CN117177909A

CN117177909A - Tilting device, control method thereof, propeller, water area movable equipment and medium

Info

Publication number: CN117177909A
Application number: CN202380009273.XA
Authority: CN
Inventors: 高琦皓; 陶师正; 万小康
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-12-05
Anticipated expiration: 2043-03-30

Abstract

The present disclosure relates to a tilting device and a control method thereof, a propeller, a water area movable apparatus and a medium, the control method comprising: when the tilting device is in a limit protection mode, if a downward tilting instruction is received, controlling the tilting device to tilt upwards, and acquiring a tilting angle of the tilting device; after the upward tilting of the tilting device is detected to be in a set state, the tilting device is controlled to tilt downward; when the tilting angle of the tilting device reaches a set angle in the downward tilting period, controlling the tilting device to stop tilting; and under the set angle, the tilting device is in a non-limiting protection mode.

Description

Tilting device, control method thereof, propeller, water area movable equipment and medium

Technical Field

The disclosure relates to the technical field of ships, and in particular relates to a warping device, a control method thereof, a propeller, water area movable equipment and a medium.

Background

The lifting device of the water area propeller generally has a limiting protection function, and after the lifting device lifts to a certain height, the position of the lifting device can be limited, so that the lifting device is kept at the height. In the related art, the tilting device needs to be manually controlled to enter or exit the limiting protection mode. However, the manual control mode has a high complexity of operation.

Disclosure of Invention

The embodiment of the disclosure provides a control method of a tilting device, which comprises the following steps: when the tilting device is in the limit protection mode, if a downward tilting instruction is received, controlling the tilting device to tilt upwards, and acquiring a tilting angle of the tilting device; after the upward tilting of the tilting device is detected to be in a set state, the tilting device is controlled to tilt downward; when the tilting angle of the tilting device reaches a set angle in the downward tilting period, controlling the tilting device to stop tilting; and under the set angle, the tilting device is in a non-limiting protection mode.

The embodiment of the disclosure also provides a tilting device, which comprises: a processor; and the memory is used for storing a program which is used for realizing the control method of the warping device according to any embodiment of the disclosure when the program is executed by the processor.

The disclosed embodiments also provide a water area propeller, the water area propeller comprising: a host; and the tilting device according to any one of the embodiments of the present disclosure, wherein the tilting device is connected to the host.

The disclosed embodiments also provide a water area mobile device, the water area mobile device including: a movable body; and a water propulsion device as in any one of the embodiments of the present disclosure mounted to the movable body.

The embodiments of the present disclosure further provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the control method of the warp raising device according to any of the embodiments of the present disclosure.

In the embodiment of the disclosure, if a downward tilting instruction is received during the period that the tilting device is in the limit protection mode, the tilting device can be automatically controlled to tilt up to a set state by detecting the tilting angle, and then the tilting device is controlled to tilt down until the set angle is reached, so that the tilting device exits the limit protection mode. The above procedure reduces user operations and reduces the complexity of control delivery to the operation. In addition, compared with the mode that the manual control tilting device exits the limit protection mode, the situation that the user misjudges that the tilting device exits the limit protection mode and then the normal tilting control is directly carried out is reduced, the situation that the user directly tilts downwards in the limit protection mode is also reduced, the risk of physical damage to the limit mechanism is reduced, and the safety is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a flowchart of a control method of a tilting device according to an embodiment of the disclosure.

Fig. 2A, 2B, 2C and 4 are schematic diagrams of various tilt angles of the present disclosure, respectively.

Fig. 3 is a flowchart of a specific control manner after the lift angle reaches the entry angle in the embodiment of the present disclosure.

Fig. 5 is a flowchart of a control method of the tilting device in another embodiment of the disclosure.

Fig. 6 is a schematic diagram of a water area mobile device of the present disclosure in one embodiment.

Fig. 7 is a schematic view of a water propeller of the present disclosure in one embodiment.

Fig. 8 is a schematic perspective view of a tilting device according to an embodiment of the disclosure.

Fig. 9 is a schematic plan view of a tilting device according to an embodiment of the disclosure.

Fig. 10 is a schematic plan view of a fixture of the tilting device of the present disclosure in an embodiment.

Fig. 11 is a schematic cross-sectional view of the tilting device of fig. 9 along direction ii-ii.

Fig. 12 is an enlarged partial view of a region iv corresponding to the tilting device in fig. 11.

Fig. 13 is a schematic structural view of a fixture of the tilting device in an embodiment of the disclosure.

Fig. 14 is a schematic structural view of another view of a fixture of the tilting device in an embodiment of the disclosure.

Fig. 15 is an exploded view of a tilting device of the present disclosure in one embodiment.

Fig. 16 is a schematic cross-sectional view of the tilting device of fig. 9 taken along the direction iii-iii.

Fig. 17 is a schematic diagram of a travel switch of the present disclosure.

Fig. 18 is a schematic diagram of the output signals of a single hall sensor.

Fig. 19 is a schematic diagram of output signals of two hall sensors of the present disclosure.

Fig. 20 is a schematic diagram of the positional relationship of the tilt-up support, the telescopic rod and the sensor assembly of the present disclosure.

Fig. 21 is a block diagram of a cocking device of the present disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

In the related art, the tilting device of the water area propeller can tilt upwards, so that the water area propeller is lifted to a certain height. Because the water area propeller is heavier, after the tilting device tilts to a certain height, the tilting device can suddenly drop under the influence of the gravity of the water area propeller, so that a certain danger is caused. Therefore, a limiting mechanism needs to be arranged for the tilting device, and after the tilting device is tilted to a certain height, the limiting mechanism can enter a limiting position, so that the tilting device enters a limiting protection mode and is kept at the certain height. In the related art, the tilting device is generally controlled by a manual control manner, so that the tilting device enters or exits from a limit protection mode. However, the manual control mode has high operation complexity, and specifically includes the following reasons:

(1) In the process of tilting the tilting device upwards, a user usually needs to continuously manually control the tilting device until the limiting mechanism enters a limiting position.

(2) After the limiting mechanism enters the limiting position, the tilting device needs to exit the limiting protection mode before normal tilting control is performed. However, the user may not realize the operation, and finally the tilting device is blocked at the limiting mechanism, which may cause physical damage to the limiting mechanism.

In addition to the above problems, the manual control method has a problem of low control accuracy. For example, in the process of lifting the lifting device upwards, it is often difficult for a user to accurately determine whether the limiting mechanism enters the limiting position, and the situation that the user stops controlling the lifting device to lift upwards under the condition that the limiting mechanism fails to enter the limiting device may occur, so that the risk that the lifting device suddenly drops is increased. For example, when the limiting mechanism is in the limiting position, the user also misjudges that the tilting device exits the limiting protection mode when operating the tilting device, and then the normal tilting control is directly performed, so that the risk of physical damage to the limiting mechanism is increased.

Based on this, an embodiment of the present disclosure provides a control method of a tilting device, referring to fig. 1, the control method includes:

step S1: when an upward tilting instruction is received, controlling the tilting device to tilt upwards, and acquiring a tilting angle of the tilting device;

step S2: if the tilting angle reaches the entering angle, maintaining the upward tilting state of the tilting device until the tilting angle of the tilting device reaches the limiting angle; the limiting angle is larger than the entering angle; under the condition that the tilting angle reaches the limiting angle, the tilting device is in a limiting protection mode.

The method of the embodiments of the present disclosure may be performed by a processor that is disposed inside the tilting device, or may be disposed outside the tilting device. When the processor is disposed outside the tilting device, the processor may be a processor dedicated to tilting control, or may be a central processor integrating tilting control and other functional control, which is not limited herein. Under the condition that the tilting device does not enter the limit protection state, the tilting device can be controlled to enter the limit protection mode by executing the control method.

In step S1, an upward warp instruction may be sent to the warp raising device by the user. For example, an interactive component (e.g., button, touch screen, or operating handle, etc.) may be provided in communicative connection with the cocking device, through which a user may input an cocking instruction. After the tilting device receives the tilting-up instruction, the tilting-up device can continuously tilt up. The sensor assembly can be arranged on the tilting device and used for detecting and outputting the tilting angle of the tilting device in real time.

In step S2, the entering angle may be determined based on the angle at which the tilting device enters the limit protection mode. In some embodiments, the entry angle may be equal to the angle at which the cocking device enters the limit guard mode. In other embodiments, the entering angle may be determined based on an angle of the tilting device entering the limit protection mode and a first preset angle margin, and the entering angle is smaller than an angle of the tilting device entering the limit protection mode. In a non-limiting embodiment, the difference between the angle of the tilting device when entering the limit protection mode and the first preset angle margin may be determined as the entering angle. Through setting up first default angle allowance, can reduce when user's operation, the angle that appears the sensor assembly feedback demonstrates the angle of upwarping the device and has not reached when getting into spacing protection mode, but in fact upwarping the device and has got into spacing protection mode's condition.

For example, assume that the lift device enters the limit protection mode when the lift angle of the lift device reaches 60 °. As there may be an error in the detection result of the sensor assembly, the feedback angle of the sensor assembly may be only 55 ° when the actual tilting angle of the tilting device has reached 60 °. If the entry angle is set to 60 °, the processor may misinterpret that the cocking device has not reached the entry angle. Therefore, the entering angle can be set smaller than the angle (for example, 55 degrees) when the tilting device enters the limit protection mode, so that the situation of misjudgment is reduced, and the control accuracy of the tilting device is improved.

In some embodiments, the first preset angle margin may be determined according to a difference between an angle at which the cocking device enters the limit protection mode and an angle at which the cocking device exits the limit protection mode. For example, the first predetermined angular margin may be positively correlated with the difference and not greater than the difference. In other embodiments, the first predetermined angular margin may also be determined based on the accuracy of detection of the sensor assembly. For example, the higher the detection accuracy of the sensor assembly, the smaller the first preset angle margin may be set; conversely, the lower the detection accuracy of the sensor assembly, the larger the first preset angle margin may be set. In practical applications, the first preset angle margin may be determined together by combining the above-mentioned difference value and the detection precision of the sensor assembly, and the first preset angle margin may be determined based on at least one of the above-mentioned difference value and the detection precision of the sensor assembly and other factors, which are not listed in this disclosure.

If the tilting angle reaches the entering angle, the upward tilting state of the tilting device can be maintained until the tilting angle of the tilting device reaches the limiting angle. The limiting angle is larger than the entering angle, and the tilting device is in a limiting protection mode under the condition that the tilting angle reaches the limiting angle.

Fig. 2A, 2B and 2C are schematic diagrams showing different situations of the entering angle α, the angle β when the tilting device enters the limit protection mode, and the limit angle γ, respectively. As shown in fig. 2A, in the case where the entry angle is equal to the angle when the tilting device enters the limit protection mode, the limit angle may be greater than the angle when the tilting device enters the limit protection mode. As shown in fig. 2B and fig. 2C, in the case that the entering angle is smaller than the angle when the tilting device enters the limit protection mode, the limit angle may be larger than or equal to the angle when the tilting device enters the limit protection mode.

In some embodiments, the limiting angle is determined based on an angle of the cocking device when entering the limiting protection mode and a second preset angle margin, and the limiting angle is greater than the angle of the cocking device when entering the limiting protection mode. In a non-limiting embodiment, the sum of the angle of the tilting device when entering the limit protection mode and the second preset angle margin may be determined as the limit angle. Through setting up the second and predetermine the angle surplus, can reduce when user's operation, the angle that appears the sensor assembly feedback demonstrates that upwarp the device through entering spacing protection mode, but in fact upwarp the device and do not enter spacing protection mode's condition.

For example, assume that the lift device enters the limit protection mode when the lift angle of the lift device reaches 60 °. Due to errors in the detection result of the sensor assembly, the feedback angle of the sensor assembly may already reach 60 ° when the actual tilting angle of the tilting device has not yet reached 60 °. Therefore, the processor can misuse that the tilting device is in the limiting protection mode, so that the tilting state of the tilting device is not maintained, and the tilting device can not successfully enter the limiting protection mode. Therefore, the limit angle may be set to be larger than that in the limit protection mode (for example, 63 °), thereby improving the control accuracy of the tilting device.

In the above embodiment, the first preset angle margin and the second preset angle margin may be the same or different. The second preset angle allowance can also be determined according to the difference value between the angle of the tilting device entering the limiting protection mode and the angle of the tilting device exiting the limiting protection mode, and/or the detection precision of the sensor assembly, and the specific determination mode of the second preset angle allowance can be referred to the determination mode of the first preset angle allowance, which is not repeated here.

In the above embodiment, the angle range between the entry angle and the limit angle may be referred to as a limit section. When the tilting angle is positioned in the limiting interval, the tilting device is in a limiting protection mode. The entering angle is the minimum angle of the limiting interval, and the limiting angle is the maximum angle of the limiting interval.

In the above embodiment, the user only needs to input the upward tilting instruction, and when the processor receives the upward tilting instruction, the processor may control the tilting device to tilt upward, and automatically control the upward tilting process of the tilting device based on the tilting angle of the tilting device until the tilting angle of the tilting device reaches the limiting angle when entering the limiting protection mode. The above procedure reduces user operations and reduces the complexity of control delivery to the operation. Meanwhile, the situation that a user mistakenly thinks that the warping device enters the limiting protection mode but does not actually enter the limiting protection mode can be avoided, and safety is improved.

In some embodiments, referring to fig. 3, the control method of the embodiments of the present disclosure further includes: when the lift angle reaches the entry angle (step S21), it is detected whether the upward lift instruction is continuously received (step S22). If the upward tilting command is not continuously received, the upward tilting state of the tilting device is maintained until the tilting angle of the tilting device reaches the limit angle (step S23). The continued receipt of the upward warp instruction may mean that the upward warp instruction received in step S1 is in a continuous sending state, and the continuous sending state of the upward warp instruction is maintained until the warp angle reaches the entry angle. Alternatively, it may mean that the upward warp instruction is received again within a predetermined period of time from when the transmission of the upward warp instruction in step S1 is stopped. Assuming that the time of stopping sending the upward warp instruction in the step S1 is T1, the time of receiving the upward warp instruction again is T2, and the predetermined time is Δt, if the upward warp instruction is not continuously received, T2-T1 is not more than Δt.

In this embodiment, when the tilting angle reaches the entry angle, the user does not need to continuously input the tilting instruction, and the processor may actively maintain the tilting state of the tilting device (simply referred to as actively maintaining the tilting). Thus, the user operation is reduced, and the operation complexity of the control process of the warping device is further reduced. In addition, in the traditional manual control manner, before the tilting device reaches the angle when the tilting device enters the limit protection mode, the user may misuse that the tilting device has entered the limit protection mode, so as to stop sending the tilting command, and further cause that the tilting device fails to enter the limit protection mode. In this embodiment, when the lift angle reaches the entry angle, the processor may still actively maintain lift even if the upward lift instruction is not continuously received. Thus, the success rate of the tilting device entering the limit protection mode is improved.

Further, the control method of the embodiment of the present disclosure further includes: when the lift angle reaches the entry angle, if the upward lift instruction is not continuously received, a difference Δt between a time T2 when the upward lift instruction is received again and a time T1 when the upward lift instruction is stopped may be obtained (step S24), and it may be determined whether Δt exceeds a predetermined period of time (step S25). If so, the re-received upward warp instruction may be masked (step S26). After the tilting angle reaches the limit angle, the tilting device continues tilting, so that the limit is released and the protection mode is exited. Therefore, the upward tilting instruction received again can be shielded, so that the situation that the user misoperates to tilt upward to cause limit release and the limit protection effect is lost is prevented.

In the above embodiment, the predetermined period of time may be determined based on a period of time from an entering angle to an angle at which the raising device reaches the limit guard mode (hereinafter referred to as a first period of time). The predetermined time period may be positively correlated with the first time period. Alternatively, the first time period may be determined directly as the predetermined time period. Alternatively, the sum of the first time period and the second time period may be determined as the predetermined time period. The second time is from the angle when the tilting device enters the limit protection to the angle when the tilting device exits the limit protection mode. Alternatively, the predetermined time period may be determined as a value between the first time period and the second time period. In the tilting process of the tilting device, after the tilting device reaches the angle when entering the limit protection mode, if the tilting command is received again, the tilting device may directly exit the limit protection mode. Therefore, when the delta T exceeds the preset time, the upward warping instruction received again is shielded, and the warping device can be prevented from exiting the limiting protection mode directly under the action of the upward warping instruction received again after entering the limiting protection mode, so that limiting failure is caused.

Further, the re-received upward warp instruction may be masked only if Δt exceeds a predetermined length of time and is less than the effective operation time interval. And under the condition that DeltaT is larger than or equal to the effective operation time interval, controlling the tilting device to tilt upwards according to the re-received tilting-upwards instruction. Wherein the effective operational time interval is greater than a predetermined length of time. The effective operation time interval may be set according to actual needs, for example, to a value of 3 minutes or 5 minutes or the like. According to the embodiment, the upward warping instruction received again is shielded in the time interval from the preset time to the effective operation time interval by dividing the preset time interval and the effective operation time interval, so that the warping device is prevented from directly exiting the limiting protection mode, and the limiting success rate is improved; in a time interval which is greater than or equal to the effective operation time interval, the upward tilting instruction received again is not shielded, so that a user can still normally control the tilting device to tilt, and the user experience is improved.

With continued reference to fig. 3, the control method of the embodiment of the disclosure further includes: if the upward tilting command is continuously received, the tilting device is controlled to tilt upward based on the upward tilting command (step S27). That is, unlike the foregoing embodiments in which the processor actively maintains the tilting, in this embodiment, maintaining the tilting state of the tilting device is performed passively by the processor under the instruction sent by the user (referred to as the processor passively maintaining the tilting). In the above embodiments, two different manners are provided to maintain the upward tilting state of the tilting device, so that the control manner of the tilting device is more flexible and convenient. Therefore, a user does not need to judge whether to continuously send an upward tilting instruction based on whether the tilting angle of the tilting device reaches the entering angle, and whether to continuously send the upward tilting instruction after the tilting angle of the tilting device reaches the entering angle or not can control the tilting device to tilt upwards until the tilting angle reaches the limiting angle.

In some embodiments, referring to fig. 4, the cocking device begins to exit the limit guard mode if the cocking angle reaches an exit angle θ. Wherein, the exit angle θ is greater than the limit angle γ. That is, after the tilting device enters the limit protection mode, the tilting device needs to tilt up to the exit angle θ before exiting the limit protection mode. In this case, the control method of the embodiment of the present disclosure further includes: and acquiring the tilting angle of the tilting device when the tilting command is stopped to be received. If the lift angle is between the exit angle theta and the limit angle theta _max And sending prompt information of limit failure of the warping device. Wherein the limit angle theta _max The maximum angle for the upward tilting of the tilting device.

In practical applications, the user may still continuously send the upward tilting instruction within a period of time after the tilting angle of the tilting device reaches the limit angle γ, whichThe cocking device is caused to exit the limit protection mode. By acquiring the tilting angle of the tilting device when the tilting command is stopped to be received, whether the tilting device starts to exit the limit protection mode or not can be determined when the user stops sending the tilting command. If the upward tilting command is stopped, the tilting angle of the tilting device is positioned between the exit angle theta and the limit angle theta _max And if yes, indicating that the warping device starts to exit the limit protection mode, thereby indicating the limit failure. By sending the prompt information of the limit failure of the tilting device, the state of the limit failure can be notified to the user, so that the user can take subsequent operations in time, for example, resend the tilting instruction. The prompt information may include, but is not limited to, at least one of audio prompt information, text prompt information, indicator light prompt information, and the like.

In other embodiments, the control method of the embodiments of the present disclosure further includes: if the upward tilting command is stopped, the tilting angle of the tilting device is between the exit angle and the limit angle, and the tilting device can be controlled to execute the corresponding tilting action, so that the tilting device enters the limit protection mode again. In this embodiment, the processor may automatically control the lifting device to enter the limiting protection mode again under the condition that the lifting device fails in limiting, without manual control by a user, so as to further reduce the operation complexity of the lifting device.

Specifically, the process of controlling the tilting device to execute the corresponding tilting action includes: at the tilting angle and the limiting angle theta _max When the difference value is smaller than the preset difference value, the tilting device is controlled to sequentially execute the downward tilting and upward tilting actions. Wherein, the tilting angle and the limiting angle theta _max The difference value is smaller than a preset difference value, which indicates that the tilting device has met the downward tilting condition and cannot be blocked at the limiting mechanism; firstly, the tilting device is controlled to tilt downwards, so that the tilting device can be restored to a state before tilting upwards. After the tilting device is tilted downwards, the tilting device is controlled to tilt upwards, and the limiting protection mode can be automatically restored again after the tilting device exits from the limiting protection mode. In this embodiment, when the tilting device is controlled to tilt up Whether the raising angle reaches the entering angle can still be detected firstly, if so, the raising state of the raising device is maintained until the raising angle of the raising device reaches the limiting angle. The specific control manner is referred to the foregoing embodiments, and will not be described herein.

The process of controlling the tilting device to execute the corresponding tilting action further comprises the following steps: when the difference between the tilting angle and the limiting angle is larger than a preset difference, the tilting device is controlled to sequentially execute the tilting up, tilting down and tilting up actions. Among the above-mentioned actions that carry out in proper order, the action of upwarping of first time is used for guaranteeing that the upwarping device satisfies the condition of downwarping, and can not block in stop gear department. After the first upward tilting action is performed, if the difference between the tilting angle and the limiting angle is smaller than or equal to the preset difference, the downward tilting action can be performed, so that the tilting device is restored to a state that the limiting protection mode can be entered through upward tilting. The second tilting action is used for enabling the tilting device to exit the limit protection mode and then automatically recover to the limit protection mode again.

Further, in the process of controlling the tilting device to execute the corresponding tilting action so that the tilting device enters the limiting protection mode again, the device can also output prompting information such as audio prompting information, text prompting information, indicating lamp prompting information and the like so as to prompt the user to try tilting again to enter the limiting protection mode.

In some embodiments, the control method of the embodiments of the present disclosure further includes: under the condition that an upward warping instruction is received, a first instruction (for example, a downward warping instruction, a warping suspending instruction and the like) with priority not higher than that of the upward warping instruction is shielded, so that the control process of the warping device is completely executed, and the warping device successfully enters a limit protection mode. Further, the operation of shielding the first instruction may be performed when the lift angle reaches the entry angle and the limit angle is not reached. The control method of the embodiment of the disclosure further comprises the following steps: if a second instruction (for example, a complete machine power-down instruction, a complete machine scram instruction, etc. for the water area propeller) with a higher priority than the upward tilting instruction is received under the condition that the tilting angle reaches the entering angle and the limiting angle is not reached, the tilting device can be controlled to pause the upward tilting, and the second instruction is executed. Because the second instruction with higher priority often relates to the running safety of the water area propeller and the ship, the second instruction is preferentially executed under the condition that the second instruction is received, so that the running safety of the water area propeller and the ship can be ensured.

Further, after the second instruction is executed, whether the tilting device needs to be continuously controlled to tilt upwards or not can be determined according to the actual situation. For example, the user may input an upward tilting command to control the tilting device to continue to complete the suspended upward tilting process. Alternatively, a downward tilting command may be input, so as to control the tilting device to tilt downward. For another example, after the second instruction is executed, the tilting device may be automatically controlled to continue to complete the suspended tilting process, without the user inputting the instruction again.

In some embodiments, the disclosure further provides a control method for controlling the tilting device to exit the limit protection mode during the period when the tilting device is in the limit protection mode. The method of entering the limit protection mode may be the method of the foregoing embodiment, or may also detect whether the lifting device is in the limit protection mode based on the output signal of the travel switch. Referring to fig. 5, the method of the present embodiment includes the steps of:

step S3: when the tilting device is in the limit protection mode, if a downward tilting instruction is received, controlling the tilting device to tilt upwards, and obtaining a tilting angle of the tilting device;

Step S4: after the upward tilting of the tilting device is detected to be in a set state, the tilting device is controlled to tilt downwards;

step S5: when the tilting angle of the tilting device reaches a set angle in the downward tilting period, controlling the tilting device to stop tilting; under the set angle, the tilting device is in a non-limiting protection mode.

In step S3, during the period when the tilting device is in the limit protection mode, a downward tilting instruction may be sent to the tilting device by the user. For example, an interactive component (e.g., button, touch screen, or operating handle, etc.) may be provided in communicative connection with the cocking device, through which a user may input a cocking down instruction. The tilting device can tilt up first after receiving the downward tilting instruction. In some embodiments, the interactive component for sending the upwarp instruction and the interactive component for sending the downwarp instruction may be different components. The sensor assembly can be arranged on the tilting device and used for detecting and outputting the tilting angle of the tilting device in real time.

In step S4, if it is detected that the tilting device is tilted up to the set state, the tilting device may be controlled to tilt down. In some embodiments, detecting that the cocking device is cocked up to the set state specifically includes: detecting that the lift angle reaches a limit angle theta _max The limit angle theta _max The maximum angle for the upward tilting of the tilting device. For example, the lift-off angle detected by the sensor assembly may be obtained if the detected lift-off angle reaches the limit angle θ _max And determining that the warping device reaches a set state. In other embodiments, detecting that the tilting device is tilted up to the set state specifically includes: and detecting that the tilting angle is kept unchanged within a set time period. In this embodiment, the tilting device may be continuously controlled to tilt upward, and the amount of change of the tilting angle detected by the sensor assembly may be obtained. If the variation in the preset time period fluctuates within a smaller range, or the difference between any two tilt angles is smaller than a preset value (also referred to as locked-rotor) among the plurality of tilt angles acquired in the preset time period, it is determined that the tilt device reaches the set state. By detecting the setting state, the tilting device can be ensured to tilt upwards to a sufficient height, and the limit is successfully released. The problem that the tilting device is clamped at the limiting mechanism due to insufficient tilting height is solved.

In step S5, the set angle may be determined based on the angle when the lifting device enters the limit protection mode and the set angle margin, and the set angle is smaller than the angle when the lifting device enters the limit protection mode. In a non-limiting embodiment, the difference between the angle at which the tilting device enters the limit protection mode and the set angle margin may be determined as the set angle. Alternatively, the set angle may be the same as the entry angle in the foregoing embodiment, but the present disclosure is not limited thereto. Through setting up the angle allowance of predetermineeing, can reduce because the angle of sensor assembly feedback is not accurate enough and lead to when the device of upwarping is not in the state that can come into spacing protection mode through the direct upwarping yet, misjudgement is the device of upwarping and has been in the condition that can come into spacing protection mode through the direct upwarping, has improved the control accuracy to the device of upwarping.

In the embodiment of the disclosure, if a downward tilting instruction is received during the period that the tilting device is in the limit protection mode, the tilting device can be automatically controlled to tilt up to a set state by detecting the tilting angle, and then the tilting device is controlled to tilt down until the set angle is reached, so that the tilting device exits the limit protection mode. The above process reduces user operation and reduces the operation complexity of the control mode. In addition, compared with the mode that the manual control tilting device exits the limit protection mode, the situation that the user misjudges that the tilting device exits the limit protection mode and then the normal tilting control is directly carried out is reduced, the situation that the user directly tilts downwards in the limit protection mode is also reduced, the risk of physical damage to the limit mechanism is reduced, and the safety is improved.

In some embodiments, during the period when the tilting device is in the limit protection mode, if a downward tilting instruction is received, controlling the tilting device to tilt upwards, and obtaining a tilting angle of the tilting device specifically includes: and when the tilting device is in the limit protection mode, if a downward tilting instruction is received and the duration of the downward tilting instruction exceeds a first set duration, controlling the tilting device to tilt upwards and acquiring a tilting angle. The first set duration may be determined according to actual needs, for example, may be a duration of 2s or 3s, etc. By setting the first set time period, misoperation of a user can be reduced.

In some embodiments, the control method of the embodiments of the present disclosure further includes: during the tilting period of the tilting device based on the downward tilting instruction, the first instruction with the priority not higher than that of the downward tilting instruction is shielded, so that the control process of the tilting device is completely executed, and the tilting device successfully exits from the limit protection mode. The control method of the embodiment of the disclosure further comprises the following steps: and during the tilting period of the tilting device based on the downward tilting instruction, if a second instruction with higher priority than the downward tilting instruction is received, controlling the tilting device to pause tilting, and executing the second instruction. Because the second instruction with higher priority often relates to the running safety of the water area propeller and the ship, the second instruction is preferentially executed under the condition that the second instruction is received, so that the running safety of the water area propeller and the ship can be ensured.

The first instruction and the second instruction in this embodiment may be the same or different from the first instruction and the second instruction in the case of receiving the upward warp instruction. Optionally, the same priority may be set for the upward warp instruction and the downward warp instruction, so that the first instruction with a priority not higher than that of the upward warp instruction and the first instruction with a priority not higher than that of the downward warp instruction may be the same first instruction; similarly, the second instruction having a higher priority than the upward warp instruction and the second instruction having a higher priority than the downward warp instruction may be the same second instruction. Of course, in other embodiments, different priorities may be set for the up warp instructions and the down warp instructions.

It will be appreciated that the solutions described in the foregoing embodiments may be freely combined to obtain a new solution without any conflict, and for reasons of space, they will not be described in detail herein.

As shown in fig. 6, the disclosed embodiment also provides a water movable apparatus 300, the water movable apparatus 300 including a movable body 301 and a water mover 200, the water mover 200 being movably connected to the movable body 301. The water propulsion 200 acts as a power supply for the water movable apparatus 300, which is configured to change its attitude relative to the movable body 301 to place the water propulsion 200 under the water when it is required to be used, thereby providing propulsion to the movement of the movable body 301. When the water mover 200 is not required to be used, it is placed above the water surface to reduce resistance to water flow experienced by the movable body 301 when it is moving.

The water area movable device 300 of this embodiment may be various water area vehicles such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing boat, a civil ship, and the like, and may also be devices that can move in a water area such as a water area inspection device, a water area management device, and a water area environment monitoring device, which are not limited in this disclosure. The water propulsion 200 of the present embodiment may be an outboard motor, a pod propulsion, or the like, capable of providing power. The water propulsion 200 may be mounted in the head, tail, or side, and may be used as a side propulsion when mounted on the side to assist in steering the water mobile device 300, etc.

As shown in fig. 7, the embodiment of the present disclosure further provides a water area propeller 200, where the water area propeller 200 includes a host 201 and a tilting device 100, and the tilting device 100 is connected to the host 201. In some embodiments, the host 201 includes at least a propeller and a motor, where the propeller is connected to a driving shaft of the motor to rotate under the driving of the motor.

Referring to fig. 21, the embodiment of the present disclosure further provides a tilting device 100, where the tilting device 100 includes a processor 101 and a memory 102, and the memory 102 stores a program, and the program is used to implement the control method of the tilting device 100 described in any of the foregoing embodiments when executed by the processor 101. The tilting device 100 described above may be used in a water movable apparatus 300 as shown in fig. 6 or a water propulsion 200 as shown in fig. 7.

In some embodiments, referring to fig. 7, the tilting device 100 further comprises a fixture 1 and a tilting bracket 20, wherein the host 201 is connected to the tilting bracket 20. The fixture 1 is fixed on the movable body 301, and the tilting bracket 20 is connected with the fixture 1 and can tilt relative to the fixture 1, so that the host 201 connected to the tilting bracket 20 can tilt relative to the movable body 301. In this way, when the water propeller 200 is not needed, the host 201 is lifted above the water surface after the lifting bracket 20 lifts, and when the water propeller 200 is needed, the host 201 is returned below the water surface after the lifting bracket 20 is unlocked and released.

Fig. 8 to 10 further illustrate a hardware structure of the tilting device 100 according to an embodiment of the present disclosure, and the tilting device 100 includes a jig 1, a tilting bracket 20, and a limiting bracket 30. The fixture 1 is provided with a tilting main shaft 11 and a sliding groove 12, the sliding groove 12 comprises a sliding section 121, a limiting section 122 and an unlocking section 123, the groove depth of the sliding section 121 is smaller than that of the limiting section 122, and the groove depth of the limiting section 122 is smaller than that of the unlocking section 123. The tilting bracket 20 is connected to the tilting spindle 11 and configured to tilt relative to the jig 1, the tilting bracket 20 being adapted to be connected to the host 201. The limiting bracket 30 comprises a bracket body 31 and a limiting shaft 32, one end of the bracket body 31 is rotationally connected with the tilting bracket 20, the other end of the bracket body is connected with the limiting shaft 32, the limiting shaft 32 is configured to slide relative to the bracket body 31 along the direction parallel to the tilting main shaft 11, and the end part of the limiting shaft 32 is in sliding fit with the sliding groove 12. One end of the limiting section 122 is set to a locking position W1, and the other end of the limiting section 122 is connected to the unlocking section 123, so that the limiting shaft 32 is separated from the locking position W1 under a driving force and enters the unlocking section 123.

In some embodiments, the cocking device 100 is in a limit guard mode when the end of the limit shaft 32 abuts the limit section 122. In other embodiments, the end of the limiting shaft 32 abuts the sliding section 121 when the cocking angle reaches the set angle. Alternatively, when the lift angle reaches the entry angle, the end of the stopper shaft 32 abuts the slide section 121. The set angle and the entry angle may be the same or different. In other embodiments, the end of the limit shaft 32 abuts the limit section 122 when the lift angle reaches the limit angle. When the raising angle reaches the exit angle or the limit angle, the end of the limiting shaft abuts against the unlocking section 123. Further, when the kick angle is between the exit angle and the limit angle, the end of the stopper shaft 32 also abuts the unlocking section 123.

As shown in fig. 6, 7, 11 and 12, when some embodiments are adopted, the clip 1 includes two lugs 10, and the two lugs 10 are disposed opposite to each other at a spacing. Correspondingly, two sliding grooves 12 are arranged, and the two sliding grooves 12 are respectively arranged on opposite sides of the two clamping lugs 10. The tilting bracket 20 is at least partially installed between the two clamping lugs 10, so that two ends of the tilting main shaft 11 penetrate through the tilting bracket 20 and are rotatably installed on the two clamping lugs 10, so that the tilting bracket 20 rotates around the axis of the tilting main shaft 11 under the action of a driving force, and the tilting bracket 20 rotates relative to the two clamping lugs 10 and then tilts. Meanwhile, the tilting bracket 20 is also connected with the host 201, and when the tilting bracket 20 tilts, the host 201 is driven to move, so that the host 201 presents different postures relative to the movable body 301.

The bracket body 31 is disposed between the two lugs 10, and the bracket body 31 includes a first end 311 and a second end 312. Both sides of the first end 311 of the bracket body 31, which are close to the two lugs 10, are provided with limiting shafts 32. The limiting shaft 32 is arranged in parallel with the axis of the tilting main shaft 11, one end, close to the sliding groove 12, of the limiting shaft 32 is in sliding fit in the sliding groove 12, so that the two clamping lugs 10 play a supporting role on the two clamping lugs from two sides of the bracket body 31, and the first end 311 of the bracket body 31 can move relative to the sliding groove 12 through the limiting shaft 32. In particular, the end of the limiting shaft 32 near the chute 12 is provided with a bushing 321, the outer diameter of the bushing 321 is larger than the outer diameter of the limiting shaft 32, and the outer diameter of the bushing 321 is smaller than the minimum slot width of the chute 12. The bushing 321 is made of flexible material and is abutted against the wall surface of the chute 12, so that the bushing 321 plays a role in damping and buffering the movement of the limiting shaft 32 in the chute 12.

The second end 312 of the bracket body 31 is rotatably connected to the tilting bracket 20 by a rotation shaft 22. The rotation shaft 22 is disposed parallel to the axis of the tilting main shaft 11, and two ends of the rotation shaft 22 are respectively fixed on two opposite sides of the tilting bracket 20, so that the rotation shaft 22 is fixed relative to the tilting bracket 20. The second end 312 of the holder body 31 is provided with a through hole 3120 through which the rotation shaft 22 passes, so that the second end 312 of the holder body 31 is rotatably mounted at the rotation shaft 22 such that the second end 312 of the holder body 31 can rotate about the axis of the rotation shaft 22.

In particular, the tilting bracket 20 is provided with an ear plate 21, and the ear plate 21 is provided with a through hole 210 through which the rotation shaft 22 passes. The ear plate 21 is located at approximately the middle position of the rotation shaft 22, and a torsion spring 23 is sleeved at the middle position of the rotation shaft 22.

The torsion spring 23 provides an acting force for opening the support body 31 relative to the tilting support 20, so that the support body 31 opens relative to the tilting support 20 under the action of the tension force of the torsion spring 23, namely, the opening direction of the support body 31 relative to the rotating shaft 22 is opposite to the rotating direction of the tilting support 20 relative to the rotating shaft 22, and the limiting shaft 32 is forced to open relative to the tilting support 20 along with the opening of the support body 31, so that the limiting shaft 32 always has a tendency of outwards abutting when the tilting support 20 is tilted or released, the outer peripheral surface of the limiting shaft 32 slides against the inner side wall of the chute 12, and the sliding of the limiting shaft 32 by the inner side wall of the chute 12 plays a role in guiding.

In this way, when the tilting bracket 20 is tilted under the action of a driving force, the driving force can be provided by a power device or manpower and is applied to the tilting bracket 20, so that the tilting bracket 20 can tilt relative to the movable body 301, the driving force appearing in the following description is equivalent to the driving force at present, and the tilting bracket 20 drives the bracket body 31 to move along with the tilting bracket 20 through the rotating shaft 22 fixedly connected with the driving force. At this time, the limiting shaft 32 disposed on the first end 311 of the bracket body 31 is limited by the limiting effect of the chute 12 and moves along a fixed track, so that the second end 312 of the bracket body 31 rotates around the axis of the rotating shaft 22, and the bracket body 31 changes posture relative to the tilting bracket 20. In the process of changing the posture of the stand body 31 relative to the stand 20, the stand body 31 can limit the tilting angle of the stand 20, so that the tilting process of the stand 20 is more gentle. The tilting angle of the tilting bracket 20 is an angle by which the free end of the tilting bracket 20 is rotated from a position abutting the jig 1 to a position separated from the jig 1 about the rotation axis 22. Meanwhile, when the tilting bracket 20 tilts under the action of a driving force, the tilting bracket 20 drives the bracket body 31 to move along with the tilting bracket 20 through the rotating shaft 22 fixedly connected with the tilting bracket 20, so that the limiting shaft 32 moves in the chute 12 towards the tilting direction of the tilting bracket 20 to abut against the inner side wall of the chute 12, and when the tilting bracket 20 continues tilting, the limiting shaft 32 slides upwards close to the inner side wall of the chute 12. The sliding of the limiting shaft 32 is directly guided by the inner side wall of the chute 12.

When the tilting bracket 20 falls back under the action of gravity after being released, the bracket body 31 also falls back under the action of gravity, so that the limiting shaft 32 moves in the chute 12 towards the falling direction of the tilting bracket 20 until the limiting shaft abuts against the inner side wall of the chute 12, and when the bracket body 31 continues to fall back, the limiting shaft 32 always clings to the inner side wall of the chute 12 and slides downwards. The sliding of the limiting shaft 32 is directly guided by the inner side wall of the chute 12.

As shown in fig. 10 and fig. 13 to 14, when some embodiments are adopted, the limiting section 122 is obliquely arranged, one end of the limiting section 122 is connected with the sliding section 121, the other end of the limiting section 122 is provided with a locking position W1, and the locking position W1 is a concave locking groove far away from the sliding section 121. When the tilting device 100 tilts under the action of a driving force, the tilting device 100 enables the limiting shaft 32 to enter the limiting section 122 from the sliding section 121, so that the tilting device enters a limiting protection mode, and as the groove depth of the sliding section 121 is smaller than that of the limiting section 122, the end part of the limiting shaft 32 moves towards the bottom of the sliding groove 12 along the axial direction of the end part, and the end part of the limiting shaft 32 always abuts against the bottom of the sliding groove 12, so that the limiting shaft 32 cannot move from the limiting section 122 to the sliding section 121. In this way, after the driving force is removed, the tilting device 100 moves the limiting shaft 32 to the locking position W1 along the limiting section 122 under the action of gravity, and then locks, so that the tilting device 100 can still maintain the tilted state after the load is removed.

It should be noted that, the sliding section 121 and the limiting section 122 are both partial sections of the sliding groove 12, the sliding groove 12 is a groove formed by grooving inward from the side surface of the clip 10 facing the limiting shaft 32, and the groove depth of the sliding groove 12 refers to the vertical distance from the side surface of the clip 10 facing the limiting shaft 32 to the bottom of the sliding groove 12. Correspondingly, the groove depth of the sliding section 121 is the vertical distance from the side surface of the clip 10 facing the limiting shaft 32 to the bottom of the sliding groove 12 corresponding to the sliding section 121, and the groove depth of the limiting section 122 is the vertical distance from the side surface of the clip 10 facing the limiting shaft 32 to the bottom of the sliding groove 12 corresponding to the limiting section 122.

Meanwhile, the unlocking section 123 is connected to a higher end of the limiting section 122, when the tilting device 100 needs to unlock, the tilting device 100 continues tilting under the action of a driving force, so that the limiting shaft 32 is moved to the unlocking section 123 after being separated from the locking position W1, and the tilting device starts to exit the limiting protection mode, and because the groove depth of the limiting section 122 is smaller than that of the unlocking section 123, the end of the limiting shaft 32 moves towards the bottom of the sliding chute 12 along the axial direction thereof, the end of the limiting shaft 32 always abuts against the bottom of the sliding chute 12, so that the limiting shaft 32 cannot move from the unlocking section 123 to the limiting section 122, and the limiting shaft 32 can make an impact sound after impacting the groove bottom of the unlocking section 123, thereby reminding the outside unlocking action to be completed. In this way, after the unlocking action is completed, the driving force is removed, and the tilting device 100 moves the limiting shaft 32 from the unlocking section 123 to the sliding section 121 under the action of gravity, and the releasing action is completed after the sliding section 121 continues to slide down.

It should be noted that the unlocking section 123 is a partial section of the sliding slot 12, and as described above, the slot depth of the unlocking section 123 is the vertical distance from the side of the clip 10 facing the limiting shaft 32 to the bottom of the sliding slot 12 corresponding to the unlocking section 123.

In summary, in the tilting device 100 of the present disclosure, the sliding groove 12 is disposed on the clip lug 10, so that the limiting shaft 32 is slidably engaged in the sliding groove 12, and the end of the limiting shaft 32 can slide along the axial direction thereof relative to the sliding groove 12. Meanwhile, the groove depth of the sliding section 121 is smaller than that of the limiting section 122, and after the limiting shaft 32 enters the limiting section 122 from the sliding section 121, the end part of the limiting shaft 32 moves to the bottom of the abutting limiting section 122 along the axial direction, so that the tilting device 100 is limited; the groove depth of the limiting section 122 is smaller than that of the unlocking section 123, after the limiting shaft 32 enters the unlocking section 123 from the limiting section 122 under the tilting action of a driving force, the end part of the limiting shaft 32 moves to the bottom of the supporting unlocking section 123 along the axial direction, so that the tilting device 100 can be unlocked rapidly, the tilting device 100 can be unlocked only by slightly lifting the tilting device 100, and an additional unlocking switch is not required to be arranged to release the tilting device 100, so that the structure of the whole tilting device 100 is simplified under the conditions of ensuring rapid limiting after the tilting of the tilting device 100 and rapid unlocking of the tilting device 100.

Referring to fig. 12 and 17, the limiting bracket 30 further includes an elastic member 322, where the elastic member 322 is elastically connected between the limiting shaft 32 and the bracket body 31, and is used for driving the end surface of the limiting shaft 32 to abut against the bottom wall of the chute 12. In an embodiment, two sides of the first end 311 of the bracket body 31 are respectively provided with an extension protrusion 313, and the extension protrusions 313 extend from the first end 311 of the bracket body 31 away from the second end 312 of the bracket body 31. The extending protrusion 313 is provided with a mounting hole 3130, and the limiting shaft 32 is partially accommodated in the mounting hole 3130, and the limiting shaft 32 can move along the axial direction S of the corresponding mounting hole 3130. The end of the limiting shaft 32 far away from the sliding groove 12 is provided with a supporting plate 323 and an elastic piece 322, and the supporting plate 323 is fixed at the end of the limiting shaft 32 far away from the sliding groove 12. The elastic piece 322 is sleeved on the periphery of the limiting shaft 32, one end of the elastic piece 322 is connected to the bracket body 31, the other end of the elastic piece 322 is elastically propped against and connected to the supporting plate 323, and the elastic piece is used for applying elastic force along the axial direction of the limiting shaft 32 to enable the limiting shaft 32 to elastically reset towards the bottom of the sliding groove 12 along the axial direction of the limiting shaft. It is noted that the elastic member 322 may be a rectangular spring or the like.

Referring to fig. 12, 13 and 14 again, the limiting section 122 is connected to the unlocking section 123, and a first supporting surface P1 is disposed between the limiting section 122 and the unlocking section 123, where the first supporting surface P1 is used for preventing the limiting shaft 32 from entering the limiting section 122 from the unlocking section 123, so that the tilting device starts to exit from the limiting protection mode. In an embodiment, since the groove depth of the limiting section 122 is smaller than the groove depth of the unlocking section 123, a step surface is formed at the connection between the limiting section 122 and the unlocking section 123, and the step surface is the first supporting surface P1. The first supporting surface P1 is disposed substantially perpendicular to the bottom wall of the unlocking section 123, that is, the first supporting surface P1 is substantially parallel to the axial direction of the limiting shaft 32, the limiting shaft 32 slides from the limiting section 122 to pass through the first supporting surface P1 under the action of a driving force, and the limiting shaft 32 slides axially toward the bottom wall of the unlocking section 123 under the action of an elastic force provided by the elastic member 322, so that the limiting shaft 32 is under the abutting action of the first supporting surface P1 and cannot fall back to the limiting section 122 after the driving force is removed.

Referring to fig. 12, 13 and 14, the unlocking section 123 includes a guiding inclined plane P4, the unlocking section 123 and the sliding section 121 are connected by the guiding inclined plane P4, and the guiding inclined plane P4 is used for guiding the limiting shaft 32 from the unlocking section 123 to the sliding section 121. In an embodiment, the guiding inclined plane P4 extends obliquely outward from the unlocking section 123 to the sliding section 121, and the guiding inclined plane P4 is configured to be a plane or a curved surface, so that when the limiting shaft 32 moving to the unlocking section 123 slides down under the gravity action of the tilting device 100, the guiding inclined plane P4 guides the limiting shaft 32 to move from the unlocking section 123 to the sliding section 121 rapidly, so as to realize quick release of the tilting device 100 and then fall back (i.e. tilt down).

The guiding inclined plane P4 intersects with the first supporting surface P1, so that it is ensured that the limiting shaft 32 moves to abut against the guiding inclined plane P4 directly after moving to pass through the first supporting surface P1, and the guiding inclined plane P4 guides the limiting shaft 32 to slide downwards rapidly.

Referring to fig. 12, 13 and 14 again, the sliding section 121 is connected to the limiting section 122, and a second supporting surface P2 is disposed between the sliding section 121 and the limiting section 122, and the second supporting surface P2 is used for preventing the limiting shaft 32 from entering the sliding section 121 from the limiting section 122. In an embodiment, since the groove depth of the limiting section 122 is greater than the groove depth of the sliding section 121, a step surface is formed at the connection between the limiting section 122 and the sliding section 121, i.e. the second supporting surface P2. The second supporting surface P2 is disposed substantially perpendicular to the bottom wall of the limiting section 122, after the limiting shaft 32 slides from the sliding section 121 to pass through the second supporting surface P2 under the action of a driving force, the limiting shaft 32 slides axially toward the bottom wall of the limiting section 122 under the action of the elastic force provided by the elastic member 322, so that the limiting shaft 32 is under the abutting action of the second supporting surface P2 and cannot fall back to the sliding section 121 after the driving force is removed, and the tilting device is in a limiting protection mode.

Referring to fig. 12, 13 and 14, a third supporting surface P3 is disposed at an end of the limiting section 122 away from the unlocking section 123, and when the limiting shaft 32 is locked in the limiting section 122, the third supporting surface P3 abuts against the outer peripheral surface of the limiting shaft 32. In one embodiment, the position of the third supporting surface P3 is set as a locking position W1 (shown in fig. 10). The third supporting surface P3 is in a circular arc structure and is adapted to the shape of the bushing 321 of the limiting shaft 32, so that when the limiting shaft 32 moves to the position where the outer peripheral surface of the bushing 321 abuts against the third supporting surface P3, the limiting shaft 32 can be locked just behind the locking position W1, and the limiting shaft 32 is prevented from being separated from the locking position W1 or shaking in the locking position W1 under the action of external force.

Further, the third supporting surface P3 intersects with the second supporting surface P2, and the third supporting surface P3 is smoothly connected with the second supporting surface P2, so that the limiting shaft 32 can slide along the second supporting surface P2 to abut against the third supporting surface P3 after the driving force is removed, and is locked at the locking position W1.

In particular, the third supporting surface P3 is disposed substantially perpendicular to the bottom wall of the limiting section 122, so that the extending direction of the third supporting surface P3 is the same as the axial direction of the limiting shaft 32, the contact area between the third supporting surface P3 and the limiting shaft 32 is increased, and the stability of the limiting shaft 32 at the locking position W1 is improved.

Referring to fig. 12, 13 and 14 again, a first transition wall P5 is disposed on a side of the limiting section 122 away from the sliding section 121, a second transition wall P6 is disposed on a side of the unlocking section 123 away from the sliding section 121, and the first transition wall P5 is connected with the second transition wall P6 for guiding the limiting shaft 32 to move from the limiting section 122 to the unlocking section 123. In an embodiment, the first transition wall P5 is disposed opposite to the second supporting surface P2, and one end of the first transition wall P5 is smoothly connected to the third supporting surface P3. The second transition wall P6 is disposed opposite to the guiding inclined plane P4, and the second transition wall P6 is smoothly connected with one end, far away from the third supporting surface P3, of the first transition wall P5, so that the third supporting surface P3, the first transition wall P5 and the second transition wall P6 are sequentially connected end to end, and therefore the limiting shaft 32 is guided to move along a preset path when the tilting device 100 is unlocked, and unlocking of the tilting device 100 is achieved.

In particular, the first transition wall P5 and the second transition wall P6 are disposed coplanar, and the limiting shaft 32 can smoothly move from the first transition wall P5 to the second transition wall P6, so that the stability of the limiting shaft 32 when entering the unlocking section 123 from the limiting section 122 can be improved.

In this way, when the tilting device 100 is unlocked, the limiting shaft 32 is separated from the third supporting surface P3 under a driving force, and slides towards the unlocking section 123 in close contact with the first transition wall P5, and since the first transition wall P5 is smoothly connected with the second transition wall P6, the limiting shaft 32 can be guided to move to the unlocking section 123 in close contact with the first transition wall P5 and the second transition wall P6, thereby unlocking the tilting device 100.

Referring to fig. 12, 13 and 14, the sliding section 121 includes a first side wall P7, and when the limiting shaft 32 moves in the sliding section 121 toward the limiting section 122, the first side wall P7 abuts against an outer peripheral surface of the limiting shaft 32 to guide the limiting shaft 32 to move in the sliding section 121 toward the limiting section 122. In an embodiment, the track of the sliding section 121 is disposed substantially obliquely, and the higher end of the sliding section 121 is located at the side of the lower end of the sliding section 121 near the rotation axis 22, so that the sliding section 121 is inclined from bottom to top toward the position where the rotation axis 22 is located.

The first sidewall P7 is an inner sidewall of the sliding section 121, and the first sidewall P7 is disposed along the extending direction of the sliding section 121 and is disposed at a side of the sliding section 121 away from the rotation shaft 22. In this way, when the tilting device 100 is tilted, the second end 312 of the support body 31 rotates upward about the rotation axis 22, so that the first end 311 of the support body 31 moves upward relative to the rotation axis 22, and the support body 31 also opens relative to the tilting support 20 under the tension of the torsion spring 23 mounted on the rotation axis 22, so that the limiting shaft 32 is forced to open relative to the tilting support 20 along with the opening of the support body 31, i.e. the opening direction of the support body 31 relative to the rotation axis 22 is opposite to the rotation direction of the tilting support 20 relative to the rotation axis 22, so that the limiting shaft 32 always has a tendency to abut outward, and under this tendency, the limiting shaft 32 moves toward the first side wall P7 until the limiting shaft 32 abuts against the first side wall P7. The tilting device 100 continues tilting, the first end 311 of the bracket body 31 continues to move upwards relative to the rotating shaft 22, the limiting shaft 32 slides upwards in the sliding section 121 and clings to the first side wall P7, the limiting shaft 32 is propped by the first side wall P7, stability of the tilting device 100 during tilting is ensured, and shaking is not easy to occur.

Referring to fig. 12, 13 and 14, the sliding section 121 includes a second side wall P8, and when the limiting shaft 32 moves in the sliding section 121 away from the unlocking section 123, the second side wall P8 abuts against an outer peripheral surface of the limiting shaft 32 to guide the limiting shaft 32 to move in the sliding section 121 away from the unlocking section 123. In an embodiment, the second sidewall P8 is an inner sidewall of the sliding section 121 and is disposed opposite to the first sidewall P7. The second side wall P8 is disposed along the extending direction of the sliding section 121 and is disposed at a side of the sliding section 121 near the rotation shaft 22. When the tilting device 100 is released, the second end 312 of the bracket body 31 rotates downward around the rotation axis 22, so that the first end 311 of the bracket body 31 moves downward relative to the rotation axis 22, and the bracket body 31 also opens relative to the tilting bracket 20 under the tension of the torsion spring 23 mounted on the rotation axis 22, so that the limiting shaft 32 is forced to open relative to the tilting bracket 20 along with the opening of the bracket body 31, i.e. the opening direction of the bracket body 31 relative to the rotation axis 22 is opposite to the rotation direction of the tilting bracket 20 relative to the rotation axis 22, so that the limiting shaft 32 always has an outward abutment trend, and under this trend, the limiting shaft 32 moves towards the second side wall P8 until the limiting shaft 32 abuts against the second side wall P8. The tilting device 100 continues to fall back under the action of gravity, the first end 311 of the bracket body 31 continues to move downwards relative to the rotating shaft 22, the limiting shaft 32 slides downwards in the sliding section 121 and is clung to the second side wall P8, the second side wall P8 plays a role in propping against the limiting shaft 32, stability of the tilting device 100 during release is ensured, and shaking is not easy to occur.

Referring to fig. 15, 16, 20 and 21, the tilting device 100 further includes a driving assembly 40, a fixed end of the driving assembly 40 is rotatably connected to the fixture 1, and an output end of the driving assembly is provided with a telescopic rod 412 that abuts against the fixture 1 and is rotatably matched with the tilting bracket 20. The tilt assembly 100 further includes a sensor assembly 37, the sensor assembly 37 being coupled to the tilt bracket 20 and the telescoping rod 412 and being configured to sense the relative amount of rotation of the telescoping rod 412 and the tilt bracket 20. The driving assembly 40 may be communicatively connected to the processor 101, and may be capable of providing power for driving the tilting device 100 to tilt up in response to a tilting up instruction output by the processor 101, and may be capable of providing power for driving the tilting device 100 to tilt down in response to a tilting down instruction output by the processor 101. Alternatively, the drive assembly may be a hydraulic cylinder. When the processor 101 receives the upward tilting command, the hydraulic cylinder may drive the telescopic rod 412 to extend outwards gradually, and sense the relative rotation amount of the telescopic rod 412 and the tilting bracket 20 through the sensor assembly 37, so as to determine the tilting angle reached when the tilting device 100 tilts upward or downward.

In an embodiment, a mounting seat 13 is further disposed between the two clamping ears 10, and the mounting seat 13 is connected to one end of the clamping ears 10 away from the tilting main shaft 11. One end (i.e., a fixed end) of the driving assembly 40 is mounted on the mounting base 13, and the other end is connected to the tilting bracket 20, so as to provide a driving force to tilt the tilting bracket 20 around the tilting main shaft 11.

Further, the driving assembly 40 includes a tilting bottom shaft 43, a telescopic mechanism 41 and an actuator 42, the tilting bottom shaft 43 is rotatably disposed at the position of the fixture 1 away from the tilting main shaft 11, one end of the telescopic mechanism 41 is connected to the tilting bottom shaft 43, the other end thereof rotatably abuts against the tilting bracket 20, and the actuator 42 is connected to the telescopic mechanism 41 for driving the telescopic mechanism 41 to stretch. In an embodiment, the axial direction of the tilting bottom shaft 43 is the same as that of the tilting main shaft 11, and one end of the tilting bottom shaft 43 passes through the mounting seat 13 and is rotationally connected with one of the lugs 10, and the other end of the tilting bottom shaft 43 is rotatably mounted in the mounting seat 13. One end of the telescopic mechanism 41 far away from the tilting main shaft 11 is provided for the tilting bottom shaft 43 to pass through, so that the telescopic mechanism 41 can rotate around the axis of the tilting bottom shaft 43, and the telescopic mechanism 41 can synchronously move when the tilting bracket 20 tilts, so that the telescopic mechanism 41 always keeps the abutting action on the tilting bracket 20.

The telescopic mechanism 41 includes a cylinder 411 and a telescopic rod 412, and the telescopic rod 412 is telescopically installed in the cylinder 411. The end of the telescopic rod 412, which is close to the tilting main shaft 11, is located outside the cylinder 411 and is provided with a connecting sleeve 413 at which a connecting shaft 44 is mounted. The connecting shaft 44 is rotatably accommodated in the connecting sleeve 413, the connecting shaft 44 is in the same axial direction as the tilting main shaft 11, and both ends of the connecting shaft 44 penetrate the connecting sleeve 413. One end of the connecting shaft 44 is mounted on the ear plate 21, and the other end is mounted on the tilting bracket 20, so that when the telescopic mechanism 41 drives the tilting bracket 20 to tilt, the telescopic mechanism 41 can rotate around the axis of the connecting shaft 44, and further the telescopic mechanism 41 deflects relative to the tilting bracket 20 so as to be matched with the tilting action of the tilting bracket 20.

The actuator 42 is mounted on the outer side of the telescopic mechanism 41, and is operable in synchronization with the telescopic mechanism 41, and the actuator 42 is used to adjust the telescopic amount of the telescopic rod 412 and further adjust the tilting height of the tilting bracket 20 lifted by the telescopic rod 412.

In particular, when another embodiment is adopted, the driving force may be provided by manpower, and the tilting bracket 20 is driven to act after the tilting bracket 20 is pushed and pulled by manpower.

Referring to fig. 16 again, the telescopic mechanism 41 is configured as a hydraulic telescopic mechanism, and the actuator 42 is configured as an oil pump motor for adjusting the amount of oil in the hydraulic telescopic mechanism to adjust the telescopic length of the hydraulic telescopic mechanism. In an embodiment, the telescopic mechanism 41 is driven by hydraulic pressure, so that the stability of the telescopic mechanism is better, and the tilting device 100 is not easy to shake during the tilting process. The actuator 42 is connected to the telescopic mechanism 41 through a pipe, and can exchange hydraulic oil with the telescopic mechanism 41, so that the amount of oil in the cylinder 411 of the telescopic mechanism 41 is controlled by the actuator 42 to adjust the telescopic distance of the telescopic rod 412 of the telescopic mechanism 41.

In some embodiments, referring to fig. 20, the sensor assembly 37 includes a magnetic portion 371 and a sensing portion 372, the sensing portion 372 moves with the tilting bracket 20, the magnetic portion 371 moves with the telescopic rod 412, and the sensing portion 372 is used for sensing a magnetic variable of the magnetic portion 371. In some embodiments, the tilting device 100 further includes a protective housing 38 disposed on the tilting bracket 20, the sensing portion 372 and the magnetic portion 371 are disposed in the protective housing 38, the sensing portion 372 is fixed in the protective housing 38, and the magnetic portion 371 is rotatably adapted to the protective housing 38. Alternatively, the cross section of the upturned bracket 20 is generally L-shaped. The tilting bracket 20 includes a first rotating portion and a second rotating portion connected to each other. One end of the first rotating part, which is far away from the second rotating part, is sleeved on the tilting bottom shaft 43 and is positioned between the two clamping lugs 10. The driving assembly 40, the sensor assembly 37, the protection shell 38 and the like can be arranged in the tilting bracket 20, so that the detection accuracy of the sensor assembly 37 is improved; in addition, the sensing part 372 and the magnetic part 371 are both arranged in the protection shell 38, which is beneficial to further protecting the sensor assembly 37; in addition, one of the sensing portion 372 and the magnetic portion 371 moves along with the tilting bracket 20, and the other moves along with the telescopic rod 412, so that the sensing portion 372 and the magnetic portion 371 do not generate relative displacement in the radial direction or the axial direction, which is beneficial to further improving the detection accuracy of the sensor assembly 37.

The above embodiment obtains the tilting angle of the tilting device 100 through the sensor assembly 37, so as to control the tilting device 100 to enter the limit protection mode. However, in some embodiments, the sensor assembly 37 may have insufficient measurement accuracy due to its own process, further resulting in some error in the detected lift angle. Referring to fig. 17, in order to reduce errors caused by insufficient measurement accuracy of the sensor assembly 37, the tilting device 100 further includes a travel switch 36, and the tilting device 100 may be controlled in combination with the sensor assembly 37 and the travel switch 36. Wherein, the travel switch 36 and the sensor assembly 37 can form a redundant design, and meanwhile, the travel switch 36 can directly detect whether the tilting device 100 enters and leaves the limit. For example, when the tilting device 100 is continuously tilted to the limit angle, it may be further determined whether the tilting device 100 actually enters the limit protection mode based on the output signal of the travel switch 36. For another example, when the tilting device 100 is tilted downward to a set angle, it may be further determined whether the tilting device 100 is in a state in which the tilting control can be performed normally based on the output signal of the travel switch 36. By adding the travel switch 36, on one hand, the tilting device 100 can be intuitively indicated to enter and leave the limiting state; on the other hand, the redundant design of the travel switch 36 and the sensor assembly 37 can reduce detection errors caused by insufficient measurement accuracy of the sensor assembly 37, so as to improve the detection accuracy of the entering and leaving limit of the tilting device 100. In particular, the travel switch 36 may be provided on the clamp 1 and/or the limit bracket 30. The processor 101 may be connected to the travel switch 36 to determine the abutment section of the end of the limit shaft 32 with the chute 12 based on the output signal of the travel switch 36.

In some embodiments, the travel switch 36 includes a magnetic member 361 and a sensing member 362 disposed opposite to each other, one of the magnetic member 361 and the sensing member 362 is disposed on a side of the limiting shaft 32 away from the sliding slot 12, and the other is disposed on the bracket body 31, and the sensing member 362 includes a first sensing element and a second sensing element; the processor 101 is connected to the sensing piece 362 to determine the abutment section of the end of the limit shaft 32 with the chute 12 based on the output signal of the sensing piece 362.

In some embodiments, the magnetic member 361 is disposed at an end portion of the limiting shaft 32 away from the sliding groove 12, the sensing member 362 is disposed on the bracket body 31, and the magnetic member 361 slides relative to the sensing member 362 along a direction parallel to the tilting main shaft 11 under the driving of the limiting shaft 32. Or, the sensing piece 362 is disposed at an end of the limiting shaft 32 far away from the chute 12, the magnetic piece 361 is disposed on the bracket body 31, and is opposite to the sensing piece 362, and the sensing piece 362 slides relative to the magnetic piece 361 along a direction parallel to the tilting main shaft 11 under the driving of the limiting shaft 32.

Taking the case that the travel switch 36 may be a hall sensor and the sensing element 362 is disposed on the bracket body 31, the magnetic element 361 slides relative to the sensing element 362 along the direction parallel to the tilting main shaft 11 under the driving of the limiting shaft 32 as an example, the hall sensor includes a magnet 361a (i.e. the magnetic element 361) and two hall chips 362a (i.e. the sensing element 362). The magnet 361a is mounted at one end of the limiting shaft 32 far away from the chute 12, the two hall chips 362a are mounted on the bracket body 31, and the two hall chips 362a are arranged at intervals. The two hall chips 362a are arranged at intervals to provide a placing space for the electronic devices on the hall chips 362a, so that the problem that the electronic devices are damaged due to extrusion caused by the fact that the two hall chips 362a are close to each other can be avoided. The hall chip 362a and the magnet 361a are fixed in relative positions in the axial direction of the magnet 361a, and the accuracy of angle detection is not affected by the mounting.

As shown in fig. 18, the hall sensor generally includes a magnet 361a and a hall chip 362a. When the distance between the magnet 361a and the hall chip 362a is different, the magnetic field induced by the hall chip 362a is different, and two different electric signals of ON and OFF are correspondingly output. In the example shown in fig. 18, when the distance between the magnet 361a and the hall chip 362a is short, the hall chip 362a outputs an ON signal, and when the distance between the magnet 361a and the hall chip 362a is long, the hall chip 362a outputs an OFF signal. In another example, when the distance between the magnet 361a and the hall chip 362a is large, the hall chip 362a may output an ON signal, and when the distance between the magnet 361a and the hall chip 362a is small, the hall chip 362a may output an OFF signal. The hall sensor shown in fig. 18 is suitable for detection of only two types of distances. Since the present disclosure relates to detection of three positions, i.e., detection corresponding to three types of distances, the present disclosure provides two hall chips 362a as shown in fig. 19. When the limit shaft 32 slides left and right, the distance between the magnet 361a and the hall chip 362a changes, the magnetic field sensed by the hall chip 362a changes, and the hall chip 362a outputs different electrical signals. Since the groove depths of the different sections of the chute 12 are different, the distance between the magnet 361a and the two hall chips 362a is different when the limit shaft 32 is in the different sections, so that it can be determined whether the tilting device 100 enters and leaves the limit based on the electric signal output by the hall chips 362a. As shown in fig. 19, if the electric signals output by the two hall chips 362a are ON and ON, respectively, it means that the lock shaft 32 is in the sliding section 121, if the electric signals output by the two hall chips 362a are ON and OFF, respectively, it means that the lock shaft 32 is in the lock section 122, and if the electric signals output by the two hall chips 362a are OFF and OFF, respectively, it means that the lock shaft 32 is in the unlock section 123. In other examples, if the electric signals output by the two hall chips 362a are OFF and OFF, respectively, it may be indicated that the lock shaft 32 is in the sliding section 121, if the electric signals output by the two hall chips 362a are OFF and ON, respectively, it may be indicated that the lock shaft 32 is in the lock section 122, and if the electric signals output by the two hall chips 362a are ON and ON, respectively, it may be indicated that the lock shaft 32 is in the unlock section 123.

Accordingly, the present disclosure further provides a computer readable storage medium storing a computer program executable by the processor 101 (as shown in fig. 21) to implement the control method of the warp raising device 100 (as shown in fig. 7) according to any one of the foregoing method embodiments. The computer-readable storage medium may be, among other things, a phase-change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory or other memory technology, a read only compact disc read only memory (CD-ROM), a Digital Versatile Disc (DVD) or other optical storage, a magnetic cassette, a magnetic tape magnetic disk storage or other magnetic storage device, or any other non-transmission medium, operable to store information that may be accessed by the computing device.

The foregoing has described certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present disclosure.

Claims

1. A control method of a tilting device, the control method comprising:

when the tilting device is in a limit protection mode, if a downward tilting instruction is received, controlling the tilting device to tilt upwards, and acquiring a tilting angle of the tilting device;

after the upward tilting of the tilting device is detected to be in a set state, the tilting device is controlled to tilt downward;

when the tilting angle of the tilting device reaches a set angle in the downward tilting period, controlling the tilting device to stop tilting; and under the set angle, the tilting device is in a non-limiting protection mode.

2. The control method according to claim 1, wherein the set angle is determined based on an angle of the tilting device when entering the limit protection mode and a preset set angle margin, the set angle being smaller than an angle of the tilting device when entering the limit protection mode.

3. The control method according to claim 1, wherein, during the period when the tilting device is in the limit protection mode, if a downward tilting command is received, controlling the tilting device to tilt upward, and obtaining a tilting angle of the tilting device includes:

and when the tilting device is in the limit protection mode, if the downward tilting instruction is received and the duration time of the downward tilting instruction exceeds a first set duration time, controlling the tilting device to tilt upwards and acquiring the tilting angle.

4. The control method according to claim 1, characterized in that the control method further comprises:

and shielding a first instruction with priority not higher than that of the downward warping instruction during the warping period of the downward warping instruction by the warping device.

5. The control method according to claim 1, characterized in that the control method further comprises:

and during the tilting period of the tilting device based on the downward tilting instruction, if the second instruction with higher priority than the downward tilting instruction is received, controlling the tilting device to pause tilting, and executing the second instruction.

6. The control method of claim 1, wherein the cocking device comprises a travel switch, the control method further comprising:

and detecting whether the warping device is in the limit protection mode or not based on an output signal of the travel switch.

7. The control method according to claim 1, characterized in that the control method further comprises:

acquiring the current tilting angle of the tilting device;

and if the raising angle is positioned in the limiting interval, determining that the raising device is in the limiting protection mode.

8. The method of claim 7, wherein a minimum angle of the spacing interval is determined based on an angle of the cocking device when entering the spacing protection mode and a first preset angle margin, the minimum angle being less than an angle of the cocking device when entering the spacing protection mode; and/or

The maximum angle of the limiting section is determined based on the angle when the tilting device exits the limiting protection mode and a second preset angle allowance, and the maximum angle is larger than the angle when the tilting device exits the limiting protection mode.

9. The control method according to claim 1, wherein the detecting that the tilting device is tilted up to a set state includes:

Detecting that the tilting angle reaches a limit angle, wherein the limit angle is the maximum tilting angle of the tilting device; or (b)

And detecting that the tilting angle is kept unchanged within a second set time period.

10. The control method according to claim 1, characterized in that the control method further comprises:

when the tilting device is in the non-limiting protection mode, if an upward tilting instruction is received, controlling the tilting device to tilt upwards, and acquiring a tilting angle of the tilting device;

if the tilting angle reaches the entering angle, maintaining the tilting state of the tilting device until the tilting angle of the tilting device reaches the limiting angle; the limiting angle is larger than the entering angle; and under the condition that the raising angle reaches the limiting angle, the raising device is in the limiting protection mode.

11. The control method according to claim 10, wherein the entry angle is determined based on an angle of the tilting device when entering the limit protection mode and a first preset angle margin, the entry angle being smaller than an angle of the tilting device when entering the limit protection mode.

12. The control method according to claim 10, wherein the limiting angle is determined based on an angle of the tilting device when entering the limiting protection mode and a second preset angle margin, the limiting angle being larger than an angle of the tilting device when entering the limiting protection mode.

13. The control method according to claim 10, characterized in that the control method further comprises:

detecting whether the upward tilting instruction is continuously received or not when the tilting angle reaches the entering angle;

and if the upward tilting instruction is not continuously received, executing the step of maintaining the upward tilting state of the tilting device until the tilting angle of the tilting device reaches a limiting angle.

14. The control method according to claim 13, characterized in that the control method further comprises:

if the upward warping instruction is not continuously received, shielding the upward warping instruction received again when the difference between the moment when the upward warping instruction is received again and the moment when the upward warping instruction is stopped to be received exceeds a preset time.

15. The control method according to claim 13, characterized in that the control method further comprises:

And if the upward tilting instruction is continuously received, controlling the tilting device to tilt upward based on the upward tilting instruction.

16. The control method according to claim 15, characterized in that the control method further comprises:

acquiring a tilting angle of the tilting device when the tilting instruction is stopped;

if the raising angle is between the exit angle and the limit angle, sending prompt information of limiting failure of the raising device; the exit angle is larger than the limit angle, and under the condition that the tilting angle reaches the exit angle, the tilting device starts to exit the limit protection mode, and the limit angle is the maximum tilting angle of the tilting device.

17. The control method according to claim 15, characterized in that the control method further comprises:

if the tilting angle is between the exit angle and the limit angle, controlling the tilting device to execute corresponding tilting action so as to enable the tilting device to enter the limit protection mode again; the exit angle is larger than the limit angle, and under the condition that the tilting angle reaches the exit angle, the tilting device starts to exit the limit protection mode, and the limit angle is the maximum tilting angle of the tilting device.

18. The control method according to claim 17, wherein the controlling the tilting device to perform the corresponding tilting action comprises:

when the difference between the tilting angle and the limiting angle is smaller than a preset difference, controlling the tilting device to sequentially execute downward tilting and downward tilting actions;

when the difference between the tilting angle and the limiting angle is larger than the preset difference, the tilting device sequentially executes the tilting up, tilting down and tilting up actions.

19. The control method according to claim 10, characterized in that the control method further comprises:

and shielding the first instruction with the priority not higher than that of the upwarp instruction.

20. The control method according to claim 10, characterized in that the control method further comprises:

and under the condition that the tilting angle reaches the entering angle and the limiting angle is not reached, if a second instruction with higher priority than the tilting-up instruction is received, controlling the tilting device to pause tilting-up and executing the second instruction.

21. A cocking device, comprising:

A processor;

a memory storing a program for implementing the control method of the warp raising device according to any one of claims 1-20 when executed by the processor.

22. The lift device of claim 21, further comprising:

the fixture is provided with a tilting main shaft and a sliding groove, the sliding groove comprises a sliding section, a limiting section and an unlocking section, the groove depth of the sliding section is smaller than that of the limiting section, and the groove depth of the limiting section is smaller than that of the unlocking section;

the tilting bracket is connected with the tilting main shaft and is configured to tilt relative to the clamp, and the tilting bracket is used for being connected with a host;

the limiting support comprises a support body and a limiting shaft, one end of the support body is rotatably connected with the tilting support, the other end of the support body is connected with the limiting shaft, the limiting shaft is configured to slide relative to the support body along a direction parallel to the tilting main shaft, and the end part of the limiting shaft is in sliding fit with the sliding groove;

one end of the limiting section is set to be a clamping position, and the other end of the limiting section is connected with the unlocking section and used for enabling the limiting shaft to enter the unlocking section after being separated from the clamping position under the action of a driving force;

When the end part of the limiting shaft is abutted with the limiting section, the tilting device is in the limiting protection mode;

when the raising angle reaches the set angle, the end part of the limiting shaft is abutted with the sliding section.

23. The lift-off device of claim 22, wherein an end of the limit shaft abuts the sliding section when the lift-off angle reaches an entry angle;

when the raising angle reaches a limiting angle, the end part of the limiting shaft is abutted with the limiting section.

24. The lift-off device of claim 22, wherein an end of the limit shaft abuts the unlocking section when the lift-off angle reaches an exit angle or a limit angle.

25. The tilting device of claim 22, wherein the stop section is connected to the unlocking section, and a first support surface is provided between the stop section and the unlocking section, the first support surface being configured to prevent the stop shaft from entering the stop section from the unlocking section.

26. The tilting device according to claim 22, wherein the sliding section is connected to the limiting section, and a second supporting surface is provided between the sliding section and the limiting section, the second supporting surface being configured to prevent the limiting shaft from entering the sliding section from the limiting section.

27. The cocking device of claim 22, wherein the unlocking section comprises a guide ramp through which the unlocking section and the sliding section are connected, the guide ramp being configured to guide the stop shaft from the unlocking section into the sliding section.

28. The tilting device according to claim 22, wherein the limiting bracket further comprises an elastic member, the elastic member is elastically connected between the limiting shaft and the bracket body, and is used for driving the end face of the limiting shaft to abut against the bottom wall of the chute.

29. The tilting device according to claim 22, wherein a third supporting surface is provided at an end of the limiting section away from the unlocking section, and the third supporting surface abuts against an outer circumferential surface of the limiting shaft when the limiting shaft is locked to the limiting section.

30. The cocking device of claim 22, wherein a side of the stop section remote from the sliding section is provided with a first transition wall, and a side of the unlocking section remote from the sliding section is provided with a second transition wall, the first transition wall being connected to the second transition wall for guiding the stop shaft to move from the stop section to the unlocking section.

31. The lift device of claim 22, wherein the sliding section includes a first sidewall that abuts an outer peripheral surface of the limiting shaft when the limiting shaft moves in the sliding section toward the limiting section, for guiding the limiting shaft to move in the sliding section toward the limiting section.

32. The lift device of claim 22, wherein the sliding section includes a second sidewall that abuts an outer peripheral surface of the limiting shaft when the limiting shaft moves away from the unlocking section in the sliding section, for guiding the limiting shaft to move away from the unlocking section in the sliding section.

33. The tilting device according to claim 22, wherein a travel switch of the tilting device is arranged on the clamp and/or the limit bracket;

the processor is connected with the travel switch to confirm the tip of spacing axle and the butt section of spout based on the output signal of travel switch.

34. The tilting device according to claim 33, wherein the travel switch comprises a magnetic member and an induction member which are oppositely arranged, one of the magnetic member and the induction member is arranged on one side of the limiting shaft away from the sliding chute, the other is arranged on the bracket body, and the induction member comprises a first induction element and a second induction element;

The processor is connected with the sensing piece to confirm based on the output signal of the sensing piece the tip of spacing axle with the butt section of spout.

35. The tilting device according to claim 34, wherein the magnetic member is disposed at an end portion of the limiting shaft away from the chute, the sensing member is disposed on the bracket body, and the magnetic member slides relative to the sensing member along a direction parallel to the tilting main shaft under the driving of the limiting shaft; or (b)

The sensing piece set up in spacing axle keep away from the tip of spout, the magnetic part set up in the support body, and with the sensing piece is relative, the sensing piece is under spacing axle drive the parallel the direction of raising the perk main shaft is relative the magnetic part slides.

36. The lift device of claim 22, further comprising:

the fixed end of the driving assembly is rotationally connected with the clamp, and the output end of the driving assembly is provided with a telescopic rod which abuts against the clamp and is in rotational fit with the tilting bracket; a kind of electronic device with high-pressure air-conditioning system

The sensor assembly is coupled with the tilting bracket and the telescopic rod and is used for sensing the relative rotation quantity of the telescopic rod and the tilting bracket.

37. The tilt assembly of claim 36, wherein the sensor assembly comprises a magnetic portion and an inductive portion, the inductive portion moves with the tilt bracket, the magnetic portion moves with the telescoping rod, and the inductive portion is configured to induce a magnetic variable of the magnetic portion.

38. The lifting device of claim 37, further comprising a protective housing disposed on the lifting support, wherein the sensing portion and the magnetic portion are disposed in the protective housing, wherein the sensing portion is fixed in the protective housing, and wherein the magnetic portion is rotatably adapted to the protective housing.

39. A water propulsion device, the water propulsion device comprising:

a host; a kind of electronic device with high-pressure air-conditioning system

The cocking device of any one of claims 21-38, coupled to the host.

40. A water mobility device, the water mobility device comprising:

a movable body; a kind of electronic device with high-pressure air-conditioning system

The water propulsion of claim 39, the water propulsion mounted to the movable body.

41. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of controlling a tilting device according to any one of claims 1 to 20.