Control apparatus, propeller system, and waterborne mobile device

Abstract

A control apparatus, a propeller system, and a waterborne mobile device. The control apparatus (100) comprises a base (10) and a control lever (20). The control lever (20) can be quickly and detachably connected to the base (10). When 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 for controlling the operation of a propeller (200) on a ship. The control apparatus allows the control lever to be quickly detached from the base when the control lever is not needed for operation, thereby avoiding safety risks caused by accidental operation.

Description

Control device, propeller system and water area movable device TECHNICAL FIELD

[0001] The present application relates to the field of electromechanical devices, and in particular to a control device, a propeller system and a water area movable device. BACKGROUND

[0002] Currently, many ships are equipped with throttle control devices on the side of the hull, which are referred to as side throttle control devices. The side throttle control device is usually provided with a rotatable control lever to control the power and direction of the ship propeller, and is most commonly used on sailboats. Sailboats often need to use ropes to drive sails, which can easily cause the ropes to get caught on the control lever of the side throttle control device, causing accidental rotation of the control lever and safety accidents. That is, the current side throttle control device has a safety risk problem caused by accidental misoperation.

[0003] SUMMARY

[0004] Embodiments of the present application provide a control device, a propeller system and a water area movable device, which can avoid the safety problem of misoperation caused by interference from external objects.

[0005] Embodiments of the present application provide a control device for installation on the side of a ship, wherein the control device comprises a base and a control lever, the control lever is quickly detachably connected to the base, and the control lever is rotatable relative to the base in a state of being connected to the base. The rotation of the control lever relative to the base can be used to control the operation of the propeller on the ship.

[0006] Embodiments of the present application provide a propeller system, wherein the propeller system comprises the above-mentioned control device, and the propeller system further comprises a ship propeller, the ship propeller is used to be connected to a ship body, and the control device can control the operation of the ship propeller.

[0007] Embodiments of the present application provide a water area movable device, wherein the water area movable device comprises the above-mentioned propeller system, and the water area movable device further comprises a ship body, the base of the control device is fixed on the side of the ship body, and the ship propeller is connected to the ship body.

[0008] The control device, the propeller system and the water area movable device of the embodiments of the present application use the control lever which is quickly detachably connected to the base, and then quickly detach the control lever from the base when the control lever is not needed for operation. External objects cannot accidentally collide with the control lever to cause abnormal operation of the control lever, thereby avoiding the safety problem of misoperation. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the accompanying drawings needed to be used in the embodiments of the present application or the background art will be described in brief.

[0010] Fig. 1 is a schematic view of a control device according to an embodiment of the present application installed on a boat;

[0011] Fig. 2 is a schematic view of a control device according to an embodiment of the present application;

[0012] Fig. 3 is a schematic view of a control device according to an embodiment of the present application;

[0013] Fig. 4 is a schematic view of a control device according to an embodiment of the present application in a disassembled state;

[0014] Fig. 5 is a schematic view of a control device according to another embodiment of the present application;

[0015] Fig. 6 is a schematic view of a control device according to another embodiment of the present application;

[0016] Fig. 7 is a schematic view of a control device according to another embodiment of the present application;

[0017] Fig. 8 is a schematic view of a control device according to an embodiment of the present application in a cross section and in an enlarged view of a part;

[0018] Fig. 9 is a schematic view of a control device according to an embodiment of the present application in an exploded view;

[0019] Fig. 10 is a schematic view of a control device according to another embodiment of the present application in a cross section and in an unlocked state;

[0020] Fig. 11 is a schematic view of a control device according to another embodiment of the present application in a cross section and in an unlocked state;

[0021] Fig. 12 is a schematic view of a control device according to another embodiment of the present application in a cross section and in an unlocked state;

[0022] Fig. 13 is a schematic view of a control device according to another embodiment of the present application in a cross section and in an unlocked state;

[0023] Fig. 14 is a schematic view of a control device according to another embodiment of the present application in a cross section;

[0024] Fig. 15 is a schematic view of a control device according to another embodiment of the present application in a cross section;

[0025] Fig. 16 is a schematic view of a control device according to another embodiment of the present application in a cross section and in a disassembled state;

[0026] Fig. 17 is a schematic view of a control device according to another embodiment of the present application in a cross section;

[0027] Fig. 18 is a schematic view of a propulsion system according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the application belong; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of embodiments of the application; the description herein and the claims of which are intended to cover all alternatives, modifications, and equivalents of the embodiments of the application falling within the scope of the claims. The description herein and the claims of which use the term "comprising" and "including" and their derivatives mean "including, but not limited to". The description herein and the claims of which use the term "first", "second", and the like, refer to different objects and do not necessarily indicate that the objects are in a particular order.

[0029] 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 application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is expressly understood that the embodiments described herein are combinable.

[0030] In order to better understand the technical solutions of the embodiments of the application, the technical solutions of the embodiments of the application will be clearly and completely described below in combination with the drawings of the embodiments of the application.

[0031] Please refer to FIG. 1 and FIG. 2, the application provides a control device 100, which is used to be installed on the side of a ship 02, the control device 100 comprises a base 10 and a control lever 20, the control lever 20 is detachably connected to the base 10, the control lever 20 can rotate relative to the base 10 in the state of being connected 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 propeller on the ship.

[0032] It can be understood that the control device 100 of the application can be installed on the side of a ship 02, for example, it can be installed on the left side of the ship 01, or it can be installed on the right side of the ship 01, the left side of the ship 01 or the right side of the ship 01 is mainly the side of the ship body facing the driving position of the ship, so that the left hand or the right hand of the driver on the ship can be used to control the control device 100 very conveniently. The control device 100 of the application can control the operation of a propeller 200, which is intended to push the ship 01 to move by outputting propelling power, and the installation position of the propeller 200 is not limited. The ship 01 can be a sailboat, a yacht, a passenger ship, a bamboo raft, a kayak, and any water vehicle.

[0033] The operating device 100 of the present application, the operating lever 20 is quickly detachably connected to the base 10, and then when the operating lever 20 is not needed to be used for operation, the operating lever 20 is quickly detached from the base 10, and the external object cannot be mistakenly collided with the operating lever 20 to cause the operating lever 20 to abnormally operate, and the safety problem of mistaken operation is avoided.

[0034] Please refer to Fig. 1, the base 10 is installed on the ship side 02. The base 10 can be fixed on the surface of the ship side 02, or can be embedded in the ship side 02, only the operating lever 20 is exposed on the surface of the ship side 02. When the driver operates the operating lever 20, the operating lever 20 rotates relative to the base 10 along the surface of the ship side 02. For example, the base 10 is installed on the right side of the ship, the driver holds the operating lever 20 with the right hand and pushes the operating lever 20 forward, so that the operating lever 20 rotates forward along the surface of the ship side 02, and then such operation response to the propeller 200 can control the propeller 200 to output the power to move the ship body forward.

[0035] Of course, it can be understood that the position of the operating lever 20 on the base 10 can not be limited. The operating lever 20 can be connected to the inner surface of the base 10 away from the ship side 02, or can be connected to the inner surface of the base 10 close to the ship side 02.

[0036] The operating lever 20 is quickly detachably connected to the base 10, which means that the operating lever 20 can be quickly detached from the base 10 without using any tools. For further explanation, the disassembly with tools can be, for example, the disassembly of loosening the screw with a screwdriver, or the disassembly of loosening the nut with a hexagonal wrench, or the disassembly of loosening the structure in the fastening state with tools such as clamps, pliers, latches, keys and the like. Similarly, the disassembly with manually loosened screws should also be understood as disassembly with tools. The operating lever 20 of the present application can be quickly detached from the base 10, which aims to only need to use one or two simple operation actions to realize the disassembly of the operating lever 20 from the base 10. It can be understood that the state of the operating lever 20 connected to the base 10 means that without performing the disassembly action, the operating lever 20 remains in a mechanical cooperation relationship with the base 10 with certain structural strength support.

[0037] The rotation of the control lever 20 relative to the base 10 forms a torque on the base 10, which can be transmitted to the propeller 200 by mechanical transmission or converted into an electrical signal by electronic induction and transmitted to the propeller 200, so that the propeller 200 can respond to the torque to operate, for example, the torque direction of the control lever 20 can be used to control the direction of the propelling power output by the propeller 200, and the torque of the control lever 20 can be used to control the size of the propelling power output by the propeller 200. It can be understood that the mechanical transmission of the control lever 20 to the propeller 200 can use a conductive wire connected between the base 10 and the propeller 200, which can be used to control the size of the throttle valve on the propeller 200, or the size of the electronic throttle on the propeller 200. The electronic induction of the control lever 20 to the propeller 200 can use a sensor arranged on the base 10, which can sense the torque of the control lever 20 and convert the torque of the control lever 20 into a control signal, which can be used to control the operation of the propeller 200. The base 10 and the propeller 200 are connected by a communication line, and the control signal of the sensor is transmitted to the propeller 200 through the communication line, which can indicate the speed and direction of the motor on the propeller 200 to control the size and direction of the propelling power of the propeller 200.

[0038] Please refer to FIG. 2, FIG. 3 and FIG. 4, the base 10 is provided with a sensor 30, which can be used to sense the torque of the control lever 20. The base 10 is provided with at least two interfaces, a power line interface 101 and a signal line interface 102. The power line interface 101 is used to access a low-voltage direct current into the base 10 to maintain the operation of the sensor 30. The signal line interface 102 is used to access a communication line into the base 10, so that the sensor 30 in the base 10 can communicate with the propeller 200. The base 10 can be provided with a control circuit board 11, and the sensor 30 can be arranged on the control circuit board 11. The control circuit board 11 can process the sensing signal of the sensor 30 to ensure that the propeller 200 can effectively identify the sensing signal of the sensor 30. The low-voltage direct current accessed by the power line interface 101 is supplied to the control circuit board 11 to ensure that the control circuit board 11 is in standby state. The communication line accessed by the signal line interface 102 is connected to the control circuit board 11 to ensure that the control circuit board 11 communicates with the propeller 200.

[0039] In some embodiments, the control device 100 comprises a rotating member 40 rotatable relative to the sensor 30, the control lever 20 is configured to drive the rotating member 40 to rotate, and the sensor 30 is configured to sense the rotation 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 through a transmission assembly. By arranging the rotating member 40 between the control lever 20 and the sensor 30, the sensing position of the rotating member 40 can be arranged as needed to match the sensing mode of the sensor 30. For example, a gear set is arranged between the rotating member 40 and the control lever 20 to configure a suitable rotation speed ratio of the rotating member 40 and the control lever 20, thereby adapting the accuracy of the sensor 30 sensing the rotation of the rotating member 40. For another example, the rotation radius of the sensing position of the rotating member 40 is arranged to configure the torque of the sensing position of the rotating member 40, thereby adapting the accuracy of the sensor 30 sensing the rotation of the rotating member 40. The rotating member 40 can be arranged on the base 10 or arranged on the control lever 20. When 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 the rotating member 40 being frequently detached from the base 10, and thereby ensuring the rotation matching 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 is also 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.

[0040] In some embodiments, the rotating member 40 is rotatably arranged on the base 10. The rotation axis of the rotating member 40 can be coaxially arranged with the rotation axis of the control lever 20, can be arranged substantially perpendicularly, or can be arranged in parallel with the rotation axis of the control lever 20. In the connected state of the control lever 20 and the base 10, the rotation of the control lever 20 drives the rotating member 40 to rotate on the base 10, thereby enabling the rotating member 40 to rotate relative to the sensor 30 to realize the sensor 30 sensing the rotation of the rotating member 40.

[0041] In other embodiments, as shown in FIG. 5, 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. In the connected state of the control lever 20 and the base 10, the control lever 20 rotates relative to the base 10, thereby driving the rotating member 40 to rotate relative to the base 10.

[0042] It can be understood that the rotation of the rotating member 40 relative to the sensor 30 is not limited to the above manner, and any manner that aims to transmit the rotation torque of the control lever 20 to the rotating member 40 and 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.

[0043] In some embodiments, as shown in FIGS. 3 and 4, the rotating member 40 is provided with a magnet 401, and the sensor 30 is a Hall sensor, which senses the rotation of the rotating member 40 according to the change of the magnetic field of the magnet 401. The rotating member 40 is driven to rotate by the control lever 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, and the sensor 30 can sense the change of the magnetic field and convert the change of the magnetic field 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 opposite to the sensor 30, and there is a gap between the magnet 401 and the sensor 30, which can be set according to the requirement to adapt to different sensing accuracy requirements of the sensor 30.

[0044] In some other embodiments, as shown in FIG. 6, the rotating member 40 is provided with an infrared light reflecting member 402, 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 change of the light reflection of the infrared light reflecting member 402. For example, the rotating member 40 is provided with a rotating disc 409, and the infrared light reflecting member 402 is arranged in the circumferential direction of the rotating disc 409. The sensor 30 is opposite to the rotating range of 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, so that the infrared light sensing member 302 senses the infrared light at intervals. According to the number of times of sensing the infrared light and the interval time, the rotation amount of the rotating disc can be converted, and thus the rotation amount of the rotating member 40, i.e. the rotation amount of the control lever 20, can be obtained.

[0045] In another embodiment, referring to Fig. 7, the rotating member 40 is provided with a strain gauge 403, and the sensor 30 is a pressure sensor. 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 fixed to the sensor 30, and the other end is fixed to the rotating member 40. In order to adapt to the large rotation range of the rotating member 40, the strain gauge 403 can be a spiral curve bending sheet, 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, i.e. obtaining the rotation amount of the control lever 20.

[0046] In the embodiment of the present application, the sensing of the rotation of the rotating member 40 by the sensor 30 is not limited to the above-mentioned manner. Any manner that aims to convert the torque information of the rotating member 40 into electronic information can be considered as the sensing of the rotation of the rotating member 40 by the sensor 30 of the present application.

[0047] It can be understood that the rotation of the control lever 20 relative to the base 10 of the present application is not limited to obtaining the rotation amount of the control lever 20 by 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 transmission, the base 10 can be connected with a movable cable on the thruster 200. One end of the cable is fixed to the rotating arm of the control lever 20, and the rotation of the control lever 20 drives the cable to move. The other end of the cable is fixed to the moving member of the thruster 200, and the cable pulls the moving member to move. The movement of the moving member can control the thruster 200, such as the opening and closing amount of the throttle, so as to control the fuel amount of the engine of the thruster 200, thereby adjusting the propulsion power of the thruster 200.

[0048] Please continue to refer to FIG. 2, FIG. 3 and FIG. 4, in the embodiment of the present application, the base 10 is provided with a first side 103 for connecting the ship side 02 and a second side 104 opposite to the first side 103, and the operating rod 20 is detachably connected to the second side 104. The first side 103 can be understood as the bottom of the base 10, and the second side 104 can be understood as the top of the base 10. For example, the first side 103 is fixed on the side of the ship side 02, and the base 10 protrudes from the side of the ship side 02. The operating rod 20 is detachably connected to the second side 104, that is, the operating rod 20 is at a certain distance from the side of the ship side 02, so as to prevent the hand of the driver from being pinched in the process of rotating the operating rod 20 due to the operating rod 20 being too close to the side of the ship side 02, and prevent external objects from being pinched between the operating rod 20 and the side of the ship side 02 to interfere with the rotation of the operating rod 20.

[0049] In the embodiment of the present application, the operating rod 20 has a rotation axis 201, and the operating rod 20 can rotate around the rotation axis 201 after being connected to the base 10. The rotation axis 201 is substantially perpendicular to the side of the ship side 02 and the first side 103. The operating rod 20 has a first end 21 for connecting 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 operating force of the driver, so as to drive the operating rod 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 of the base 10 by a certain height, so as to increase the rotation arm of the operating rod 20 and increase the distance from the second end 22 to the circumferential side of the base 10, prevent the base 10 from interfering with the second end 22 receiving the operating force of the driver, and improve the convenience of the driver operating the operating rod 20. More specifically, the direction opposite to the first end 21 of the second end 22 is substantially perpendicular to the rotation axis 201, that is, the direction opposite to the first end 21 of the second end 22 is substantially parallel to the side of the ship side 02. By arranging the rotation axis of the operating rod to be substantially perpendicular to the side of the ship side 02 and the first side 103, the included angle between the operating rod 20 and the side of the ship side 02 is maintained unchanged, so as to facilitate the operation of the operating rod 20.

[0050] In some embodiments, the control lever 20 is provided with a first link 23 and a second link 24 between the first end 21 and the second end 22, the first link 23 and the second link 24 are separated at the first end 21 and are close to each other at the second end 22, so that the first link 23 and the second link 24 substantially form a triangular structure. The control lever 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 circumferential surface of the rotating plate 25 is substantially 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 rotating axis 201 of the control lever 20. The control lever 20 forms a hollow area between the first link 23 and the second link 24, so as to reduce the weight of the control lever 20. Since the rotating plate 25 can be provided with a larger contact surface with the base 10, the strength of the connection structure of the rotating plate 25 and the base 10 can be increased, so that the control lever 20 is not easy to shake after being connected with the base 10.

[0051] In the embodiments of the present application, the end of the control lever 20 away from the base 10 is provided with a transverse handle 26, the protruding direction of the transverse handle 26 is substantially parallel to the rotating axis 201. The second end 22 constitutes the end of the control lever 20 away from the base 10, and the transverse handle 26 is arranged at the second end 22.

[0052] In some embodiments, the transverse handle 26 connects the end of the first link 23 and the end of the second link 24, the protruding direction of the transverse handle 26 is substantially perpendicular to the length direction of the first link 23 and substantially perpendicular to the length direction of the second link 24. One end of the transverse handle 26 is connected with the first link 23 and the second link 24, and the other end protrudes in a direction away from the ship side 02, so as to facilitate the driver to hold the transverse handle 26, and the length direction of the transverse handle 26 is substantially parallel to the rotating axis 201 of the control lever 20, so that the transverse handle 26 is easy to receive the operating force of the driver to drive the control lever 20 to rotate around the rotating axis 201. The transverse handle 26, the first link 23, the second link 24 and the rotating plate 25 can be an integral structure, so as to increase the structural strength of the control lever 20.

[0053] In some embodiments, the handle 20 can be detached from the base 10 substantially along a direction parallel to the rotation axis 201. In order not to damage the rotation cooperation between the handle 20 and the base 10, the handle 20 is detached from the base 10 along a direction parallel to the rotation axis 201 to avoid accidental detachment from the base 10 during the rotation of the handle 20 relative to the base 10, thereby reducing the risk of failure of the handle 20. That is, by the handle 20 being detachable from the base 10 substantially along a direction parallel to the rotation axis 201, there is no need to worry that the rotation force received by the handle 20 is converted into a detachment force along the rotation axis 201.

[0054] In some embodiments, 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 103, the cover plate 13 is located at the second side 104, a receiving cavity 14 is formed between the bottom plate 12 and the cover plate 13, the handle assembly 15 is received in the receiving cavity 14, the handle assembly 15 is used to obtain the rotation of the handle 20 and control the operation of the propeller 200 on the ship. The cover plate 13 is substantially in the shape of a bowl. The cover plate 13 has an open end, and the bottom plate 12 covers the open end. The bottom plate 12 and the cover plate 13 are tightly cooperated to realize that the receiving cavity 14 forms a sealed cavity, so that the receiving cavity 14 meets the waterproof requirement. The sensor 30 is arranged in the receiving cavity 14, the handle assembly 15 is provided with a circuit board, and the sensor 30 is arranged on the circuit board, so as to facilitate the sensor 30 to send an electrical signal to the propeller 200 to control the operation of the propeller 200. By using the waterproof performance of the receiving cavity 14, the electrical safety of the sensor 30 and the handle assembly 15 is effectively guaranteed, and the reliability of the control device 100 is improved. The part of the cover plate 13 away from the bottom plate 12 is substantially in the shape of a plane, so as to adapt to the rotation surface of the handle 20, that is, to reduce the gap between the handle 20 and the surface of the cover plate 13 away from the bottom plate 12, and prevent the rope and other objects from being clamped in the gap between the handle 20 and the cover plate 13. The cooperation between the handle 20 and the second side 104 of the cover plate 13 only needs to meet the minimum gap cooperation relationship that allows the handle 20 to rotate, thereby avoiding the gap between the handle 20 and the cover plate 13 being increased, and effectively preventing the handle 20 from being misoperated due to the interference objects being accidentally wound between the handle 20 and the cover plate 13 in the state of being connected to the base 10.

[0055] In some embodiments, in order to increase the stability and strength of the bottom plate 12 and the ship side 02, a plurality of protruding plates 121 are arranged on the circumferential side of the bottom plate 12, screw holes are arranged on the plurality of protruding plates 121, and the bottom plate 12 is fixed on the ship side 02 by screws through the cooperation of the screw holes and the screws.

[0056] Please refer to FIG. 8, in some embodiments, the cover plate 13 away from the bottom plate 12 part will also be provided with recesses, protruding structure as needed, so that the second end 22 of the joy stick 20 can be well adapted as needed, to reduce the gap with the joy stick 20.

[0057] In the embodiments of the present application, the receiving cavity 14 is a closed cavity, and a sealing ring can be arranged between the peripheral side of the bottom plate 12 and the open end of the cover plate 13 to ensure the sealing performance of the bottom plate 12 and the cover plate 13. The control assembly 15 includes a control circuit for electrically connecting the thruster 200 of FIG. 1. The control circuit is arranged on the circuit board, and the circuit board is connected to the motor driver on the thruster 200 of FIG. 1 through a communication cable. The motor driver can control the motor of the thruster 200 to run, so that the control circuit can obtain the sensing signal of the sensor 30 and convert the sensing signal of the sensor 30 into a control signal that can control the motor of the thruster 200 to run. The sealing 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 joy stick 20.

[0058] In the embodiments of the present application, the bottom plate 12 is provided with a power line interface 101 and a signal line interface 102. The power line 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, so that the control circuit can be powered on. The signal line connects the control circuit and the central controller and the motor driver of the thruster 200 of FIG. 1, so that interaction with the central controller and the motor driver of the thruster 200 can be realized. The central controller of the thruster 200 is used to interact with other devices outside the thruster 200, including the battery manager of the battery, the steering wheel on the boat 01 of FIG. 1, the display screen on the boat 01 and other devices, so that the control device 100 can be used to control the thruster 200, and through the thruster 200 as a central management terminal to interact with other devices for control, to realize the control of the whole ship system.

[0059] It can be understood that the power line interface 101 and the signal line interface 102 are both provided with a sealing and waterproof structure, for example, a sealing ring is arranged between the power line and the bottom plate 12, and between the signal line and the bottom plate 12, to ensure the waterproof sealing performance of the receiving cavity 14.

[0060] In some embodiments, the rotating member 40 is configured to receive the driving force from the control lever 20, and the sensor 30 accommodated in the accommodating cavity 14 is configured to sense the rotation of the rotating member 40. In order to improve the reliability of the cooperation between the rotating member 40 and the cover plate 13, the rotating member 40 penetrates the cover plate 13. In some embodiments, the cover plate 13 is provided with a rotating shaft hole 131, and the control device 100 comprises the rotating member 40 which is in sealing cooperation with the rotating shaft hole 131, and the control lever 20 is configured to drive the rotating member 40 to rotate. The rotating member 40 is provided with a rotating shaft 41 which is in rotating cooperation with the rotating shaft hole 131. One end of the rotating shaft 41 which extends into the accommodating cavity 14 is configured to output a rotating torque for the sensor 30 to sense. Specifically, the rotating member 40 comprises an external part 42 and an internal part 43 which is fixed to the external part 42. The external part 42 is configured to receive the driving force from the control lever 20, and the internal part 43 is coupled to the control assembly 15. The rotating shaft 41 is arranged on the external part 42. The internal part 43 is fixed to one end of the rotating shaft 41 which extends into the accommodating cavity 14. The internal part 43 is accommodated in the accommodating cavity 14. The sensor 30 is configured to sense the rotation of the internal part 43, so as to sense the rotation of the rotating member 40, thereby achieving the sensing of the rotation of the control lever 20. For example, the internal part 43 is provided with the magnet 401. The sensor 30 is configured to sense the magnetic field change of the magnet 401 on the internal part 43. The external part 42 and the internal part 43 are detachably connected, thereby facilitating the installation of the rotating member 40 on the cover plate 13. Specifically, before the bottom plate 12 and the cover plate 13 are overlapped, the internal part 43 is arranged in the accommodating cavity 14, then the rotating shaft 41 of the external part 42 is cooperated with the rotating shaft hole 131, and the rotating shaft 41 is fixed to the internal part 43, thereby achieving the rotating cooperation of the rotating member 40 with the cover plate 13, and the rotating member 40 is not easy to be detached from the cover plate 13.

[0061] In some embodiments, the external part 42 is provided with a rotating block 421 at one end of the rotating shaft 41 which is away from the internal part 43. The rotating block 421 is connectable to the rotating plate 25 of the control lever 20, and the rotating plate 25 of the control lever 20 is quickly detachable from the rotating block 421. The rotating block 421 is located outside the accommodating cavity 14. The rotating block 421 is at least partially protruded relative to the cover plate 13, so that the rotating plate 25 can be quickly installed on the rotating block 421.

[0062] In some embodiments, the rotating shaft 41 and the inner part 43 can be fastened by a threaded column, so that the rotating shaft 41 and the inner part 43 can be detached. When the inner part 43 and the rotating shaft 41 are fastened, the clamping force of the inner part 43 and the rotating block 421 clamping the cover plate 13 can be adjusted by adjusting the fastening force of the rotating shaft 41 and the inner part 43, so as to adjust the damping force of the rotating member 40 relative to the cover plate 13.

[0063] In some embodiments, the outer part 42 has a first abutting surface 422, the inner part 43 has a second abutting surface 431, the first abutting surface 422 and the cover plate 13 are configured to be in close contact with a first sealing ring 423, the second abutting surface 431 and the cover plate 13 are configured to be in close contact with a second sealing ring 432, and the first sealing ring 423 and the second sealing ring 432 are both annularly arranged outside 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 annularly arranged around the rotating shaft 41. The first sealing ring 423 can be an elastic rubber ring. When the inner part 43 and the rotating shaft 41 are fastened, the first sealing ring 423 is clamped between the rotating block 421 and the cover plate 13. The inner part 43 includes a fastener 433 and a sealing washer 434. The fastener 433 is provided with a fastening column 4331 and a fastening cap 4332 arranged at one end of the fastening column 4331. The fastening column 4331 can be screwed into the threaded hole of the rotating shaft 41. The fastening cap 4332 applies a clamping force to the second sealing ring 432. The sealing washer 434 is annularly arranged around the fastening column 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.

[0064] The second sealing ring 432 is an elastic rubber ring. Since the first sealing ring 423 and the second sealing ring 432 are both elastic, the gap between the rotating shaft hole 131 and the rotating shaft 41 can be effectively sealed, so as to guarantee the sealing performance of the accommodation cavity 14, and the rotating member 40 relative to the cover plate 13 has a damping force, so that when the operating lever 20 is rotated relative to the base 10, there is a damping feeling, and it is convenient to position the operating lever 20 to the desired position.

[0065] In some embodiments, the cover plate 13 has an annular limiting structure 132 which 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 which is recessed into the bottom plate 12. The mounting groove 133 is a circular ring groove. The rotation shaft hole 131 is in communication with the mounting groove 133. The inner circumferential surface of the mounting groove 133 forms the annular limiting structure 132. The rotating block 421 has a rotating outer circumferential surface which is in rotating cooperation with the inner circumferential surface of the mounting groove 133. A third sealing ring 134 is arranged between the rotating outer circumferential surface and the inner circumferential surface of the mounting groove 133 to seal the rotating block 421 and the mounting groove 133 of the cover plate 13, thereby further improving the sealing performance of the rotating member 40 and the cover plate 13. The rotating block 421 has a connecting boss 424 which protrudes from the mounting groove 133, and the connecting boss 424 is detachably connected with the rotating plate 25 of the control lever 20. The third sealing ring 134 can be a rubber ring with elasticity. The third sealing ring 134 can also provide damping force for the rotation of the rotating member 40 relative to the cover plate 13.

[0066] 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 is rotated 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.

[0067] In some embodiments, the sensor 30 is calibrated with the joystick 20 at the zero position 001, so that the sensor 30 can identify the zero position 001 of the joystick 20, and when the joystick 20 is rotated to the zero position 001, the sensor 30 can convert the zero position 001 information into a stop signal, which 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 driving of the boat 01, the control device 100 at least needs to realize the power output and stop power output of the thruster 200, and the driver needs to be able to obviously know that the thruster 200 starts or stops power output by sensing 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 is rotated to the zero position 001, prompting the driver that the thruster 200 stops power output. The joystick 20 can provide a feedback signal of the zero position 001 to the driver, so that the driver can obviously know that the thruster 200 stops power output, so as to avoid the driver leaving the driving position after mistakenly judging that the thruster 200 stops, and prevent safety accidents.

[0068] 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 indicator sound signal.

[0069] In some embodiments, the control lever 20 rotates to the zero position 001, and the control lever 20 has mechanical force feedback relative to the base 10, so that the driver can perceive that the control lever 20 enters the zero position 001 according to the force feedback signal. The control device 100 comprises a damping positioning assembly 50, which provides damping force when the control lever 20 rotates in a non-zero position 001, and provides positioning force when the control lever 20 rotates to the zero position 001. By providing damping force to the control lever 20 through the damping positioning assembly 50, the driver needs to exert a certain force when operating the control lever 20 to rotate in a non-zero position 001, so as to avoid accidental operation. When the driver operates the control lever 20 to enter the zero position 001, the positioning force provided by the damping positioning assembly 50 to the control lever 20 can keep the control lever 20 in the zero position 001, so as to avoid accidental rotation of the control lever 20 and incorrect control of the thruster 200 output power. The damping positioning assembly 50 provides force feedback when the control lever 20 rotates from a non-zero position 001 to the zero position 001. By setting the damping force to be smaller than the positioning force, when the control lever 20 rotates from a non-zero position 001 to the zero position 001, the damping force received by the control lever 20 suddenly and rapidly increases to the positioning force, so that the control lever 20 obtains rotation stagnation, so that the driver can perceive the stagnation force of the control lever 20.

[0070] In some embodiments, the damping positioning assembly 50 comprises a first rotating disc 51 driven to rotate by the control lever 20, and a second rotating disc 52 arranged on the base 10 and fixed relative to the ship side 02, wherein the first rotating disc 51 is provided with a convex point 511, and the second rotating disc 52 is provided with a concave hole 521, when the convex point 511 is rotated into the concave hole 521, the control lever 20 enters the zero position 001, and when the convex point 511 is rotated out of the concave hole 521, the convex point 511 abuts against a position on the second rotating disc 52 outside the concave hole 521.

[0071] In some embodiments, the first rotating disc 51 is arranged on the portion of the rotating block 421 facing the cover plate 13. The second rotating disc 52 is arranged 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 rotating disc is arranged on the top of the damping boss 135. The rotating block 421 is provided with a damping groove 424 matching the damping boss 135. The first rotating disc 51 is arranged on the bottom of the damping groove 424. The protruding points 511 protrude from the bottom of the damping groove 424. The first rotating disc 51 is provided with two protruding points 511 arranged symmetrically around the axis of the rotating shaft 41. The second rotating disc 52 is provided with two concave holes 521 arranged symmetrically around the axis of the rotating shaft 41. When the two protruding points 511 enter the concave holes 521, the rotating block 421 obtains a force feedback of rotation stagnation due to the rapid change of the rotation resistance of the protruding points 511 relative to the cover plate 13. The rotating block 421 feeds the force feedback of rotation stagnation to the control lever 20, so that the driver can perceive that the control lever 20 rotates to the zero position 001. When the protruding points 511 rotate out of the concave holes 521, the protruding points 511 abut the top surface of the damping boss 135 outside the concave holes 521, and the protruding points 511 have a friction force relative to the top surface of the damping boss 135 due to the clamping effect of the rotating block 421 and the built-in part 43 on the cover plate 13. Thus, the rotating member 40 provides a damping force relative to the cover plate 13, i.e., the control lever 20 has a damping force relative to the base 10.

[0072] In the embodiments of the present application, the damping force provided by the damping positioning assembly 50 when the control lever 20 is in the 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-mentioned manners. Any mechanical structure that can provide resistance to the control lever 20 during rotation in the non-zero position 001 and provide a force to stop rotation in the zero position 001 belongs to the embodiments of the damping positioning assembly 50 of the present application.

[0073] In some embodiments, the convex point 511 is a spring ball that is elastically extended and retracted relative to the first rotating disc 51. The first rotating disc 51 is provided with two extension holes 512 that are symmetrically arranged around the shaft center of the rotating shaft 41. A spring is arranged in the extension hole 512, and the spring ball is abutted to one end of the spring. The spring is used to provide an elastic restoring force for the spring ball to protrude out of the extension hole 512. In the state that the convex point 511 is rotated out of the concave hole 521, the spring ball is tightly abutted to the cover plate 13 under the elastic force of the spring. In the state that the convex point 511 is selected into the concave hole 521, the spring ball is tightly matched with the inner surface of the concave hole 521 under the force of the spring, and the inner surface of the concave hole 521 limits the spring ball to rotate out of the concave hole 521, so as to provide the positioning of the convex point 511. The shape of the concave hole 521 is matched with the shape of the spring ball, thereby facilitating the positioning of the convex point 511.

[0074] In the embodiments of the present application, the matching form of the convex point 511 and the concave hole 521 is not limited to the above form, and any matching structure that can be used to allow the rotating member 40 to rotate relative to the cover plate 13 to exist a damping force and be positioned at the zero position 001 belongs to the embodiments of the present application. For example, the convex point 511 can be arranged on the cover plate 13, and the concave hole 521 can be arranged on the rotating block 421 of the rotating member 40. The convex point 511 can be a flexible deformation member that is integrated with the rotating block 421, or the convex point 511 can also be a pin column that is elastically extended and retracted relative to the rotating block 421.

[0075] In the embodiments of the present application, through the rotating matching of the rotating member 40 and the cover plate 13, and by arranging the damping positioning assembly 50 between the rotating member 40 and the cover plate 13, the rotating damping force and the zero position 001 positioning force can be obtained after the control lever 20 is connected with the rotating member 40, so as to guarantee the safe control of the control device 100, and after the rotating member 40 is separated from the control lever 20, the control lever 20 can be quickly detached from the base 10.

[0076] 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 exposed to the receiving cavity 14, and the unlocking member 60 is arranged on the rotating block 421 of the rotating member 40, so as to facilitate the driver to operate the unlocking member 60.

[0077] In some embodiments, when the unlocking member 60 is operated to the unlocking state, the rotating plate 25 of the control lever 20 is released from the locking and limiting relationship with the connecting boss 424 of the rotating member 40, so that the rotating plate 25 of the control lever 20 can be separated from the connecting boss 424 of the rotating member 40, to realize the quick dismounting of the control lever 20 from the base 10. With the unlocking member 60 having the unlocking state, and the unlocking member 60 reaching the unlocking state only needs a single action operation, and after the control lever 20 is released from the locking and limiting relationship with the base 10, the dismounting of the control lever 20 from the base 10 can also be realized only by a single action operation. The quick dismounting of the control lever 20 from the base 10 in the embodiments of the present application can be understood as only needing two simple single action operations.

[0078] 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 exposed to the receiving cavity 14, and the unlocking member 60 is arranged on the rotating block 421 of the rotating member 40, so as to facilitate the driver to operate the unlocking member 60.

[0079] The rotating plate 25 is provided with a hollow hole 251, and after the rotating plate 25 is connected with the connecting boss 424 of the rotating member 40, the unlocking member 60 is exposed from the hollow hole 251, so as to facilitate the user to operate the unlocking member 60 from the hollow hole 251 of the rotating plate 25, to realize the unlocking and locking of the control lever 20, and then the control lever 20 can be quickly dismounted. The position of the unlocking member 60 is close to the position of the control lever 20 dismounting from the rotating member 40, so as to facilitate the single-handed operation of the unlocking of the unlocking member 60 and the dismounting of the control lever 20 from the rotating member 40. The arrangement of the unlocking member 60 on the rotating member 40 is not limited to the above-mentioned manner, and the unlocking member 60 can also be arranged on the boss side surface of the rotating block 421 passing through the hollow hole 251.

[0080] In some embodiments, the unlocking member 60 is configured to provide an unlocking force according to a mechanical movement. The unlocking member 60 is movably arranged on the top of the connecting boss 424. The unlocking member 60 is movable 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 position of the connecting boss 424 and the rotating plate 25 to be released.

[0081] In some embodiments, the unlocking member 60 is a button, which is pressed down to enter an unlocking state. The unlocking member 60 is pressingly arranged along the axis of the rotating shaft 41 on the connecting boss 424. When the unlocking member 60 is pressed down, the movement torque of the unlocking member 60 downward can cause the locking structure between the connecting boss 424 and the rotating plate 25 to be released from the locking position, so that the control lever 20 can be detached from the base 10.

[0082] In some embodiments of the present application, the control device 100 comprises a locking member 70, which is movably arranged on one of the base 10 or the control lever 20, and the other of the base 10 or the control lever 20 is provided with a clamping groove 80. The unlocking member 60 is coupled with the locking member 70. When the unlocking member 60 enters an unlocking state, the locking member 70 is driven to exit the clamping groove 80, so as to allow the control lever 20 to be detached from the base 10. When the unlocking member 60 does not enter an unlocking state, at least part of the locking member 70 can extend into the clamping groove 80, so as to prevent the control lever 20 from being detached from the base 10.

[0083] The unlocking movement of the locking member 70 exiting the clamping groove 80 is in response to the unlocking action of the unlocking member 60. Through the coupling of the unlocking member 60 and 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 exits the clamping groove 80 to achieve unlocking. The movement torque of the unlocking member 60 can be transmitted to the locking member 70 through a mechanical transmission mode, so that the movement of the locking member 70 pushes it out of the clamping groove 80 to achieve unlocking. For example, a mechanical transmission assembly is arranged between the unlocking member 60 and the locking member 70. The downward pressing movement of the unlocking member 60 along the axis of the rotating shaft 41 is conducted to the locking member 70 through the mechanical transmission assembly, so that the locking member 70 can move out of the clamping groove 80 to achieve unlocking. Of course, the movement torque of the unlocking member 60 can also be sensed by an electrical inductor, and the sensing signal is transmitted to an electrical actuator to drive the locking member 70 to move out of the clamping groove 80 to achieve unlocking.

[0084] In some embodiments, the locking member 70 is coupled with the unlocking member 60, so that the locking member 70 can quickly respond to the unlocking member 60, and the card slot 80 can be quickly exited to quickly disassemble the control lever 20 from the base 10. If the unlocking member 60 is arranged on the base 10, and the locking member 70 is arranged on the base 10, the card slot 80 is arranged on the control lever 20.

[0085] In combination with the embodiments shown in FIGS. 8 and 9, it is illustrated that the locking member 70 is arranged on the rotating member 40 of the base 10, and the card slot 80 is arranged 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 opposite directions of the two first clamping surfaces 4241 are perpendicular to the axis of the rotating shaft 41. The first clamping surface 4241 is provided with an expansion slot 4242, and the locking member 70 is movably matched with the expansion slot 4242 in the direction perpendicular to the first clamping surface 4241. One end of the locking member 70 can extend out of the expansion slot 4242 to be clamped into the card slot 80. The rotating plate 25 is provided with a clamping groove 252, and the clamping groove 252 is matched with 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 with the rotating member 40. The clamping groove 252 has two opposite second clamping surfaces. The second clamping surface is limited and matched with the first clamping surface 4241. The card slot 80 is opened on the second clamping surface. The rotating member 40 is arranged with two locking members 70, and the two locking members 70 are respectively matched with the two expansion slots 4242. The control lever 20 is arranged with two corresponding card slots 80. When the unlocking member 60 is not in the unlocking state, the end of the locking member 70 extends out of the expansion slot 4242 and is clamped into the card slot 80, thereby preventing the control lever 20 from moving relative to the rotating member 40 along the axis of the rotating shaft 41, that is, preventing the control lever 20 from being disassembled relative to the base 10 along the axis of the rotating shaft 41, and combining the matching of 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, to prevent the control lever 20 from moving relative to the rotating member 40 in the direction other than the axis of the rotating shaft 41, so that the control lever 20 remains stably connected 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, the unlocking member 60 is pressed down, the torque of the downward pressure of the unlocking member 60 can cause the locking member 70 to retreat from the expansion slot 4242, and the end of the locking member 70 is withdrawn from the card slot 80, thereby eliminating the position limitation 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 the axis direction of the rotating shaft 41.

[0086] In the embodiments of the present application, the control device 100 comprises an actuating member 90, which is connected to the locking member 70 and can actuate the locking member 70 to be clamped in the clamping groove 80 when the unlocking member 60 is in the non-unlocking state. The actuating member 90 can actuate the locking member 70 in the form of elastic force, electromagnetic force or expansion force. The unlocking member 60 can be in the unlocking state only when it receives the unlocking operation, and always remains in the non-unlocking state when it does not receive the unlocking operation, that is, when the unlocking member 60 does not receive the unlocking operation, the actuating member 90 continuously provides the actuating force to the locking member 70, so that the locking member 70 can be continuously clamped in the clamping groove 80, and the control lever 20 remains connected to the base 10.

[0087] In some embodiments, the actuating member 90 is a spring. When the unlocking member 60 is in the non-unlocking state, the locking member 70 is clamped in the clamping groove 80 under the elastic restoring force of the actuating member 90. In combination with the embodiments shown in FIGS. 8 and 9, it is illustrated that the two ends of the actuating member 90 are connected to the ends of the two locking members 70 away from the clamping groove 80. When the unlocking member 60 is in the non-unlocking state, the actuating member 90 has a clamping tendency to drive the two locking members 70 to be spread apart, so that the ends of the locking members 70 away from the actuating member 90 are continuously clamped in the clamping groove 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, and when the pressing force of the unlocking member 60 is removed, the locking members 70 return to the state of extending outwardly.

[0088] In some embodiments, the unlocking member 60 is mechanically connected to the locking member 70, and the unlocking member 60 can be moved into the unlocking state, and the movement of the unlocking member 60 is transmitted to the locking member 70 to drive the locking member 70 to exit the cooperation with the clamping groove 80.

[0089] In the embodiments shown in FIGS. 8 and 9, when the unlocking member 60 is pressed, the unlocking member 60 outputs the movement torque to press downwardly to the base, and the downward movement torque is transmitted to the locking member 70, so that the locking member 70 moves laterally to exit the clamping groove 80, thereby achieving the unlocking.

[0090] In some embodiments, at least one of the unlocking member 60 and the locking member 70 is provided with a guide slope 601, the unlocking member 60 moves in a first direction A to an unlocked state, and the locking member 70 moves in a second direction B to an unengaged state from the card slot 80 under the guidance of the guide slope 601, 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 guide slopes 601, and the guide slope 601 of the unlocking member 60 cooperates with the guide slope 601 of the locking member 70. When the unlocking member 60 is pressed downward, the unlocking member 60 moves in the first direction A, and the unlocking member 60 moves to the unlocked state. The locking member 70 moves in a direction substantially perpendicular to the axis of the rotating shaft 41 under the cooperative guidance of the two guide slopes 601, i.e., moves in the second direction B, and the end of the locking member 70 exits the card slot 80 to release the locking restriction of the control stick 20 on the base 10. In the embodiment shown in FIG. 8, the first direction A is parallel to the direction of the rotating shaft axis 201 of the control stick 20, and the second direction B is perpendicular to the direction of the rotating shaft axis 201 of the control stick 20. Of course, in other embodiments, the first direction can be perpendicular to the direction of the rotating shaft axis 201 of the control stick 20, the second direction B is perpendicular to the first direction and perpendicular to the direction of the rotating shaft axis 201 of the control stick 20. The second direction B of the locking member 70 is set according to the dismounting direction of the control stick 20, the locking member 70 moves in the second direction B to be engaged in the card slot 80 to restrict the control stick 20 from being dismounted from the base 10 in the dismounting direction. The dismounting direction of the control stick 20 is not limited to the direction parallel to the axis of the rotating shaft 41, but can also be perpendicular to the axis of the rotating shaft 41, i.e., the second direction B of the locking member 70 is not limited to the direction perpendicular to the axis of the rotating shaft 41, but can also be parallel to the axis of the rotating shaft 41, and the first direction of the unlocking member 60 is not limited to the direction parallel to the axis of the rotating shaft 41, but can also be any direction as long as it can cause the locking member 70 to retreat in the second direction B.

[0091] Please continue to refer to FIG. 8 and FIG. 9, in some embodiments, the locking member 70 is provided with a socket 71, and the unlocking member 60 is provided with two insertion buckles 61. One of the guide slopes 601 is provided on the inner wall of the socket 71, and the other guide slope 601 is provided on the insertion buckle 61 which can be inserted into the socket 71. The unlocking member 60 is provided with a space between the two insertion buckles 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 torque of the unlocking member 60 is guided by the guide slope 601 to provide a force on the locking member 70 to drive the locking member 70 to exit the card slot 80 to release the locking restriction of the control stick 20 on the base 10.

[0092] In another embodiment, as shown in FIG. 10, the actuating member 90 is an electric motor, the unlocking member 60 is in the unlocked state, an unlocking signal is sent to the actuating member 90, the actuating member 90 drives the locking member 70 to move out of the engagement with the clamping slot 80, the unlocking member 60 is in the non-unlocked state, a locking signal can be sent to the actuating member 90, the actuating member 90 can drive the locking member 70 to move into the engagement with the clamping slot 80 through a transmission mechanism. The base 10 is provided with an inductive switch 62 connected with the unlocking member 60, when the unlocking member 60 is in the unlocked state, the inductive switch 62 can be triggered to send an unlocking electrical signal to the actuating member 90, the actuating member 90 performs the unlocking action according to the unlocking electrical signal, thereby driving the locking member 70 to move out of the clamping slot 80. When the unlocking member 60 is in the non-unlocked state, the inductive switch 62 can be triggered to send a locking electrical signal to the actuating member 90, the actuating member 90 drives the locking member 70 to move into the engagement with the clamping slot 80 according to the locking electrical signal.

[0093] In another embodiment, the unlocking member 60 is a knob or a slide button, the unlocking member 60 rotates or slides to a set position to enter the unlocked state. For example, as shown in FIG. 8, the movement of the unlocking member 60 is replaced by the rotation movement or the movement along the top surface of the connecting boss 424. The transmission structure arranged between the unlocking member 60 and the locking member 70 is configured to allow the movement torque of the unlocking member 60 to be transmitted to the locking member 70, thereby causing the locking member 70 to move out of the clamping slot 80, so that the unlocking member 60 can control the locking member 70 to move out of the clamping slot 80 to be unlocked, and the control rod 20 can be detached from the base 10. In the embodiments of the present application, the mechanical movement of the unlocking member 60 is not limited to the above forms, and the mechanical transmission of the unlocking member 60 to control the locking member 70 to be unlocked is also not limited to the above forms. Any mechanical transmission that can move the unlocking member 60 on the outer surface of the control device 100 and cause the locking member 70 to move out of the clamping slot 80 to release the locking restriction between the control rod 20 and the base 10 belongs to the embodiments of the present application.

[0094] In another embodiment, referring to FIG. 11, the unlocking member 60 is provided with an electronic unlocking, and the unlocking member 60 is provided with an unlocking circuit 63, and the unlocking circuit 63 sends an unlocking electrical signal into an unlocking state. For example, the unlocking member 60 is substantially the same as the embodiment shown in FIG. 10, except that the unlocking form of the unlocking member 60 is replaced by an electrical signal trigger, i.e. the unlocking member 60 can be an electronic element capable of being controlled 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-sensitive 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 with the actuating member 90, and the unlocking electrical signal of the unlocking circuit 63 can control the actuating member 90 to perform an unlocking movement on the locking member 70. The actuating member 90 is an electrical actuator capable of outputting a mechanical force, for example, the actuating member 90 can be a motor, or an electromagnetic locking member. The actuating member 90 is driven to drive the locking member 70 to exit the clamping groove 80 under the electrical signal trigger of the unlocking member 60, so as to realize the quick disassembly of the control lever 20 and the base 10.

[0095] In another embodiment, referring to FIG. 12, the unlocking member 60 is arranged on the control lever 20, the locking member 70 is arranged on the control lever 20, and the clamping groove 80 is arranged on the base 10. For example, as shown in FIG. 12, the unlocking member 60 is arranged on the rotating plate 25 of the control lever 20 instead of being arranged on the rotating block 421, which is substantially the same as the embodiment shown in FIG. 8. The unlocking member 60 can be arranged on the rotating plate 25 at a position offset from the rotating block 421, i.e. at a position on one side of the rotating block 421 after the control lever 20 is connected with the rotating block 421. The clamping groove 80 is arranged on the first clamping surface 4241 of the connecting boss 424 instead of being arranged on the second clamping surface of the control lever 20. The locking member 70 is arranged on the rotating plate 25 instead of being arranged on the rotating block 421, and the locking member 70 can be telescoped 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 exit the clamping groove 80 on the connecting boss 424 through a transmission structure, so as to realize the disassembly of the control lever 20 and the base 10. The transmission structure can be, for example, the cooperation of the two guide inclined surfaces 601 in the drawing, so that the unlocking member 60 forms a component force in the second direction B after being pressed downward, and the component force constitutes a driving force in the second direction B to drive the locking member 70 to retreat.

[0096] In other embodiments, referring to FIG. 13, the cooperation between the operating lever 20 and the rotating member 40 is not limited to the above-mentioned cooperation mode in which the connecting protrusion 424 of the rotating member 40 is inserted into the connecting groove of the operating lever 20 for clamping and limiting. Instead, an insertion block 29 can be arranged on the operating lever 20, an insertion slot 49 can be arranged on the rotating member 40, the clamping slot 80 can be arranged on the inner wall of the insertion slot 49, the locking member 70 can be movably arranged on the side wall of the insertion block 29, and the unlocking member 60 can be arranged on the operating lever 20 and can cause the locking member 70 to move at the position of the insertion block 29. In the embodiment shown in the figure, the actuating member 90 is connected to the locking member 70 and is used to provide the driving force for clamping the locking member 70 into the clamping slot 80, for example, the actuating member 90 is a spring. Under the pressing and driving of the unlocking member 60, the two locking members 70 are moved towards each other under the action of the component force formed by the guide inclined surface 601, so that the locking member 70 exits the clamping slot 80.

[0097] In other embodiments, referring to FIG. 14, the disassembly of the operating lever 20 relative to the base 10 is not limited to the above-mentioned disassembly after the locking is released by the unlocking member 60. Instead, the operating lever 20 can be moved to an unlocked position to achieve unlocking, and then the operating lever 20 can be disassembled from the base 10. The operating lever 20 can be moved to the unlocked position and the non-unlocked position relative to the base 10. When the operating lever 20 is moved to the unlocked position, the operating lever 20 can be disassembled from the base 10. When the operating lever 20 is moved to the non-unlocked position, the operating lever 20 is connected to the base 10 and is allowed to rotate relative to the base 10 to achieve the operation of the operating lever 20, thereby allowing the rotation of the operating lever 20 to control the propulsion power output of the propeller 200.

[0098] The operating lever 20 can be freely switched between the unlocked position and the non-unlocked position. When the operating lever 20 is moved to the non-unlocked position, the operating lever 20 remains connected to the base 10 and is allowed to rotate relative to the base 10 to achieve the operation of the operating lever 20, thereby allowing the rotation of the operating lever 20 to control the propulsion power output of the propeller 200. When the operating lever 20 is moved to the unlocked position, the operating lever 20 can be disassembled from the base 10, thereby achieving the separation of the operating lever 20 from the base 10 and avoiding the accidental operation of the operating lever 20 when it is not needed, which can cause safety accidents. After the operating lever 20 is switched from the non-unlocked position to the unlocked position, the operating lever 20 can be disassembled from the base 10 without the need to operate the unlocking member 60 as shown in the embodiment, thereby achieving another disassembly mode of the operating lever 20.

[0099] In some embodiments, the operating lever 20 can be moved from the unlocked position to the non-unlocked position along a direction parallel to the axis of the rotating shaft 41. In the embodiment shown in FIG. 14, for example, the rotating block 421 is provided with a latch 429 on the outer circumferential surface thereof, and the rotating plate 25 is provided with a rotating groove 428 that cooperates with the rotating block 421. The inner circumferential surface of the rotating groove 428 is in clearance fit with the outer circumferential surface of the rotating block 421. The inner wall of the rotating groove 428 is provided with a sliding groove 427 along a direction parallel to the axis 201 of the rotating shaft 41. The sliding groove 427 is provided with an unlocking opening 4271 at one end close to the base 10, and is provided with a fastening groove 4272 at the other end. When the latch 429 is slid into the fastening groove 4272, the latch 429 is kept in locked fit with the fastening groove 4272, i.e., the rotating block 421 is kept in fastening connection with the rotating plate 25, the operating lever 20 can drive the rotating member 40 to rotate, and the operating lever 20 is kept in connection with the base 10. When an extraction force is applied to the operating lever 20 along the axis of the rotating shaft 41, the latch 429 is disengaged from the fastening groove 4272 and is slid to the unlocking opening 4271 along the sliding groove 427, so that the latch 429 is disengaged from the sliding groove 427, the rotating plate 25 is separated from the rotating block 421, and the operating lever 20 is detached from the base 10.

[0100] In some embodiments, the fastening groove 4272 can be provided with an elastic buckle, which is used to hold and fix the latch 429, so as to limit the connection between the latch 429 and the rotating plate 25. Of course, in other embodiments, the latch 429 can be provided with elastic extension function, and the end of the latch 429 can be elastically extended into the recess 521 that is deeper than the fastening groove 4272, so as to limit the connection between the latch 429 and the rotating plate 25. When the operating lever 20 is subjected to a detaching force, the elastic buckle or the elastic latch 429 is deformed under the force, so that the latch 429 is disengaged from the fastening groove 4272. That is, the component force of the detaching force applied to the operating lever 20 on the latch 429 is greater than the elastic limiting force applied to the latch 429, so that the elastic holding and limiting state of the latch 429 is released, and the latch 429 is disengaged from the fastening groove 4272.

[0101] In other embodiments, please refer to FIG. 15, the operating lever 20 can be moved from the unlocked position to the non-unlocked position along a direction perpendicular to the axis of the rotating shaft 41.

[0102] Please refer to Fig. 15 for a schematic illustration of a substantially same embodiment as that shown in Fig. 14, except that the rotating groove 428 on the rotating plate 25 is replaced by a guide sliding groove 4270, which is in sliding cooperation with the rotating block 421 and is defined to allow the rotating block 421 to slide relative to the rotating plate 25 only along the extension direction of the guide sliding groove 4270. The extension direction of the guide sliding groove 4270 is perpendicular to the axis of the rotating shaft 41. The guide sliding groove 4270 has an insertion opening 4271 away from the handle, through which the rotating block 421 can be inserted with the connecting boss 424 of the rotating block 421, and the connecting boss 424 can be slid into the guide sliding groove 4270. The guide sliding groove 4270 allows the connecting boss 424 to be separated from the rotating plate 25 along a direction parallel to the axis 201 of the rotating shaft 41 at the position of the insertion opening 4271, so as to achieve quick disassembly of the control lever 20 relative to the base 10. The guide sliding groove 4270 is provided with a fastening groove 4272 at an end away from the insertion opening 4271. The connecting boss 424 is slid into the fastening groove 4272 along the guide sliding groove 4270, so that the connecting boss 424 is kept in locking cooperation with the fastening groove 4272, i.e. the rotating block 421 is kept in fastening connection with the rotating plate 25, the control lever 20 can drive the rotating member 40 to rotate, the control lever 20 is kept in connection with the base 10, and the control lever 20 is prohibited from being separated from the rotating block 421 along 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 an extraction force is applied to the control lever 20 along a direction perpendicular to the axis of the rotating shaft 41, the connecting boss 424 is separated from the fastening groove 4272 and is slid along the guide sliding groove 4270 to the insertion opening 4271, so that the connecting boss 424 is separated from the guide sliding groove 4270, the rotating block 421 is separated from the rotating plate 25, i.e. the control lever 20 is disassembled from the base 10. The fastening groove 4272 is substantially same as the fastening groove 4272 of the embodiment shown in Fig. 14, and will not be described herein again. The insertion opening 4271 forms an unlocking position of the control lever 20, and the fastening groove 4272 forms a non-unlocking position of the control lever 20. The end of the connecting boss 424 is provided with a dovetail protrusion structure, and the guide sliding groove 4270 is provided with a dovetail groove cooperating with the dovetail protrusion structure, so as to prohibit the connecting boss 424 from moving relative to the rotating plate 25 along a non-sliding direction.

[0103] In the embodiments of the present application, the control lever 20 can be quickly disassembled from the base 10, and is not limited to the above-mentioned manner. The disassemblable state of the control lever 20 from the base 10 can be switched by setting an unlocking position and a non-unlocking position. The control lever 20 can also be directly and quickly disassembled from the base 10 along the axis of the rotating shaft 41.

[0104] In some embodiments, referring to FIG. 16, the base 10 is provided with a connecting shaft 410, the operating lever 20 is provided with a shaft sleeve 49 which is in damping cooperation with the connecting shaft 410, and the rotation of the operating lever 20 relative to the base 10 can drive the connecting shaft 410 to rotate, and the rotation of the connecting shaft 410 is used to control the operation of the propeller 200, and the shaft sleeve 49 can be separated from the connecting shaft 410 in the axial direction of the connecting shaft 410 to allow the operating lever 20 to be detached from the base 10.

[0105] In combination with the embodiments shown in FIGS. 16 and 17, it is illustrated that the connecting shaft 410 is arranged on the rotating member 40, and the shaft sleeve 49 is arranged on the rotating plate 25. The shaft sleeve 49 can be in plug-in cooperation with the connecting shaft 410 to achieve the non-axial fixation of the shaft sleeve 49 and the connecting shaft 410. For example, one side of the connecting shaft 410 is provided with a rotation-stopping flat surface, and the shaft sleeve 49 is provided with a rotation-stopping limiting surface which is in cooperation with the rotation-stopping flat surface. The inner surface of the shaft sleeve 49 is provided with an elastic damping pad 491 to provide damping force when the shaft sleeve 49 is plugged into the connecting shaft 410. The shaft sleeve 49 and the connecting shaft 410 are only allowed to move in the direction parallel to the axis of the connecting shaft 410, that is, the operating lever 20 can be plugged and detached relative to the base 10 in the direction parallel to the axis of the rotating shaft 41. When the operating lever 20 needs to be connected to the base 10, the shaft 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 detached from the base 10, the operating lever 20 can be directly pulled away from the base 10 in the direction parallel to the axis of the rotating shaft 41, and the shaft sleeve 49 is separated from the connecting shaft 41 by overcoming the damping force, thereby achieving quick detachment.

[0106] Referring to FIG. 18, the embodiment of the present application further provides a propulsion system 1000, which comprises any one of the control devices 100 described above, and the propulsion system 1000 further comprises a marine propeller 200, which is used to be connected to a hull, and the control device 100 can control the marine propeller 200 to operate. The marine propeller 200 can be any one of an outboard motor, an inboard motor, a pod propeller 200, an inboard-outboard motor, a stern drive, 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 motor to operate, 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 motor to operate. The central controller is also responsible for communicating with other control devices other than the control device 100, for example, the central controller is also responsible for communicating with a display screen, a battery, a steering wheel, etc.

[0107] For example, the control device 100 is provided with a power switch 99, which is arranged on the base 10. Of course, in some other embodiments, the power switch 99 can also be arranged on the control lever 20. The power switch 99 is electrically connected to the control assembly 15 of the base 10, and is used to send power on / off signals, so as to control the propulsion system 1000 to be powered on or powered off. The power switch 99 sends signals to the control assembly 15, the control assembly 15 sends signals to the central controller, and the central controller sends signals to the battery, so as to control the battery to provide current to realize the power on of the propulsion system 1000.

[0108] In the embodiment of the present application, the marine propeller 200 is taken as an example of an outboard motor. The marine propeller 200 is connected to the transom of a ship. The control device 100 is connected to the marine propeller 200 through a cable.

[0109] The embodiment of the present application further provides a water area movable device 2000, which comprises the propulsion system 1000 of the embodiment shown in the figure, and the water area movable device 2000 further comprises a hull 210, the base 10 of the control device 100 is fixed on the side 02 of the hull 210, and the marine propeller 200 is connected to the hull 210. As shown in the embodiment of the figure, the marine propeller 200 is connected to the hull 210. The water area movable device 2000 can be the ship 01 described above. The water area movable device 2000 obtains propulsion power through the marine propeller 200.

[0110] The above has carried out the detailed introduction to the embodiment of the application, the principle and implementation mode of the application are described by applying specific examples in this paper, the above embodiment is only used to help understanding the method of the application and its core idea; at the same time, for the general technical personnel in the art, according to the idea of the application, the specific implementation mode and application range will have changes, and the above, the content of the specification should not be understood as the limitation of the application.

Claims

1. A control device for mounting on the side of a ship, characterized in that, The control device includes a base and a joystick. The joystick is detachably connected to the base. When connected to the base, the joystick can rotate relative to the base. The rotation of the joystick relative to the base can be used to control the operation of the ship's propellers.

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

3. The control device according to claim 2, characterized in that, The control device includes a rotating component that can rotate relative to the sensor, the control lever can drive the rotating component to rotate, and the sensor is used to sense the amount of rotation of the control lever based on the rotation of the rotating component.

4. The control device according to claim 3, characterized in that, The rotating component is rotatably mounted on the base.

5. The control device according to claim 3, characterized in that, The rotating component is fixed to the control lever, and the rotation of the control lever relative to the base causes the rotating component to rotate.

6. The control device according to claim 3, characterized in that, A magnet is disposed on the rotating component, and the sensor is a Hall sensor. The sensor senses the rotation of the rotating component based on the magnetic field of the magnet.

7. The control device according to claim 3, characterized in that, The rotating component is equipped with an infrared light reflector, and the sensor includes an infrared light emitter and an infrared light sensor. The sensor senses the rotation of the rotating component based on the change in light reflection from the infrared light reflector.

8. The control device according to claim 3, characterized in that, The rotating component is equipped with strain gauges, and the sensor is a pressure sensor. The sensor senses the rotation of the rotating component based on the deformation pressure of the strain gauges.

9. The control device according to claim 1, characterized in that, The base has a first side for connecting to the ship's side and a second side opposite to the first side, and the control lever is detachably connected to the second side.

10. The control device according to claim 9, characterized in that, The control lever has a rotation axis, and after being connected to the base, the control lever can rotate around the rotation axis. The rotation axis is approximately perpendicular to the side of the ship's side that mates with the first side.

11. The control device according to claim 10, characterized in that, A horizontal grip is provided at the end of the control lever away from the base, and the protruding direction of the horizontal grip is approximately parallel to the rotation axis.

12. The control device according to claim 10, characterized in that, The control lever can be detached from the base in a direction generally parallel to the axis of rotation.

13. The control device according to claim 9, characterized in that, The base includes a base plate and a cover plate that covers the base plate. The base plate forms the first side portion, and the portion of the cover plate away from the base plate forms the second side portion. A receiving cavity is formed between the base plate and the cover plate. The receiving cavity houses a control component for receiving rotation of the control lever and controlling the operation of the ship's propellers.

14. The control device according to claim 13, characterized in that, The receiving cavity is a sealed cavity, and the control component includes a control circuit for electrically connecting the thruster.

15. The control device according to claim 14, characterized in that, The base plate is provided with a power line interface and a signal line interface. The power line interface is used to connect a power supply line to the control circuit, and the signal line interface is used to connect a signal line to the control circuit.

16. The control device according to claim 13, characterized in that, The cover plate is provided with a pivot hole, and the control device includes a rotating component that is sealed and fitted with the pivot hole. The control lever can drive the rotating component to rotate.

17. The control device according to claim 16, characterized in that, The rotating component includes an external part and an internal part fixed to the external part. The external part is actuated by the joystick, and the internal part is coupled to the control assembly.

18. The control device according to claim 17, characterized in that, The external component has a first abutting surface, and the internal component has a second abutting surface. A first sealing ring is disposed between the first abutting surface and the cover plate, and a second sealing ring is disposed between the second abutting surface and the cover plate, and both the first sealing ring and the second sealing ring surround the outer periphery of the opening end of the rotating shaft hole.

19. The control device according to claim 16, characterized in that, The cover plate has an annular limiting structure, which cooperates with the rotating component to position the rotation axis of the control lever.

20. The control device according to claim 1, characterized in that, The control stick has a zero position relative to the base. When the control stick is rotated to the zero position, the control device controls the thruster to stop outputting power, and the control stick provides a position feedback signal.

21. The control device according to claim 20, characterized in that, The control device includes a damping positioning component, which provides damping force when the control lever rotates in a non-zero position and provides positioning force when the control lever rotates to the zero position.

22. The control device according to claim 21, characterized in that, The damping positioning component provides force feedback when the control lever moves from a non-zero position to the zero position.

23. The control device according to claim 21, characterized in that, The damping positioning assembly includes a first turntable driven to rotate by a control lever, and a second turntable disposed on the base and fixed relative to the side of the ship. The first turntable is provided with a protrusion, and the second turntable is provided with a recess. When the protrusion is screwed into the recess, the control lever enters the zero position. When the protrusion is screwed out of the recess, the protrusion abuts against the second turntable at a position outside the recess.

24. The control device according to claim 23, characterized in that, The protrusions are beads that elastically expand and contract relative to the first turntable.

25. The control device according to any one of claims 1 to 24, characterized in that, The control device includes an unlocking component having an unlocked state, which allows the control lever to be quickly detached from the base.

26. The control device according to claim 25, characterized in that, The unlocking device is located on either the base or the control lever.

27. The control device according to claim 25, characterized in that, The unlocking component is a mechanical unlocking mechanism used to provide unlocking force based on mechanical movement.

28. The control device according to claim 27, characterized in that, The unlocking component is a button, which enters the unlocked state when pressed.

29. The control device according to claim 27, characterized in that, The unlocking component is a knob or a slider, which rotates or slides to a set position to enter the unlocked state.

30. The control device according to claim 25, characterized in that, The unlocking device is electronically unlocked and is equipped with an unlocking circuit. The unlocking circuit sends an unlocking electrical signal to enter the unlocked state.

31. The control device according to claim 25, characterized in that, The control device includes a locking member that is telescopically disposed on either the base or the control lever. The other of the base or the control lever is provided with a slot. An unlocking member is coupled to the locking member. When the unlocking member is in the unlocked state, it can drive the locking member out of the slot to allow the control lever to be detached from the base. When the unlocking member is not in the unlocked state, the locking member is engaged in the slot to prevent the control lever from being detached from the base.

32. The control device according to claim 31, characterized in that, The control device includes an actuator connected to the locking member, which can actuate the locking member into the slot when the unlocking member is in the unlocked state.

33. The control device according to claim 32, characterized in that, The actuator is a spring, the unlocking member is in the unlocked state, and the locking member is engaged in the slot under the elastic restoring force of the actuator.

34. The control device according to claim 33, characterized in that, The unlocking component is mechanically connected to the locking component. The unlocking component can be moved into the unlocked state. The movement of the unlocking component is transmitted to the locking component, thereby causing the locking component to disengage and engage with the slot.

35. The control device according to claim 34, characterized in that, At least one of the unlocking component and the locking component is provided with a guide slope. The unlocking component moves along a first direction to the unlocked state, and the locking component moves along a second direction under the guidance of the guide slope to the state of disengaging from the slot. The first direction is approximately perpendicular to the second direction.

36. The control device according to claim 34, characterized in that, The first direction is parallel to the axis of rotation of the control lever.

37. The control device according to claim 32, characterized in that, The actuator is a motor. When the unlocking component is in the unlocked state, it sends an unlocking electrical signal to the actuator, which drives the locking component to move to the state of disengaging from the slot. When the unlocking component is in the non-unlocked state, it can send a locking electrical signal to the actuator, which drives the locking component to move to the state of engaging with the slot.

38. The control device according to any one of claims 1-24, characterized in that, The joystick can be moved relative to the base to an unlocked position and an unlocked position. When the joystick is moved to the unlocked position, the joystick can be detached from the base. When the joystick is moved to the unlocked position, the joystick cannot be detached from the base.

39. The control device according to claim 38, characterized in that, The joystick can be moved from the unlocked position to the non-unlocked position along the axis of rotation perpendicular to the joystick.

40. The control device according to claim 39, characterized in that, The control lever is provided with a sliding groove parallel to the axis of rotation of the control lever, and the base is provided with a locking pin that slides with the sliding groove. The unlocking position is located at one end of the sliding groove near the base, and the non-unlocking position is located at the other end of the sliding groove.

41. The control device according to claim 38, characterized in that, The control lever can be moved from the unlocked position to the non-unlocked position along the axis of rotation parallel to the control lever.

42. The control device according to claim 41, characterized in that, The control lever is provided with a guide groove perpendicular to the axis of rotation of the control lever. The guide groove has an insertion opening. A portion of the base can be inserted into the guide groove through the insertion opening. The unlocked position is located at the insertion opening, and the non-unlocked position is located at the end of the guide groove away from the insertion opening.

43. The control device according to any one of claims 1-24, characterized in that, One of the control lever and the base is provided with a connecting shaft, and the other is provided with a bushing that is damped by the connecting shaft. The rotation of the control lever relative to the base can drive the connecting shaft to rotate. The rotation of the connecting shaft is used to control the operation of the thruster. The bushing can overcome the damping force and disengage from the connecting shaft along the axial direction of the connecting shaft, so as to allow the control lever to be detached from the base.

44. The control device according to claim 43, characterized in that, The inner surface of the bushing is provided with an elastic damping pad, which provides damping force when the bushing is engaged with the connecting shaft.

45. A propulsion system, characterized in that, The propulsion system includes the control device according to any one of claims 1 to 44, and the propulsion system further includes a marine propulsion unit for connection to the hull, and the control device is capable of controlling the operation of the marine propulsion unit.

46. ​​A water-based mobile device, characterized in that, The water-based mobile device includes the propulsion system of claim 45, and the water-based mobile device also includes a hull, the base of the control device is fixed to the side of the hull, and the marine propulsion is connected to the hull.

Images