fixed end 33 including a first fixed end 3301 and a second fixed end 3302 spaced apart, a first extension arm 3501 connected to the first fixed end 3301, and a second extension arm 3502 connected to the second fixed end 3302.

[0100] Specifically, along the first axial direction X, the end of the first extension arm 3501 that approaches the first fixed end 3301 is connected to one of the top surface 33, bottom surface 333, and side surface 335 of the first fixed end 3301. Similarly, the end of the second extension arm 3502 that approaches the second fixed end 3302 is connected to one of the top surface 33, bottom surface 333, and side surface 335 of the second fixed end 3302. Exemplarily, the connection position between the first extension arm 3501 and the first fixed end 3301 is the same as the connection position between the second extension arm 3502 and the second fixed end 3302, and the connection position is symmetrical with respect to the mirror plane M. The connection method between the first extension arm 3501 and the first fixed end 3301 is the same as the connection method between the second extension arm 3502 and the second fixed end 3302, both being integrally formed, thereby improving the connection strength between the first extension arm 3501 and the second extension arm 3502 and the fixed end 33. The first extension arm 3501 and the second extension arm 3502, the first fixed end 3301, the second fixed end 3302, and the swing end 33 are integrally formed. The two spaced-apart first fixed ends 3301 and second fixed ends 3302 can enhance the structural strength of the mounting bracket 30 and improve its stability. The two fixed ends 33 can distribute stress more evenly, reduce local stress concentration, and extend the service life of the mounting bracket 30.

[0101] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. At the same time, other implementation methods can be derived from the above embodiments, so that structural and logical substitutions and changes can be made without departing from the scope of this disclosure.

[0102] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that users of ordinary skill in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An operating device for a watercraft propeller, said operating device being capable of adjusting the direction of propulsion of said watercraft propeller, characterized in that, The operating device includes: The base component includes a tail end and a front end away from the tail end, the tail end being used to connect to the main body of the water propulsion device; The mounting bracket includes a swing end and a fixed end opposite to the swing end, the swing end being close to the front end, and the fixed end being fixed between the tail end and the front end of the base component. A grip bar includes a first end and a second end opposite to the first end. The first end is rotatably engaged with the swing end about a first axis. The second end extends away from the tail end relative to the front end. The portion between the first end and the second end is rotatably engaged with the base component about a second axis. The swing end is swayable relative to the fixed end about the second axis, and the second axis is perpendicular to the first axis. A detection component is installed on the mounting bracket. The detection component generates an electrical signal based on the deformation of the mounting bracket between the swing end and the fixed end, and is electrically connected to a controller located on the base or the main body of the machine via an electrical connector. The detection component is used to output the electrical signal to the controller, and the controller issues a control command based on the electrical signal to control the propulsion direction of the water propulsion device.

2. The operating device according to claim 1, characterized in that The mounting bracket further includes an extension located between the swing end and the fixed end. The swing of the swing end relative to the fixed end can cause the extension to bend. The detection component includes two strain gauges, which are respectively disposed on opposite sides of the extension. The strain gauges are used to sense the bending deformation of the extension.

3. The operating device according to claim 2, characterized in that, In the swing direction in which the swinging end deflects relative to the fixed end about the second axial direction, the dimension of the extension is smaller than the dimension of the swinging end and / or the dimension of the fixed end; and / or, The extension includes opposing first and second sidewalls, and the two strain gauges include a first strain gauge and a second strain gauge, with the first strain gauge disposed on the first sidewall and the second strain gauge disposed on the second sidewall; the gripping rod swings between two opposing sides of the base member, with the first and second sidewalls respectively opposite to the two opposing sides; And / or, The extension has a hollowed-out area, and the opening direction of the hollowed-out area is parallel to the second axis.

4. The operating device according to claim 1, characterized in that The operating device includes four locking components arranged in an array. The fixed end has four positioning holes arranged in an array. The locking components are positioned and engaged with the positioning holes to connect the fixed end and the base component.

5. The operating device according to claim 4, characterized in that, The operating device also includes a pin, the fixed end is provided with a through hole, the central axis of the through hole is perpendicular to the plane where the swing range of the swing end is located, and the pin is interference-fitted with the through hole to connect the fixed end and the base component; And / or, The operating device further includes at least one clamping member, which is located between the fixed end and the top of the base member, and / or between the fixed end and the bottom of the base member. One end of the clamping member is connected to the base member, and the other end of the clamping member is spaced apart from the fixed end.

6. The operating device according to claim 2, characterized in that, The swing end includes: A first mounting portion, wherein the first end is supported within the first mounting portion; and The second mounting part is connected to the first mounting part, and the first mounting part and the second mounting part together form a receiving cavity, which is used to receive the first end.

7. The operating device according to claim 6, characterized in that, The accommodating cavity includes a fixed wall opposite to the first axis. The operating device further includes a rotation sensor, which is fixed to the fixed wall and is used to sense the amount of rotation of the first end around the first axis. The mounting bracket is disposed inside the base component, and the first end extends into the base component to connect with the mounting bracket.

8. The operating device according to claim 6, characterized in that, The base component includes a bottom, a top spaced apart from the bottom, and a side portion connecting the bottom and the top; a first end passes through the side portion into the base component, and there is a gap between the side portion and the grip rod, allowing the grip rod to deflect within the gap; the grip rod includes: An operating element includes a first end and a second end opposite to each other, the first end extending into the receiving cavity; A bearing sleeved on the first end, the first end being rotatably mounted within the receiving cavity via the bearing; and An elastic element is fitted onto the operating element and accommodated in the gap.

9. The operating device according to claim 1, characterized in that, The mounting bracket further includes an extension located between the swing end and the fixed end. The swing of the swing end relative to the fixed end can cause bending deformation of the extension. The detection component includes two strain gauges, namely a first strain gauge and a second strain gauge, which are respectively disposed on opposite sides of the extension. The strain gauges are used to sense the bending deformation of the extension. The first strain gauge is equivalent to a first strain resistance in the region near the swing end, the second strain gauge is equivalent to a second strain resistance in the region near the swing end, the first strain gauge is equivalent to a third strain resistance in the region near the fixed end, and the second strain gauge is equivalent to a fourth strain resistance in the region near the fixed end. The first strain resistance, the second strain resistance, the third strain resistance, and the fourth strain resistance constitute a full-bridge sensing circuit. The detection component also includes a positive wire and a negative wire, which are attached to the top surface of the fixed end and / or the third sidewall of the extension. The controller is fixed to the base component and electrically connected to the strain gauges. The controller is located between the fixed end and the tail end.

10. The operating device according to claim 2, characterized in that, The operating device further includes a cover that covers the base component. The operating device includes a sealed cavity disposed between the cover and the base component. The controller, the strain gauge, and the mounting bracket are housed within the sealed cavity. A display screen is provided on the top of the cover and is electrically connected to the controller. The detection component is used to convert the sensed bending deformation into an electrical signal and send it to the controller. The controller converts the electrical signal into a display signal. The display signal includes at least one of a yaw angle or a yaw direction electrical signal. The display screen is used to display the display signal.

11. The operating device according to claim 10, characterized in that, The grip lever includes a grip sleeve and an operating component. The operating component cooperates with the base component. The grip sleeve is fitted onto the second end of the operating component away from the base component. A button control part is provided at the end of the grip sleeve away from the base component. The detection component also includes a button device. The button control part is opposite to the button device. The button control part is used to control the button device to issue control commands by pressing.

12. The operating device according to claim 11, characterized in that, The operating component has an inner cavity that passes through the first end and the second end. The grip sleeve has a grip cavity that communicates with the inner cavity. The end of the grip sleeve near the base component has an opening to allow the operating component to be inserted. The end of the grip sleeve away from the base component is closed. The grip sleeve and the operating component are sealed together. The detection component also includes a button circuit board. The button device is electrically connected to the button circuit board. The button device and the button circuit board are fixed in the grip cavity. The button circuit board is electrically connected to a cable. The cable passes through the inner cavity to the base component to be electrically connected to the controller.

13. The operating device according to any one of claims 1-12, characterized in that, The mounting bracket is provided with an extension, and the line connecting one end of the extension to the swing end and the other end to the fixed end is parallel to the first axial direction.

14. The operating device according to any one of claims 1-12, characterized in that, The extension of the mounting bracket includes a first extension arm and a second extension arm, which are located on opposite sides of the mounting bracket in the second axial direction.

15. The operating device according to claim 14, characterized in that, The mounting bracket includes a fixed end, and both the first extension arm and the second extension arm are connected to the fixed end; or... The mounting bracket has a first fixed end and a second fixed end spaced apart from each other. The first extension arm is connected to the first fixed end, and the second extension arm is connected to the second fixed end.

16. A water propulsion device, said water propulsion device being used to propel a water carrier to move in water, characterized in that, include: Main body of the fuselage; A connecting device for connecting the main body of the machine to the water carrier; The operating device according to any one of claims 1-15 is connected to the main body of the machine. A propulsion device, connected to the main fuselage, is used to output propulsion force; A steering shaft is provided on one of the connecting device and the fuselage body; and A steering actuator is disposed on the other of the connecting device and the fuselage body. The steering actuator is connected to the steering shaft. The steering actuator is used to drive the fuselage body to turn relative to the connecting device in response to the control command. The control command is used to control the steering actuator to drive the fuselage body to turn around the axis of the steering shaft according to the swing amount of the grip lever.

17. A water-based mobile device, characterized in that, include: Waterborne carriers; and The water propulsion device of claim 16, wherein the connecting device is connected to the water carrier.

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