Propeller and water area movable equipment

Abstract

A propeller and water area movable equipment, the propeller (100) comprises a main control module (20), a driving module (50), a steering module (40), a tilting module (30) and a frame (10) used for being connected to a water area carrier (200), the frame (10) is provided with an accommodating cavity (111), the driving module (50) comprises a driving control panel (51) and a propulsion motor (52), the steering module (40) comprises a steering control panel (41) and a steering actuator (42), and the steering control panel (41) and the steering actuator (42) are connected with the main control module (20). The warping module (30) comprises a warping control panel (31) and a warping actuator (32), and the main control module (20) is electrically connected with the driving module (50), the steering module (40) and the warping module (30) and used for receiving an input instruction and controlling the driving module (50), the steering module (40) and the warping module (30) to work according to the received instruction; the driving control board (51), the steering control board (41), the tilting control board (31) and the main control module (20) are all arranged in the containing cavity (111) in a sealed mode. The propeller not only reduces the packaging difficulty, but also improves the sealing performance and strength.

Description

Technical Field

[0001] The present application relates to the field of ships, and in particular to propellers and movable devices in water areas. Background Art

[0002] The propeller is a power device of a movable device in water areas, which is used to propel the movable device in water areas to move.

[0003] The electrical devices in the existing thruster are independent of each other and are independently installed and sealed in separate spaces, which occupies a large space and makes the fuselage larger and heavier. Summary of the invention

[0004] The present application provides a propeller and a movable device in water area, which simplifies the packaging structure and optimizes the volume.

[0005] According to a first aspect of the present application, the present application provides a propeller, comprising:

[0006] A frame, used for connecting to a water body carrier, wherein the frame is provided with a receiving cavity;

[0007] A driving module, comprising a driving control board and a propulsion motor, wherein the driving control board is electrically connected to the propulsion motor and is used to control the propulsion motor to provide propulsion force;

[0008] A steering module, comprising a steering control board and a steering actuator, wherein the steering control board is electrically connected to the steering actuator and is used to control the steering actuator to provide steering power for steering the propulsion motor;

[0009] A tilting module, comprising a tilting control board and a tilting actuator, wherein the tilting control board is electrically connected to the tilting actuator and is used to control the tilting actuator to provide a tilting power for tilting the frame and the driving module connected to the frame;

[0010] A main control module, electrically connected to the driving module, the steering module and the lifting module, for receiving input instructions and controlling the driving module, the steering module and the lifting module to work according to the received instructions;

[0011] Wherein, the driving control board, the steering control board, the lifting control board and the main control module are all sealed and arranged in the accommodating cavity.

[0012] According to the second aspect of the present application, the present application also provides a movable water area device, including a water area carrier and the above-mentioned propeller, wherein the frame is connected to the water area carrier.

[0013] The technical solution provided by the embodiment of the present application can include the following beneficial effects: the present application designs a propeller and a movable device in water area, including a driving module, a steering module, a tilting module, a main control module and a frame for connecting to a water area carrier; wherein the driving module includes a driving control board, the steering module includes a steering control board, the tilting module includes a tilting control board, and a housing cavity is provided on the frame, the driving control board, the steering control board, the tilting control board and the main control module are all sealed and arranged in the housing cavity, and the main control module is used to receive input instructions and control the driving module, the steering module and the tilting module to work according to the received instructions, so that the driving module, the steering module and the tilting module can work independently or cooperate with each other to control the work of the propeller. After adopting the above technical solution, not only can the driving control board, the steering control board, the tilting control board and the main control module be sealed and arranged in the housing cavity, the sealing effect of the driving control board, the steering control board, the tilting control board and the main control module is improved, and the integration is high; at the same time, the driving module, the steering module and the tilting module can be arbitrarily increased or decreased according to the design requirements of the propeller, thereby reducing costs and improving productivity.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 is a structural schematic diagram of a propeller provided in one embodiment of the present application;

[0017] Figure 2 is a cross-sectional schematic diagram of a propeller provided in an embodiment of the application;

[0018] Figure 3 is an exploded schematic diagram of a propeller provided in an embodiment of the application;

[0019] Figure 4 is a schematic diagram of the upper part of a propeller provided in an embodiment of the application;

[0020] Figure 5 is an upper cross-sectional view of a propeller provided in an embodiment of the application;

[0021] Figure 6 is a cross-sectional view of the connection between the upper baffle and the hood of an embodiment of the application;

[0022] Figure 7is another schematic diagram of a propeller provided in an embodiment of the application;

[0023] Figure 8 is a control principle diagram of a thruster provided in an embodiment of the application;

[0024] Fig. 9 is a control principle diagram of a steering control panel provided in an embodiment of the application;

[0025] Fig.10 It is a logic control diagram of a warping control board provided in an embodiment of the application;

[0026] Fig.11 is a control principle diagram of a warping control plate provided in an embodiment of the application;

[0027] Fig.12 is a control principle diagram of a drive control board provided in an embodiment of the application;

[0028] Fig.13 It is a partial schematic diagram of a drive control board provided in an embodiment of the application;

[0029] Fig.14 It is a schematic diagram of the structure of the drive control board and the cooling mounting board in the application;

[0030] Fig.15 is another schematic diagram of a propeller provided in an embodiment of the application;

[0031] Fig.16 is a schematic diagram of the upper structure of a propeller provided in an embodiment of the application;

[0032] Fig.17 It is a partial structural schematic diagram of a propeller provided in an embodiment of the application;

[0033] Fig.18 It is a schematic diagram of the structure of a movable device for water area provided in one embodiment of the application.

[0034] Description of reference numerals:

[0035] 100, propeller; 200, water carrier;

[0036] 10, frame; 11, main body; 11a, head; 110a, cover; 1101a, lip; 1102a, communication line hole; 1103a, cable seal; 1104a, terminal head; 110b, inner flange; 110c, isolation plate; 1101c, power line hole; 110d, upper baffle; 1101d, inner fold; 1102d, threading hole; 110e, cover; 11b, body; 110f, first line hole; 110g, first seal; 110h, second line hole; 110i, second seal; 110j, The third wire hole; 110k, the third sealing member; 111, the accommodating chamber; 111a, the first area; 111b, the second area; 111c, the third area; 12, the underwater fuselage; 12a, the guide tube; 12b, the propulsion casing; 121, the motor cavity; 121, the motor cavity; 122, the deceleration cavity; 123, the water pressure plate; 13, the mounting seat; 14, the deceleration bracket; 15, the shaft seal; 16, the first cable; 17, the second cable; 171, the first power line; 172, the second power line; 173, the third power line; 18, the third cable;

[0037] 20. Main control module; 21. Main control power interface; 22. Main control communication interface; 23. Conductive cable; 24. Control device communication interface;

[0038] 30. Warp-up module; 31. Warp-up control board; 311. Warp-up main control board; 3111. Warp-up controller; 3112. Isolation drive circuit; 3113. Warp-up temperature sampling circuit; 3114. Warp-up position sensor; 3115. Wake-up signal trigger circuit; 3116. Power switch control circuit; 3117. Warp-up control; 3118. Stop control; 312. Warp-up power board; 32. Warp-up actuator; 322. Warp-up motor; 321. Warp-up oil cylinder; 33. Second communication cable; 34. Warp-up temperature sensor; 36. Repair warp-up button;

[0039] 40. Steering module; 41. Steering control board; 411. Steering power interface; 412. Steering communication interface; 413. UVW steering interface; 414. First communication cable; 415. UVW steering cable; 416. Steering temperature sampling circuit; 417. Steering position acquisition circuit; 418. Steering angle interface; 419. Steering current and voltage sampling circuit; 42. Steering actuator; 421. Steering resolver sensor; 43. Steering angle sensor; 44. Steering lock; 45. Steering shaft; 46. Speed ​​reduction module; 461. Torque increase gear set; 462. Speed ​​reducer; 47. Inverter circuit;

[0040] 50. drive module; 51. drive control board; 51a. first drive board; 51b. second drive board; 511. drive main control board; 512. drive power board; 513. drive temperature sampling circuit; 514. drive position sensor; 52. propulsion motor; 521. first stator winding; 522. second stator winding; 523. main shaft; 53. propeller; 54. aluminum substrate; 55. propulsion reducer; 551. cooling lubricating oil;

[0041] 60. Install the assembly frame; 61. Clamp the bracket; 62. Rotate the bracket;

[0042] 70, cooling system; 70a, cooling liquid; 71, cooler; 711, cooling mounting plate; 711a, first pipe joint; 712a, second pipe joint; 712, curved flow channel; 72, storage box; 73, heat exchanger; 74, pump body;

[0043] 80. Auxiliary battery; 80a. Power battery;

[0044] 90. External control equipment; 91. Close-control tiller; 92. Steering wheel; 93. Wired remote control box; 94. Display screen. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] It should also be understood that the terms used in this specification of the present application are only for describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0047] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0048] like Figures 1 to 3 As shown, according to the first aspect of the present application, the present application provides a propeller 100, including a main control module 20, a driving module 50, a steering module 40, a tilting module 30 and a frame 10 for connecting to a water body 200. Among them, the driving module 50 includes a driving control board 51, the steering module 40 includes a steering control board 41, and the tilting module 30 includes a tilting control board 31. The frame 10 is provided with a receiving cavity 111, and the driving control board 51, the steering control board 41, the tilting control board 31 and the main control module 20 are all sealed and arranged in the receiving cavity 111. The main control module 20 is electrically connected to the driving module 50, the steering module 40 and the tilting module 30, and is used to receive input instructions and control the driving module 50, the steering module 40 and the tilting module 30 to work according to the received instructions. After adopting the above technical scheme, not only the integration is high, the structure is simpler, and the heat dissipation is more concentrated; at the same time, the number of sealing surfaces can be reduced, the sealing performance and strength of the thruster 100 are improved, the reliability is enhanced, and the packaging difficulty of the thruster 100 is reduced. There is no need to perform separate sealing protection on the main control module 20, the drive module 50, the steering module 40 and the lifting module 30, which simplifies the structure, reduces the manufacturing difficulty and saves costs.

[0049] As an example, the propeller 100 is an outboard motor. The water body 200 is a hull. The propeller 100 is connected to the transom of the water body 200. Of course, the embodiment of the present application does not limit the product type of the propeller 100. For example, the propeller 100 may also be a pod-type propeller suspended at the bottom of the water body 200. The water body 200 may also be an amphibious transportation device.

[0050] For example, Figure 2 As shown, the driving module 50 also includes a propulsion motor 52, and the driving control board 51 is electrically connected to the propulsion motor 52, and is used to control the propulsion motor 52 to provide propulsion force to drive the water body 200 to move in the water area. Among them, the driving module 50 receives direct current from an external battery, and converts the direct current into alternating current and provides it to the propulsion motor 52 to drive the propulsion motor 52 to operate. The driving control board 51 receives the feedback signal of the propulsion motor 52, and communicates with the main control module 20, so as to facilitate the control of the speed, direction, and rotation position of the propulsion motor 52.

[0051] For example, Figure 2As shown, the steering module 40 also includes a steering actuator 42, and the steering control board 41 is electrically connected to the steering actuator 42, and is used to control the steering actuator 42 to provide steering power for steering the propeller 100. The steering of the propeller 100 means that during the process of the propeller 100 outputting the propulsion power, the propulsion direction of the propeller 100 is deflected according to the required angle, so that the navigation movement direction of the movable device in the water area is deflected by a preset angle according to the corresponding relationship of the required angle. For example, Figure 2 As shown, the tilting module 30 also includes a tilting actuator 32, and the tilting control board 31 is electrically connected to the tilting actuator 32, which is used to control the tilting actuator 32 to provide a tilting power for the propeller 100 to tilt. Among them, the propeller 100 has an initial position and a working position. The tilting of the propeller 100 refers to the rotation of the propeller 100 between the initial position and the working position. When the propeller 100 is in the initial position, the propeller 53 of the propeller 100 is out of contact with the water, and the propeller 100 is lifted to the highest state; when the propeller 100 needs to push the water body 200 to move in the water area, the tilting actuator 32 drives the propeller 100 to rotate from the initial position to the working position, so that the propeller 53 of the propeller 100 can enter the water and realize the function of propulsing the water body 200. In addition, the tilting actuator 32 can also be used to change the draft of the propeller 53, so as to control the navigation direction of the water body 200.

[0052] It should be noted that the propulsion motor 52, the steering actuator 42 and the tilting actuator 32 can be arranged on the outside of the accommodating cavity 111, and the propulsion motor 52, the steering actuator 42 and the tilting actuator 32 can also be arranged on the inside of the accommodating cavity 111, and this application does not limit this.

[0053] After adopting the above technical scheme, since the propeller 100 receives input instructions through the main control module 20 and controls the operation of the driving module 50, the steering module 40 and the lifting module 30 according to the received instructions, the driving module 50, the steering module 40 and the lifting module 30 can not only work independently, but also cooperate with each other to control the propeller 100 to adjust its posture and move in the water area, so that during the manufacturing process of the propeller 100, according to the design requirements of the propeller 100, the driving module 50, the steering module 40 and the lifting module 30 can be arbitrarily increased or decreased to meet the functional requirements of the propeller 100. It is not only highly versatile, quick, convenient and flexible to assemble, and highly expansible; but also the propeller 100 can be upgraded and modified, which reduces costs and improves productivity.

[0054] In addition, compared with the traditional method of using a whole circuit board to control steering, lifting and propulsion, the control methods for steering, lifting and propulsion can be more diversified, and the propeller 100 with different functional requirements can be obtained according to different combinations. The various functional components of the propeller 100 are modularized, standardized and systematized, which facilitates the assembly of the propeller 100 and improves the production efficiency of the assembly; at the same time, it is also convenient for the maintenance of the propeller 100, which is convenient for replacement and reduces the cost of use.

[0055] At the same time, the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 are sealed in the accommodating cavity 111, so that the overall integration and electrification degree of the thruster 100 are higher, the possibility of sealing failure is reduced, and the components inside the frame 10 are effectively protected; at the same time, the cooling system 70 can be externalized to reduce the complexity of the cooling system 70, and the heat dissipation of the electrical inside the thruster 100 can be more concentrated to ensure the reliability of the thruster 100, and the volume of the thruster 100 is reduced.

[0056] Exemplarily, the propeller 100 only needs a lifting function, so that the steering module 40 or the steering control board 41 can be removed from the frame 10, or when the propeller 100 is assembled, it is not necessary to install the steering module 40 or the steering control board 41 and other functional modules, and it is not necessary to redesign the main control module 20, the drive module 50 and the lifting module 30. Among them, the main control module 20 is electrically connected with the drive module 50 and the lifting module 30, and is used to receive input instructions and control the drive module 50 and the lifting module 30 to work according to the received instructions; the lifting control board 31 is used to control the lifting actuator 32 to provide the lifting power for lifting the frame 10 and the drive module 50 connected to the frame 10, and the drive module 50 is used to control the propulsion motor 52 to provide propulsion force. The overall structure is simple, easy to replace, and has strong applicability.

[0057] Alternatively, the thruster 100 only needs a steering function, so that the steering module 40 or the steering control board 41 can be removed from the frame 10, or when the thruster 100 is assembled, it is not necessary to install functional modules such as the tilting module 30 or the tilting control board 31, and it is not necessary to redesign the main control module 20, the drive module 50 and the steering module 40, that is, the thruster 100 is installed with the main control module 20, the drive module 50 and the steering module 40. Among them, the main control module 20 is electrically connected to the drive module 50 and the steering module 40, and is used to receive input instructions and control the drive module 50 and the steering module 40 to work according to the received instructions. The steering control board 41 is used to control the steering actuator 42 to provide steering power for the propulsion motor 52 to turn, and the drive module 50 is used to control the propulsion motor 52 to provide propulsion force. The overall structure is simple, easy to replace, and has strong applicability. Of course, it is also convenient to cancel both the steering control panel and the tilt control panel, so that the main control module 20 and the drive module 50 can be shared with another type of propeller, which may not require steering function and tilt control. For example, this type of propeller may be a pod propeller.

[0058] In an optional embodiment, if Figure 2 As shown, the frame 10 includes a main body 11 and an underwater body 12 connected to the main body 11, the propulsion motor 52 is arranged at a portion of the underwater body 12 away from the main body 11, the thruster 100 also includes a propeller 53 arranged outside the underwater body 12 and connected to the shaft of the propulsion motor 52, and the accommodating cavity 111 is formed at least in the main body 11, so that the main control module 20, the steering control board 41, the tilting control board 31 and the drive control board 51 can be located above water when the thruster 100 is working, while the propeller 53 is located underwater, which can not only effectively protect the main control module 20, the steering control board 41, the tilting control board 31 and the drive control board 51 inside the main body 11, but also provide the thruster 100 with propulsion force through the propeller 53.

[0059] It is understandable that the underwater fuselage 12 is provided with a motor cavity 121, and the propulsion motor 52 is located in the motor cavity 121. The motor cavity 121 may be in communication with the accommodating cavity 111, or may be isolated from the accommodating cavity 111. Whether the motor cavity 121 is isolated from the accommodating cavity 111 mainly depends on the cooling method of the propulsion motor 52. If the propulsion motor 52 needs to be cooled by filling the motor cavity 121 with coolant, the motor cavity 121 is isolated from the accommodating cavity 111 to prevent the coolant from entering the accommodating cavity 111 and affecting the electrical components. If the propulsion motor 52 is cooled by heat exchange with the shell of the underwater fuselage 12 through the gas in the motor cavity 121, the motor cavity 121 is in communication with the accommodating cavity 111 to reduce the sealing structure. Of course, the cooling method of the above-mentioned propulsion motor 52 does not necessarily determine that the motor cavity 121 is connected to the accommodating cavity 111. For example, the motor cavity 121 is filled with coolant to cool the propulsion motor 52, and the motor cavity 121 is connected to the accommodating cavity 111. The electronic components in the accommodating cavity 111 can be wrapped with a protective film to prevent contact with the coolant. The propulsion motor 52 exchanges heat with the shell of the underwater fuselage 12 through the gas in the motor cavity 121. The motor cavity 121 is isolated from the accommodating cavity 111 to increase the protection level. After the motor cavity 121 accidentally enters water, the safety of other electronic components in the accommodating cavity 111 can also be maintained.

[0060] In an optional embodiment, if Figure 2 As shown, the main body 11 has a head 11a away from the underwater body 12 and a body body 11b connected to the underwater body 12. The accommodating cavity 111 has a first area 111a formed at the head 11a, and the main control module 20 is arranged in the first area 111a, so that the layout of the main control module 20 and the driving control board 51, the steering control board 41 and the tilting control board 31 is more reasonable, the structure is more compact, and the modular design of the main control module 20 and the driving control board 51, the steering control board 41 and the tilting control board 31 is realized, and the sealing effect is good, which is convenient for processing and manufacturing.

[0061] In an optional embodiment, if Figure 1 and Figure 2 As shown, the accommodating cavity 111 has a second area 111b formed on the fuselage body 11b, and the tilting control board 31 and the steering control board 41 are arranged in the second area 111b, so that the accommodating cavity 111 can be optimized, and the layout of the tilting control board 31 and the steering control board 41 is convenient to improve the space utilization. By distributing the main control module 20, the tilting control board 31, and the steering control board 41 in two different areas, the electromagnetic interference of the main control module 20 is reduced, and the control effectiveness of the main control module 20 is improved. Since the first area 111a is located at the nose 11a, it is convenient to disassemble the main control module 20 from the first area 111a for maintenance without affecting the removal of other control components.

[0062] Among them, the second area 111b can be set adjacent to the first area 111a, or the second area 111b can be set not adjacent to the first area 111a, and even an isolation area can be set between the second area 111b and the first area 111a, which can effectively prevent mutual interference between electromagnetic waves generated in different areas, and this application is not limited.

[0063] In an optional embodiment, if Figure 2 As shown, the drive control board 51 is arranged in the second area 111b and adjacent to the underwater fuselage 12, and the accommodating cavity 111 forms a closed end in the second area 111b adjacent to the underwater fuselage 12 to achieve a waterproof effect. At the same time, the water flowing in the external environment of the fuselage 12 can also be used to dissipate the heat of the drive control board 51 through the packaging shell of the fuselage 12. Compared with traditional contact heat conduction or air convection heat dissipation, its heat dissipation effect is significantly improved, its structure is simple, and the cost is extremely low.

[0064] In an optional embodiment, if Figure 2 and Figure 7 As shown, the accommodating chamber 111 has a third area 111c formed in the underwater fuselage 12, the third area 111c is connected to the second area 111b, the driving control board 51 is arranged in the third area 111c, and the accommodating chamber 111 forms a closed end at the third area 111c away from the fuselage main body 11b, so as to increase the sealing structure of waterproof penetration into the accommodating chamber 111, improve the waterproof level, and ensure the safety of the electronic components inside the accommodating chamber 111. By arranging the driving control board 51 in the underwater fuselage 12, the driving control board 51 is closer to the motor 52, which is convenient for connecting the driving control board 51 and the motor 52 with the conductive wire, and the layout of the underwater fuselage 12 is more reasonable and the structure is more compact. At the same time, the heat can be dissipated by the flowing water outside the underwater fuselage 12, and no additional circulating water power is required. The structure is simple and the cost is extremely low. Compared with contact heat conduction or air convection heat dissipation, the heat dissipation effect is significantly improved.

[0065] In an optional embodiment, if Figure 8As shown, the main control module 20 includes a main control communication interface 22 and a main control power interface 21. The main control power interface 21 is used to connect to the auxiliary battery 80 outside the thruster 100. The main control communication interface 22 is used to communicate with the steering control board 41, the lift control board 31 and the drive control board 51 to transmit the operation data generated according to the input instructions, so that the auxiliary battery 80 can provide power to the main control module 20, and the main control module 20 can transmit the control information generated according to the operation data to at least one of the steering control board 41, the lift control board 31 and the drive control board 51 through the main control communication interface 22. The steering control board 41, the lift control board 31 and the drive control board 51 can also feedback the results of executing the control information to the main control module 20 through the main control communication interface 22.

[0066] like Figure 8 As shown, the main control module 20 is also provided with a control device communication interface 24 that is connected to the external control devices 90 such as the near-control steering handle 91, the steering wheel 92, the wired remote control box 93, and the display screen 94, and receives the control information of the control devices 90 such as the near-control steering handle 91, the steering wheel 92, the wired remote control box 93, and the display screen 94 by using the control device communication interface 24, and feeds back the operation information to the control devices 90 such as the near-control steering handle 91, the steering wheel 92, the wired remote control box 93, and the display screen 94. Among them, the control device communication interface 24 is set at the position where the nose 11a is connected to the first area 111a, so that the control device communication interface 24 is convenient to connect the cable from the nose 11a to the external control device 90, so as to realize convenient hot plug docking and meet the diversified control requirements.

[0067] In addition, the control device 90 also includes but is not limited to a mobile terminal or a remote control handle that is communicatively connected to the water body carrier 200. The mobile terminal can be a mobile phone, a tablet computer, a computer, and other devices. When the main control module 20 receives the control command of the external control device 90, the propeller 100 is controlled to perform corresponding actions such as acceleration, deceleration, steering, and lifting based on the control command of the external control device 90. In addition to interacting with the external control module, the main control module 20 can also interact with the cloud server to obtain cloud data. For example, the main control module 20 can be combined with the GPS location information of the cloud data to interact with the lifting module 30, the steering module 40, and the driving module 50 to achieve the functions of controlling the movable device in the water area to maintain position and heading, etc.

[0068] In an optional embodiment, if Figure 8 and Fig. 9As shown, the steering control board 41 includes a steering communication interface 412, a steering power interface 411 and a UVW steering interface 413. A first communication cable 414 is connected between the steering communication interface 412 and the main control communication interface 22. The steering power interface 411 is connected to the conductive cable 23 connected between the main control power interface 21 and the battery. A UVW steering cable 415 is connected between the UVW steering interface 413 and the steering actuator 42. The steering actuator 42 is a three-phase motor. The UVW steering interface 413 is a three-phase conductive line interface for UVW three-phase line connection. The steering control board 41 is provided with an inverter circuit 47 to convert the direct current of the auxiliary battery 80 into three-phase alternating current and output it to the steering actuator 42. Among them, the first communication cable 414 is used to realize the bidirectional signal transmission between the steering communication interface 412 and the main control communication interface 22, and the conductive cable 23 can provide power to the steering control board 41. The steering control board 41 controls the operation of the steering actuator 42 through the UVW steering cable 415.

[0069] In an optional embodiment, if Figure 8 As shown, the steering module 40 also includes a steering angle sensor 43. The steering control board 41 is connected to the steering angle sensor 43 signal for detecting the torque angle output by the steering actuator 42 to the steering shaft, so that the steering module 40 can obtain the rotation position of the steering shaft according to the data of the steering angle sensor 43, and then judge the steering state of the propeller 100. The structure is simple, the installation is convenient, and the practicability is strong.

[0070] Among them, the steering control board 41 is provided with a steering angle interface 418, and the steering angle sensor 43 is connected to the steering angle interface 418 through a wiring harness, so that the steering control board 41 can detect and monitor the actual rotation angle of the steering actuator 42 output to the steering shaft, and then transmit the detected angle signal to the main control module 20, so that the main control module 20 can control the steering movement of the propeller 100 in real time to ensure the dynamic stability of the propeller 100 when turning. The steering control board 41 can obtain the output torque of the steering actuator 42 according to the signal line, and obtain the actual rotation angle of the steering shaft according to the steering angle sensor 43, so as to realize the closed-loop control of the steering of the propeller 100. In an optional embodiment, Figure 8 and Fig. 9 As shown, the steering module 40 also includes a steering lock 44, and the steering control board 41 is connected to the steering lock 44 by signal, which is used to lock the rotation position of the steering actuator 42 to remain unchanged, so that the steering angle of the propeller 100 remains unchanged, and the environmental force is prevented from changing the steering angle of the propeller 100 when the steering actuator 42 stops outputting the rotation torque, thereby affecting the next steering. Thus, the steering angle of the propeller 100 can be accurately controlled.

[0071] In an optional embodiment, if Figure 8 and Fig. 9 As shown, the steering module 40 further includes a steering temperature sampling circuit 416, which is disposed on the steering control board 41 and is used to obtain the temperature of the steering actuator 42 and monitor the temperature of the steering actuator 42. In the case where the steering actuator 42 is overheated, emergency measures are taken. The emergency measures may include but are not limited to taking alarm measures and other methods to effectively control the temperature of the steering actuator 42.

[0072] In an optional embodiment, if Figure 8 and Fig. 9 As shown, the steering module 40 also includes a steering position acquisition circuit 417, which is arranged on the steering control board 41 and is used to obtain the rotation position of the steering actuator 42, effectively ensuring the precise positioning of the rotation position of the steering actuator 42, thereby improving the precision control of the steering angle of the propeller 100, and can be combined with the steering shaft rotation angle obtained by the steering angle sensor 43 to realize closed-loop control of the propeller steering.

[0073] Among them, the steering actuator 42 adopts sensorless FOC control to simplify the control method of the steering actuator 42, ensure the service life of the steering actuator 42, and reduce the failure rate. Of course, in other embodiments, the steering actuator 42 adopts sensory FOC control, and the steering actuator 42 is provided with a steering resolver sensor 421, and the steering resolver sensor 421 includes a steering signal disc and a steering magnetic sensor. The steering signal disc is installed on the steering output shaft of the steering actuator 42, and the steering magnetic sensor is arranged on one side of the steering signal disc and connected to the steering position acquisition circuit 417. When the steering actuator 42 drives the steering signal disc to rotate, the steering magnetic sensor senses the signal on the steering signal disc and sends it to the steering position acquisition circuit 417, and the steering position acquisition circuit 417 processes and analyzes the rotation position of the steering output shaft, and then the rotation position of the steering actuator 42 can be obtained, so that the output steering torque of the steering actuator 42 can be accurately controlled.

[0074] In an optional embodiment, if Figure 8 and Fig. 9 As shown, the steering module 40 also includes a steering current and voltage sampling circuit 419, which is arranged on the steering control board 41 and respectively connected to the three-phase conductive line interface of the UVW steering interface 413, so that the current and voltage changes of the steering actuator 42 when working can be monitored.

[0075] In an optional embodiment, if Figure 8 , Fig.10 and Fig.11As shown, the tilting control board 31 includes a tilting main control board 311 and a tilting power board 312, wherein the tilting power board 312 is connected to the tilting main control board 311 via a communication cable and a conductive cable to realize communication between the tilting power board 312 and the tilting main control board 311, and is connected to the main control communication interface 22 and the auxiliary battery 80 via the tilting main control board 312. The tilting actuator 32 is connected to the tilting power board 312, and the output power of the tilting actuator 32 is controlled by the conversion circuit of the tilting power board 312.

[0076] After adopting the above technical scheme, the mutual interference between the strong electric signal on the lift power board 312 and the weak electric signal on the lift main control board 311 is avoided, and the thermal interference between the devices with high heat generation on the lift power board 312 and the devices with low heat generation on the lift main control board 311 is avoided. At the same time, it also avoids the reduction of product reliability due to insufficient safety spacing / creepage distance, and facilitates the maintenance of the lift power board 312 and the lift main control board 311. There is no need to replace the entire lift control board 31 because a part of the lift control board 31 is damaged, which greatly saves costs and improves the reliability and safety of the lift control board 31.

[0077] In an optional embodiment, if Fig.10 and Fig.11 As shown, the main control board 311 includes a tilting controller 3111 and an isolation drive circuit 3112. The isolation drive circuit 3112 is arranged between the tilting controller 3111 and the tilting power board 312. The tilting controller 3111 is used to perform logic control on the tilting actuator 32, thereby improving the working stability and reliability of the entire tilting main control board 311 and extending its service life. Among them, the isolation drive circuit 3112 can effectively isolate the power supply interference on the tilting power board 312, and can also make the most favorable action response to protect the circuit according to the working condition of the tilting power board 312.

[0078] In an optional embodiment, if Fig.10 and Fig.11 As shown, the tilting main control board 311 includes a tilting temperature sampling circuit 3113, and the tilting temperature sampling circuit 3113 is arranged on the tilting main control board 311, and is used to obtain the temperature of the tilting actuator 32, and can monitor the temperature of the tilting actuator 32. In the case that the temperature of the tilting actuator 32 is overheated, emergency measures are taken, such as alarming a fault of the tilting actuator 32, which not only ensures the safety of the tilting actuator 32, but also ensures the efficient operation of the tilting actuator 32.

[0079] In an optional embodiment, the warping main control board 311 includes a warping temperature sensor 34, which is used to collect the temperature of the warping actuator 32. The warping temperature sampling circuit 3113 is connected to the warping temperature sensor 34, and is used to receive the temperature signal of the warping temperature sensor 34 and process it into a voltage signal that is linearly related to the temperature signal. The voltage signal is transmitted to the warping controller 3111 and processed by the warping controller 3111. The warping controller 3111 controls the operation of the warping actuator 32 according to the processing result to prevent the temperature inside the warping actuator 32 from being too high, thereby affecting the life of the warping actuator 32 and even posing a safety hazard. Therefore, the present application can timely obtain the current temperature of the warping actuator 32 through the warping temperature sensor 34, so as to control the temperature of the warping actuator 32 within a normal range, thereby protecting the warping actuator 32.

[0080] In an optional embodiment, the propeller 100 can be installed at the tail of the water body 200 through an installation assembly 60, and the installation assembly 60 includes a clamping bracket 61 and a rotating bracket 62 connected to the frame 10, and the clamping bracket 61 can be fixedly connected to the water body 200 by welding or threaded connection, or is integrally provided with the water body 200. The tilting actuator 32 is transmission-connected between the clamping bracket 61 and the rotating bracket 62, and is used to push the rotating bracket 62 and then drive the propeller 100 to tilt.

[0081] In an optional embodiment, the tilting actuator 32 can be an electric push rod, a hydraulic cylinder, a gas cylinder, an electro-hydraulic cylinder or other equipment capable of outputting power. For example, when the tilting actuator 32 is an electric push rod, one end of the push rod is mounted on the clamping bracket 61, and the other end is a telescopic end, which is connected to the rotating bracket 62. By telescoping, the electric push rod can push the rotating bracket 62 to rotate relative to the clamping bracket 61, so that the propulsion motor 52 connected to the frame 10 and the propeller 53 connected to the shaft of the propulsion motor 52 are tilted.

[0082] For example, Fig.10 and Fig.11 As shown, the tilting actuator 32 includes a tilting motor 322 and a tilting oil cylinder 321. The tilting motor 322 is used to provide hydraulic power to the tilting oil cylinder 321. For example, when the tilting motor 322 rotates forward, hydraulic oil or water flows into one side of the tilting oil cylinder 321, so that the propeller 100 is tilted. When the tilting motor 322 rotates reversely, the hydraulic oil or water flows out of the oil cylinder on one side and enters the other side of the oil cylinder, so that the propeller 53 of the propeller 100 can be pushed into the water, realizing the water entry function of the propeller 100.

[0083] In an optional embodiment, the warping temperature sensor 34 is connected to the warping motor 322 to monitor the temperature of the warping motor 322 and take emergency measures when the temperature of the warping motor 322 is overheated. The emergency measures may include but are not limited to taking alarm measures and other methods to effectively control the temperature of the warping motor 322.

[0084] In an optional embodiment, if Fig.10 As shown, due to the design of the whole system, when the propeller 100 is powered off, the lifting module 30 is also in a powered-off state. However, this power-off method cannot meet the use requirements of certain scenarios where the lifting module 30 needs to be used alone. For example, in the case of a failure of the lifting module 30 of the propeller 100, in order to avoid the propulsion motor 52 of the propeller 100 being started by mistake, causing the propeller 53 to rotate, thereby causing harm to maintenance personnel, etc., the propeller 100 is usually powered off, which will cause the lifting module 30 to be unable to complete the lifting action, and the failure to complete the lifting action will increase the difficulty of repairing the propeller 100. Therefore, the tilting module 30 also includes a maintenance tilting button 35. When the propeller 100 is powered off, the tilting controller 3111 can respond to the tilting control instruction generated by the triggered maintenance tilting button 35 to control the tilting actuator 32 to perform the tilting action, so that the tilting controller 3111 can also control the tilting actuator 32 to perform the tilting action in the maintenance mode, thereby reducing the difficulty of maintenance of the propeller 100.

[0085] In an optional embodiment, as 8 and Fig.11 As shown, the lifting main control board 311 also includes an auxiliary power supply, a power switch control circuit 3116 and a wake-up signal trigger circuit 3115. The power of the auxiliary power supply is provided by an auxiliary battery 80 and connected to the lifting controller 3111, and is used to use the auxiliary power supply to supply power to the lifting controller 3111 when the power switch control circuit 3116 is not turned on; at the same time, the auxiliary battery 80 can also supply power to the lifting controller 3111 when the power switch control circuit 3116 is turned on, that is, when the main control module 20 is working, the main control module 20 coordinates the power on and off control of each electrical device associated with it, so as to realize centralized management of each electrical device; and when the main control module 20 is not working, the lifting module 30 can realize independent power-on through the auxiliary power supply to perform lifting control, which can meet the usage requirements in specific scenarios. Among them, the wake-up signal trigger circuit 3115 is used to receive the wake-up signal of the external control device 90, and the power switch control circuit 3116 is turned on, so that the tilting controller 3111 and the tilting actuator 32 can receive the electric energy transmitted from the auxiliary battery 80 to power the tilting control 30 and the controller 20.

[0086] In an optional embodiment, if Fig.11As shown, the tilting main control panel 311 also includes a tilting control 3117, which is used to generate a tilting control instruction to control the tilting actuator 32 to perform a corresponding tilting action. The tilting control 3117 may include but is not limited to an upward tilting control and a downward tilting control. The upward tilting control is used to control the tilting actuator 32 to drive the propeller 100 to perform a tilting action in one of the upward and downward directions, that is, to rotate between the working position and the initial position.

[0087] In an optional embodiment, if Fig.11 As shown, the main control panel 311 also includes a stop control 3118, which is used to stop the rotation of the propeller 100 when the propeller actuator 32 drives the propeller 100 to perform the propeller action. The propeller 100 can be stopped between the working position and the initial position based on actual needs.

[0088] In an optional embodiment, if Figure 8 and Fig.11 As shown, the tilting main control board 311 also includes a tilting communication interface 313, which is communicatively connected to the main control communication interface 22 via a communication cable, and is used to realize bidirectional signal transmission between the steering communication interface 412 and the main control communication interface 22.

[0089] In an optional embodiment, if Fig.10 As shown, the main control board 311 also includes a voltage sampling circuit 3119, which is arranged on the main control board 311 and connected to the power board 312, respectively, to monitor the voltage of the tilting actuator 32 when it is working, and take emergency measures when the voltage of the tilting actuator 32 exceeds the voltage alarm threshold. The emergency measures may include but are not limited to taking alarm measures and other methods to effectively control the voltage of the tilting actuator 32.

[0090] In an optional embodiment, if Fig.11As shown, the main control board 311 for lifting also includes a lifting current sampling circuit 314, which is arranged on the main control board 311 for lifting and is connected to the power board 312 for lifting, so as to monitor the current of the lifting actuator 32 when it is working, and take emergency measures when the current of the lifting actuator 32 exceeds the current alarm threshold. Among them, the emergency measures may include but are not limited to taking alarm measures and other ways to effectively control the current of the lifting actuator 32. In this embodiment, the main control board 311 for lifting also includes a lifting current amplification circuit and a lifting overcurrent detection circuit, and the lifting current amplification circuit can amplify and process the current signal obtained by the lifting current sampling circuit 314, so that the signal is easier to be recognized by the main control board 311 for lifting. The lifting overcurrent detection circuit can directly determine whether the current signal obtained by the lifting current sampling circuit 314 exceeds the current alarm threshold, so that the main control board 311 for lifting can respond quickly, reducing the probability of causing line aging, etc. In addition, compared with software control, the response speed of the overcurrent protection function can be improved.

[0091] In an optional embodiment, if Figure 8 and Fig. 9 As shown, the tilting module 30 also includes a tilting position sensor 3114, and the tilting controller 3111 is electrically connected to the tilting position sensor 3114. The tilting position sensor 3114 is used to detect the tilting position actuated by the tilting actuator 32, and send the tilting position to the tilting controller 3111, so as to accurately control the tilting position of the propeller 100, which can not only remind the driver of the current tilting position of the propeller 100, but also improve the safety of the use of the propeller 100, and the number of feedback signals and control elements is small, the structure is simple, and the operation is convenient, and the design is humanized. It can be understood that the tilting position sensor 3114 is set near the tilting axis of the propeller 100, or near the rotating axis synchronized with the tilting axis of the propeller 100, so as to sense the actual tilting angle of the propeller 100, thereby realizing closed-loop control of the tilting angle of the propeller 100.

[0092] In an optional embodiment, if Figure 8 and Fig.12 As shown, the drive control board 51 includes a drive main control board 511 and a drive power board 512. The drive main control board 511 is connected to the main control communication interface 22 and the drive power board 512, and is used to communicate and interact with the drive main control board 511 and control the operation of the drive power board 512. The drive power board 512 is connected to the external power battery 80a and outputs current to the propulsion motor 52.

[0093] After adopting the above technical scheme, the mutual interference between the strong electric signal on the driving power board 512 and the weak electric signal on the driving main control board 511 is avoided, and the thermal interference between the devices with high heat generation on the driving power board 512 and the devices with low heat generation on the driving main control board 511 is avoided. At the same time, it also avoids the reduction of product reliability due to insufficient safety spacing / creepage distance, and facilitates the maintenance of the driving power board 512 and the driving main control board 511. There is no need to replace the entire driving control board 51 because a part of the driving control board 51 is damaged, which greatly saves costs and improves the reliability and safety of the driving control board 51.

[0094] In addition, since the power battery 80a provides low-voltage direct current to the drive control board 51, after the drive power board 512 is connected to the drive control board 51, the drive power board 512 can convert the low-voltage direct current provided by the power battery 80a into high-voltage alternating current for use by the propulsion motor 52. Not only does it not need to be connected to high-voltage alternating current, thereby reducing safety hazards; at the same time, the low-voltage direct current and high-voltage alternating current are designed separately, which can improve the reliability and safety of the drive control board 51.

[0095] In an optional embodiment, if Fig.12 As shown, the driving module 50 includes a driving temperature sampling circuit 513, which is arranged on the driving main control board 511. The driving temperature sampling circuit 513 is electrically connected to the driving power board 512 and the propulsion motor 52, and is used to collect the temperature of the driving power board 512 and the temperature of the propulsion motor 52, so that the temperature of the driving power board 512 and the propulsion motor 52 can be monitored. When the temperature of the driving power board 512 and the propulsion motor 52 is overheated, emergency measures are taken to ensure the safety of the driving power board 512 and the propulsion motor 52, and also ensure the efficient operation of the driving power board 512 and the propulsion motor 52.

[0096] In an optional embodiment, if Fig.12 As shown, the driving module 50 also includes a driving position sensor 514, and the driving main control board 511 is electrically connected to the driving position sensor 514. The driving position sensor 514 is used to detect the rotation position of the propulsion motor 52 so as to be able to accurately control the movement position of the propeller 100, thereby improving the safety of the use of the propeller 100 and having the characteristics of simple structure and easy operation.

[0097] Among them, the drive position sensor 514 is a rotary sensor, which includes a drive signal disk and a drive magnetic sensor. The drive signal disk is installed on the main shaft 523 of the propulsion motor 52. The drive magnetic sensor is arranged on one side of the drive signal disk and is connected to the drive position acquisition circuit. When the propulsion motor 52 drives the drive signal disk to rotate, the drive magnetic sensor senses the signal on the drive signal disk and sends it to the drive position acquisition circuit. The drive position acquisition circuit processes and analyzes the rotation position of the drive output shaft, and then the rotation position of the propulsion motor 52 can be obtained.

[0098] In an optional embodiment, if Figure 8 and 12 As shown, the drive control board 51 includes a drive controller 515, a drive main control board 511 and a drive power board 512. The drive controller 515 is used to receive the target torque instruction of the main control module 20 and send it to the propulsion motor 52 through the drive main control board 511, so that the propulsion motor 52 can execute the target torque output.

[0099] In an optional embodiment, if Figure 7 , 11 and Fig.14 As shown, the number of drive main control boards 511 and drive power boards 512 are both 2, wherein the propulsion motor 52 has two stator windings, wherein one drive main control board 511 and one drive power board 512 are connected to one of the stator windings, and the other drive main control board 511 and the other drive power board 512 are connected to the other stator winding, so that the two drive power boards 512 can supply power to the two stator windings respectively, and the two drive main control boards 511 can supply control instructions to the two stator windings, so that the two stator windings can cooperate with each other and output the target torque to the outside.

[0100] In an optional embodiment, if Fig.12 and Fig.13 As shown, the driving module 50 also includes an aluminum substrate 54 electrically connected to the driving power board 512, wherein the driving temperature acquisition circuit 513 is also electrically connected to the aluminum substrate 54, and is used to acquire the temperature of the aluminum substrate 54, so that the temperature of the driving power board 512 can be obtained to avoid overheating of the driving power board 512. At the same time, the driving power board 512 is connected to the aluminum substrate 54, so that the driving power board 512 can have a strong heat absorption and heat dissipation effect, and can effectively introduce all the heat on the driving power board 512 into the aluminum substrate 54, so as to better dissipate heat and avoid the driving power board 512 from heating up due to long-term use. The driving temperature acquisition circuit can also be used to indirectly acquire the temperature of the driving power board 512, and the weight of the driving power board 512 itself can also be reduced.

[0101] In an optional embodiment, if Figure 1 and Fig.15 As shown, the drive control board 51 is located at the part of the frame 10 above the water, and the thruster 100 also includes a cooling system 70, which is arranged on the frame 10. A part of the cooling system 70 is thermally coupled with the drive control board 51, and is used for heat exchange with the drive control board 51 to reduce the temperature of the drive control board 51; the other part is arranged in the underwater part of the frame 10 to conduct the heat of the drive control board 51 to the water area through the underwater shell of the frame 10, thereby improving the heat dissipation effect.

[0102] As an example, a water pressure plate 123 is provided on the frame 10, and the water pressure plate 123 is connected to the underwater fuselage 12, and the water pressure plate 123 and the underwater fuselage 12 can be an integrally cast structure, or can be two separately formed components connected together by threaded connection, welding, etc. Among them, the above-water part of the frame 10 refers to the structure of the frame 10 exposed to the water surface, including the nose 11a, the fuselage body 11b and the underwater fuselage 12 located at the upper end of the water pressure plate 123; the underwater part refers to the structure of the frame 10 sunk below the water surface, including the underwater fuselage 12 located at the lower end of the water pressure plate 123; the water area includes water areas such as oceans, lakes, rivers, reservoirs, ponds and farms, so that the water area carrier 200 connected to the propeller 100 can work in the water area, and the heat of the drive control board 51 can be transferred to the water body by the frame 10 for heat dissipation.

[0103] In an optional embodiment, the water pressure plate 123 is connected to the upper side of the underwater fuselage 12 (close to the side of the fuselage body 11b) and extends to the side away from the water body vehicle 200, and the water pressure plate 123 is located above the propeller 53. In this way, the propeller 53 is located on the side of the water pressure plate 123 away from the fuselage body 11b, and the water waves caused by the propeller 53 during operation can be controlled under the water pressure plate 123, thereby reducing the wave resistance of the water body vehicle 200.

[0104] In some embodiments, the water pressure plate 123 and the underwater fuselage 12 are connected by heat conduction, that is, the water pressure plate 123 and the underwater fuselage 12 transfer heat to each other. For example, the water pressure plate 123 and the underwater fuselage 12 are made of the same heat-conducting material (such as aluminum alloy) or are connected by heat conduction through a heat conductor (such as a metal with good thermal conductivity). In this way, the heat transferred to the underwater fuselage 12 can be quickly transferred to the water pressure plate 123 in addition to being directly transferred to the water, and then transferred to the water, which is equivalent to increasing the heat dissipation area. In addition, for the embodiment in which the water pressure plate 123 is located above the propeller 53, under the push of the propeller 53, the water flows through the propeller 53 at a faster speed, which can quickly and efficiently take away the heat on the propeller 53, so that the heat of the drive control board 51 can be quickly transferred to the water body through the underwater fuselage 12 and the propeller 53.

[0105] In some embodiments, a water jet plate is disposed on the lower surface of the water pressure plate 123, and the water jet plate is disposed vertically to improve the turning performance of the water area vehicle 200. Figure 1 and Fig.13 As shown, the cooling system 70 is configured with a circulating cooling liquid 70a, wherein the cooling liquid 70a is isolated from the accommodating chamber 111, and the cooling liquid 70a absorbs heat from the drive control board 51, and releases the heat to the external water area at the underwater part of the frame 10, so that the heat generated by the drive control board 51 during operation can be released to the external water area through the cooling system 70, thereby effectively reducing the temperature of the drive control board 51.

[0106] Exemplarily, the cooling liquid 70a flows on the closed internal circulation path on the frame 10, so that the cooling liquid 70a can exchange heat with the drive control board 51 during the circulation process, and then the heat transferred by the drive control board 51 is transferred to the underwater fuselage 12. The underwater fuselage 12 can exchange heat with the external environment to cool the cooling liquid 70a, thereby improving the heat transfer efficiency between the drive control board 51 and the underwater fuselage 12, and ensuring the cooling efficiency of the drive control board 51. The closed internal circulation path on the frame 10 is isolated from the accommodating chamber 111 to ensure that the components in the accommodating chamber 111 are not affected by the cooling liquid 70a, thereby avoiding short-circuit effects on the electronic components in the accommodating chamber 111. In an optional embodiment, Figure 1 and Fig.15 As shown, the cooling system 70 includes a heat exchanger 73, a cooler 71 for cooling a heat source, and a storage tank 72 for storing a coolant, wherein the heat exchanger 73 is arranged at a portion of the rack 10 that can contact the water area, so that the heat exchanger 73 can exchange heat with the water area environment through the rack 10. The storage tank 72 is fixed to the rack 10 and communicates with the heat exchanger 73 through a flow channel. The cooler 71 is located in the accommodating cavity 111 and communicates with the storage tank 72 and the heat exchanger 73 through a flow channel to form a closed loop. The cooler 71 contacts the drive control board 51 to absorb the heat of the drive control board 51, thereby effectively reducing the temperature of the drive control board 51.

[0107] In this embodiment, the cooler 71 cools the drive control board 51, and the drive control board 51 is arranged in a section of the accommodating chamber 111 away from the head. The cooler 71 includes a cooling mounting plate 711, and the cooling mounting plate 711 seals one end of the accommodating chamber 111 adjacent to the underwater fuselage 12. At the same time, the interior of the cooling mounting plate 711 is connected to the heat exchanger 73 arranged underwater through a water inlet pipe, and a sealing element is arranged at the connection interface. The cooling mounting plate 711 is used to seal one end of the accommodating chamber 111 adjacent to the underwater part to ensure the sealing inside the accommodating chamber 111, reduce the sealing element, and prevent the water leaking from the underwater part from entering the accommodating chamber 111. The fuselage body 11b is also provided with an above-water pipeline cavity connected to the underwater cavity, and the above-water pipeline cavity is located on one side of the accommodating chamber 111 and isolated from the accommodating chamber 111. The above-water pipeline cavity is used to accommodate the water pump 74, the storage box 72 and the pipeline connected to the cooling mounting plate 711. The cooling mounting plate 711 is provided with a water outlet and a water inlet isolated from the accommodating chamber 111. The water outlet is sealedly connected to the storage box 72 via a pipe, and the water inlet is sealedly connected to the heat exchanger 73 via a pipe. The storage box 72 is fixed to the machine head, and the coolant inside the storage box 72 can be conveniently added after the machine head is disassembled from the machine head. The storage box 72 can also be provided with a pressure regulating valve to use the pressure regulating valve to adjust the pressure inside the circulation system to ensure the cooling stability of the circulation system.

[0108] In an optional embodiment, if Figure 1 and Fig.13 As shown, the cooling system 70 includes a pump body 74, which is arranged in a closed loop circuit and is used to drive the coolant in the closed loop circuit to circulate and can be recycled and reused without affecting the environment.

[0109] Exemplarily, the pump body 74 is an electronic pump, which is electrically connected to the drive control board 51 and its operation is controlled by the drive control board 51, wherein the main control module 20 controls the operation of the electronic pump by outputting a control current to the electronic pump. The larger the control current, the greater the operating power of the electronic pump, the faster the rotation speed of the electronic pump, and further the faster the flow speed of the coolant.

[0110] Specifically, Figure 12 to Figure 14As shown, when the drive control board 51 senses that the temperature of the drive control board 51 exceeds the threshold value through the drive temperature acquisition circuit 513, the drive control board 51 controls the electronic pump to start and work at a higher power, and the coolant in the storage box 72 is transported to the cooler 71 through the electronic pump. The coolant takes away the heat of the cooler 71 and the drive control board 51 on the cooler 71, and then the coolant flows to the heat exchanger 73 for heat exchange, and then returns to the storage box 72 after the coolant is cooled by the heat exchanger 73. When the temperature of the drive control board 51 drops below the threshold value, the drive control board 51 controls the electronic pump to run at a lower power, so that the coolant maintains a suitable temperature and viscosity under the heat preservation effect of the cooler 71 and the drive control board 51, avoids the temperature drop of the coolant too large, and avoids the need for cold start of the electronic pump, so that the drive control board 51 can work for a long time, with high power, safely, stably and efficiently, and is beneficial to energy saving, and is beneficial to reducing maintenance costs and operating costs. Afterwards, when the driving temperature acquisition circuit 513 monitors that the temperature of the driving control board 51 exceeds the threshold again, the driving control board 51 controls the electronic pump to continue to operate at a higher power, so that the driving control board 51 can be cooled down quickly.

[0111] In an optional embodiment, a filter is further provided on the closed loop circuit, and the filter can filter the coolant to prevent clogging.

[0112] In an optional embodiment, a liquid level sensor is provided on the storage tank 72, and the drive control board 51 is electrically connected to the liquid level sensor. When the liquid level sensor detects that the amount of coolant in the storage tank 72 is insufficient, the liquid level sensor can send out an alarm through the propeller to avoid affecting the cooling effect.

[0113] In an optional embodiment, the liquid outlet port of the pump body 74 is provided with a pressure switch device. When the pressure of the liquid outlet port of the pump body 74 is higher than the rated safety pressure, the pressure switch device accordingly disconnects the power supply of the pump body 74 to prevent the pressure from exceeding the set value range, which is beneficial to protecting the closed loop.

[0114] In an optional embodiment, if Fig.14 and Fig.15 As shown, the cooler 71 is provided with a cooling mounting plate 711 and a curved flow channel 712 formed in the cooling mounting plate 711, the curved flow channel 712 is passed through a closed-loop cooling liquid, and the drive control board 51 is mounted on the surface of the cooling mounting plate 711, and heat is transferred to the coolant in the curved flow channel 712 through the cooling mounting plate 711, so that the cooling mounting plate 711 can carry away the heat generated by the drive control board 51 during operation through the coolant, thereby effectively reducing the temperature of the drive control board 51.

[0115] Exemplarily, the cooling mounting plate 711 is provided with a first pipe joint 711a and a second pipe joint 712a for connecting with the flow channel. The first pipe joint 711a is connected to one end of the curved flow channel 712, and the second pipe joint 712a is connected to the other end of the curved flow channel 712. The first pipe joint 711a and the second pipe joint 712a enable the curved flow channel 712 to communicate with the storage box 72 and the heat exchanger 73 through the flow channel to form a closed loop, and can take away the heat of the drive control board 51, thereby achieving the purpose of cooling the drive control board 51. In an optional embodiment, as Fig.12 As shown, the drive control board 51 includes a first drive board 51a and a second drive board 51b. The first drive board 51a and the second drive board 51b are arranged on two opposite surfaces of the cooling mounting plate 711 to increase the heat dissipation area of ​​the drive control board 51 and enhance the heat dissipation effect of the drive control board 51.

[0116] Exemplarily, the cooling mounting plate 711 has a first end surface and a second end surface opposite to each other, the curved flow channel 712 is formed in the inner area between the first end surface and the second end surface, and the first driving plate 51a is mounted on the first end surface through the aluminum substrate 54, and the second driving plate 51b is mounted on the second end surface through the aluminum substrate 54. In an optional embodiment, as Figure 2 and Fig.13 As shown, the propulsion motor 52 includes a first stator winding 521 and a second stator winding 522, and the first stator winding 521 and the second stator winding 522 are arranged side by side along the main shaft 523 of the propulsion motor 52, and the first drive plate 51a is electrically connected to the first stator winding 521, and the second drive plate 51b is electrically connected to the second stator winding 522, so that the first drive plate 51a and the second drive plate 51b can drive the main shaft 523 of the propulsion motor 52 to rotate through the first stator winding 521 and the second stator winding 522, thereby providing propulsion force for the propeller 100.

[0117] In an optional embodiment, if Figure 2 , Figure 3 and Fig.17 As shown, the frame 10 is provided with a mounting seat 13 in the accommodating cavity 111, and the steering actuator 42, the steering control plate 41 and the tilting control plate 31 are fixed on the mounting seat 13. The mounting seat 13 is fixed on the frame 10 and is located in the second area 111b, so that the steering actuator 42, the steering control plate 41 and the tilting control plate 31 are stably fixed in the second area 111b. At the same time, the relative positions of the steering actuator 42, the steering control plate 41 and the tilting control plate 31 can be adjusted through the mounting seat 13, so that the spatial arrangement is more reasonable, and there is no need to redesign the space of the second area 111b. The mounting seat 13 can be better fixed within the tolerance range of the second area 111b, and the adjustment is flexible and the adaptability is strong.

[0118] Exemplarily, the mounting seat 13 includes a first side and a second side disposed opposite to each other, a first side wall is connected between the first side and the second side, and an actuator mounting portion is disposed on the first side wall. The tilting control panel 31 is mounted on the first side of the mounting seat 13, the steering control panel 41 is mounted on the second side of the mounting seat 13, and the steering actuator 42 is mounted on the actuator mounting portion, so that the tilting control panel 31 and the steering control panel 41 do not need to occupy a separate installation position in the frame 10, which is conducive to the reasonable layout of the space in the frame 10.

[0119] After adopting the above technical solution, by integrating the lifting control panel 31 and the steering control panel 41 on the mounting base 13, the structure of the propeller 100 is made more compact, that is, the propeller 100 can simultaneously fix the lifting control panel 31 and the steering control panel 41 in the accommodating cavity 111 only through the mounting base 13, and the lifting control panel 31 and the steering control panel 41 do not need to occupy the installation position in the cabinet separately. The structure is compact, which can reduce the occupation of the installation position in the accommodating cavity 111, which is conducive to the reasonable layout of the space inside the propeller 100.

[0120] In an optional embodiment, if Figure 2 , Figure 3 and Fig.14 As shown, the propeller 100 further includes an installation assembly frame 60, which is used to connect the water body 200. A steering shaft 45 is arranged between the installation assembly frame 60 and the frame 10, and one end of the steering shaft 45 is located in the accommodating cavity 111 to receive the steering power of the steering actuator 42 through the reducer and the torque increasing assembly, so that the steering control plate 41 can drive the steering shaft 45 to rotate through the steering actuator 42 to drive the installation assembly frame 60 to rotate relative to the frame 10, thereby realizing the steering function of the propeller 100.

[0121] In some embodiments, Figure 2 , Figure 3 and Fig.16 As shown, a shaft seal 15 is provided between the steering shaft 45 and the frame 10 to seal the gap between the steering shaft 45 and the frame 10, thereby effectively preventing liquid from penetrating into the accommodating cavity 111 and causing hidden dangers to the safety of use of the main control module 20, the driving control board 51, the steering control board 41, and the lifting control board 31.

[0122] Exemplarily, a first rotating hole is provided on the main body 11, and a second rotating hole is provided on the underwater body 12. The position of the first rotating hole corresponds to the position of the second rotating hole. The steering shaft 45 is connected to the mounting assembly frame 60 and extends from both ends of the mounting assembly frame 60. One end of the steering shaft 45 extends from the first rotating hole into the accommodating cavity 111 to receive the steering power of the steering actuator 42. The other end of the steering shaft 45 is rotatably installed in the second rotating hole. The shaft seal 15 fills the gap between the steering shaft 45 and the first rotating hole and the second rotating hole to prevent water from entering the accommodating cavity 111, thereby ensuring the safety of the power use of the control drive module 50, the steering module 40 and the lifting module 30. In an optional embodiment, Figure 2 , Figure 7 and Fig.17 As shown, the frame 10 is equipped with a reduction bracket 14, and the mounting seat 13 is fixedly connected to the reduction bracket 14. The steering module 40 further includes a reduction module 46 assembled on the reduction bracket 14, the reduction module 46 is transmission-connected to the steering shaft 45, and the steering actuator 42 is transmission-connected to the reduction module 46, and the steering torque is output to the steering shaft 45 through the reduction module 46, so that the steering shaft 45 can drive the mounting assembly frame 60 to rotate relative to the frame 10, thereby realizing the steering function of the propeller 100.

[0123] For example, Fig.17 As shown, the first side wall is provided with an actuator mounting portion, a deceleration module mounting portion and a deceleration bracket mounting portion along the height direction of the mounting seat 13, so that the steering actuator 42, the deceleration module 46 and the deceleration bracket 14 can be installed from bottom to top and correspondingly on the actuator mounting portion, the deceleration module mounting portion and the deceleration bracket mounting portion. The deceleration bracket 14 can be fixedly connected to the first side wall of the mounting seat 13 by welding or threaded connection, or can be integrally provided with the mounting seat 13.

[0124] Alternatively, the first side wall is arranged along the height direction of the mounting seat 13, and the two ends of the first side wall are respectively provided with an actuator mounting portion and a deceleration bracket mounting portion, the deceleration bracket 14 can be fixedly connected to the deceleration bracket mounting portion by welding or threaded connection, the deceleration module is fixedly connected to the deceleration bracket 14 by threaded connection, and the steering actuator 42 is fixedly connected to the actuator mounting portion by threaded connection, which is not limited in the present application. In an optional embodiment, as Figure 8 and Fig.17As shown, the reduction module 46 includes a torque-increasing gear set 461 and a reducer 462. The torque-increasing gear set 461 is assembled on the reduction bracket 14 and connected to the steering shaft 45. The reducer 462 is fixed to the reduction bracket 14 and connected to the torque-increasing gear set 461. The steering actuator 42 is connected to the reducer 462, so that the steering actuator 42 can use the reducer 462 and the torque-increasing gear set 461 to convert the rotation speed into the required torque, so as to drive the installation frame 60 to rotate relative to the frame 10, and at the same time reduce the rotation speed of the installation frame 60 relative to the frame 10.

[0125] In an optional embodiment, if Figure 2 , Figure 4 and Figure 6 As shown, the head 11a is provided with a cover body 110a, and the peripheral side of the cover body 110a is sealed with the main body 11b. The first area 111a is formed on the inner side of the cover body 110a to prevent external liquid from entering the first area 111a, thereby protecting the main control module 20 and improving the service life of the main control module 20; at the same time, it is also convenient for the disassembly and assembly of the main control module 20.

[0126] Exemplarily, the top of the machine head 11a is an open structure, the cover body 110a includes a cover body baffle and a cover body side panel bent from the cover body baffle, the cover body baffle is detachably installed on the open structure through the cover body side panel, and the main control module 20 is accommodated in the cover body accommodating cavity formed by the cover body baffle and the cover body side panel.

[0127] In an optional embodiment, the cover side panels are formed on the peripheral side of the cover baffle, and the cover side panels are bent outward at one end away from the cover baffle to form a cover fixing portion, so that the cover side panels can be fixed to the top of the fuselage body 11b through the cover fixing portion. The cover fixing portion may be a skirt panel bent outward from the cover side panels, or the cover fixing portion may be a buckle formed by bending on the cover side panels. The present application does not limit this. The main purpose is to fix the cover side panels to the top of the fuselage body 11b through the cover fixing portion, and the cover side panels are sealed to the fuselage body 11b through the cover sealing member. For example, Figure 4 and Figure 6 As shown, the head 11a is also provided with an inner flange 110b, and the peripheral side of the cover body 110a is provided with a lip 1101a that is sealed with the inner flange 110b, and the lip 1101a is located outside the first area 111a and is stacked with the inner flange 110b in the relative direction from the main body 11 to the underwater body 12 to seal the first area 111a and prevent liquid from entering the interior of the first area 111a.

[0128] For example, Figure 4 and Figure 7As shown, the inner flange 110b extends from the inner wall of the open structure to the inside of the fuselage body 11b, and the lip 1101a is bent outward from the side plate of the cover body at the end away from the cover body baffle. When the cover body 110a is covered on the open structure, the lip 1101a and the inner flange 110b at least partially overlap in the height direction of the propeller 100. Among them, the cover body seal can be filled in the gap between the lip 1101a and the inner flange 110b, or the bottom of the lip 1101a adopts a soft rubber structure, so that the lip 1101a can abut against the inner flange 110b and produce a certain deformation, so that the first area 111a can be sealed to prevent liquid from entering the inside of the first area 111a. The inner flange 110b and the lip 1101a are stacked and sealed upward in the open direction of the head 11a, so as to improve the sealing performance of the cover body 110a and the inner flange 110b. Of course, in other embodiments, the inner flange 110b may be used to surround the circumference of the cover body 110a to provide sealing pressure in the radial direction to ensure sealing. Figure 5 , Figure 7 and Figure 8 As shown, the head 11a is provided with an isolation plate 110c fixed on the inner flange 110b, the first area 111a is formed between the isolation plate 110c and the cover 110a, the main control module 20 is connected to the steering control board 41, the tilting control board 31 and the drive control board 51 through the communication cable passing through the isolation plate 110c, and the isolation plate 110c can effectively prevent the mutual interference of electromagnetic waves generated between the main control module 20 and the steering control board 41, the tilting control board 31 and the drive control board 51. Among them, the communication cable includes a first communication cable 414 connected between the steering communication interface 412 and the main control communication interface 22, a second communication cable 33 connected between the main control module 20 and the tilting control board 31, and a third communication cable connected between the main control module 20 and the drive control board 51, and the first communication cable 414, the second communication cable 33 and the third communication cable are used to realize the communication connection between the main control module 20 and the steering control board 41, the tilting control board 31 and the drive control board 51. Of course, in other embodiments, the cover 110a may also be sealed to the edge of the isolation plate 110c, and the edge of the isolation plate 110c is further sealed to the inner flange 110b, thereby achieving sealing between the cover 110a and the fuselage body 11b.

[0129] Exemplarily, one end of the first communication cable 414, the second communication cable 33 and the third communication cable is electrically connected to the main control communication interface 22 of the main control module 20, and the other ends of the first communication cable 414, the second communication cable 33 and the third communication cable pass through the wire hole of the isolation plate 110c and are located in the second area 111b; wherein, the other end of the first communication cable 414 is connected to the steering communication interface 412 of the steering control board 41, the other end of the second communication cable 33 is connected to the tilting communication interface 313 of the tilting control board 31, and the other end of the third communication cable is connected to the drive control board 51 driving communication interface connection, which not only makes the assembly between the main control module 20 and the steering control board 41, the tilting control board 31 and the driving control board 51 easier, the configuration is more flexible and convenient, and the communication connection between the main control module 20 and the steering control board 41, the tilting control board 31 and the driving control board 51 can be realized only through the communication cable; and it can also reduce the volume of the main control module 20 and the volume of the propeller 100, so that the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 can be reasonably arranged according to the internal space of the accommodating cavity. In addition, the connection between the communication cable and the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 can also be communicated through the direction of the connector plugging and unplugging, so that the operation and assembly between the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 are more convenient.

[0130] In an optional embodiment, if Figure 5 , Figure 7 and Figure 8 As shown, the isolation plate 110c is also provided with a power cord hole 1101c, and the main control module 20 and the steering control board 41 or the tilting control board 31 are connected with a conductive cable 23 passing through the power cord hole 1101c, and the conductive cable 23 is used to be electrically connected to the external auxiliary battery 80 via the steering control board 41 or the tilting control board 31, and transmit current to the main control module 20, so as to provide power to the main control module 20, the steering control board 41 and the tilting control board 31.

[0131] Exemplarily, the conductive cable 23 includes a first power line, a second power line and a third power line, one end of the first power line is electrically connected to the main power interface 21 of the main control module 20, and the other end of the first power line is electrically connected to the external auxiliary battery 80; wherein, one end of the second power line and the third power line can be electrically connected to the main power interface 21 of the main control module 20, and one end of the second power line and the third power line can also be electrically connected to the first power line, and the other ends of the second power line and the third power line pass through the power line hole 1101c and are electrically connected to the steering control panel 41 and the tilting control panel 31 respectively, so as to provide power to the steering control panel 41 and the tilting control panel 31.

[0132] In an optional embodiment, if Figure 4 and Figure 5 As shown, the head 11a is further provided with an upper baffle 110d on the side of the inner flange 110b away from the first area 111a, and the frame 10 also includes a hood 110e covering the upper baffle 110d. The hood 110e is located on the side of the cover body 110a away from the first area 111a, and can form a waterproof cavity together with the cover body 110a to further prevent external liquid from entering the first area 111a.

[0133] Exemplarily, the upper baffle 110d extends upward along the height direction of the head 11a and surrounds the side of the open structure, so that the cover 110a installed on the open structure can be wrapped inside the upper baffle 110d. When the hood 110e is connected to the upper baffle 110d, the hood 110e can form a waterproof cavity together with the upper baffle 110d and the cover 110a, wherein the hood 110e can prevent liquids such as water from entering the waterproof cavity through the gap between the hood 110e and the upper baffle 110d; and when the liquid enters the waterproof cavity, the cover 110a can prevent the liquid from entering the accommodating cavity from the waterproof cavity, causing the main control module 20, the steering control board 41, the tilting control board 31 and the drive control board 51 and other electronic devices to short-circuit or fail to function properly, thereby improving the waterproof function of the propeller 100. In addition, the structure of the hood 110e can be configured to match the structure of the head 11a to ensure the overall appearance of the propeller 100.

[0134] In an optional embodiment, if Figure 4 and Figure 5 As shown, the end of the upper baffle 110d away from the inner flange 110b is provided with an inner fold 1101d, and the edge of the hood 110e is engaged with the inner fold 1101d to allow the inner fold 1101d to be located inside the hood 110e, so that the liquid outside the hood 110e can flow down along the upper baffle 110d.

[0135] Exemplarily, the inner folding edge 1101d includes a first bending portion 11011d and a second bending portion 11012d, the first bending portion 11011d bends from the top of the upper baffle 110d to the inner side of the open structure, and the second bending portion 11012d bends upward from an end of the first bending portion 11011d away from the upper baffle 110d, so that at least part of the structure of the inner wall of the hood 110e is in contact with the second bending portion 11012d, and the first bending portion 11011d is connected to the bottom of the hood 110e, so as to limit the position of the hood 110e relative to the head 11a; at the same time, the second bending portion 11012d can also prevent external liquid from entering the waterproof cavity from the gap between the first bending portion and the hood 110e.

[0136] It should be noted that if Figure 4 and Figure 5 As shown, a labyrinth seal structure can also be formed between the hood 110e and the upper baffle 110d. For example, one of the hood 110e and the upper baffle 110d is provided with a protrusion, and the other of the hood 110e and the upper baffle 110d is provided with a recess, and the protrusion and the recess cooperate to form a seal structure.

[0137] For example, Figure 4 , Figure 5 and Figure 6 As shown, at least one recessed portion 1101e is arranged at intervals on the hood 110e, and a raised portion 1103d cooperating with the recessed portion 1101e is arranged on the top of the upper baffle 110d, and the number and positions of the raised portions 1103d correspond to the number and positions of the recessed portions 1101e, so that after the hood 110e is connected to the upper baffle 110d, the recessed portion 1101e can form a labyrinth sealing structure with the raised portion 1103d to prevent external liquid from entering the waterproof cavity.

[0138] In an optional embodiment, if Figure 2 , Figure 4 and Figure 8 As shown, a threading hole 1102d is provided on the edge of the upper baffle 110d, and the hood 110e covers the threading hole 1102d. The threading hole 1102d is used to pass the communication cable connected to the main control module 20, and the communication cable is used to connect to the external control device so that the control device can input instructions to the main control module 20, so that the main control module 20 can control the operation of the drive module 50, the steering module 40 and the lift module 30 according to the received instructions.

[0139] Exemplarily, the communication cable includes a fourth communication cable 25, and the threading hole 1102d is set on the side of the upper baffle 110d away from the second area 111b, one end of the fourth communication cable 25 is connected to the control device communication interface 24 of the main control module 20, and the other end of the fourth communication cable 25 passes through the threading hole 1102d and is connected to external control devices 90 such as the near-control steering handle 91, steering wheel 92, wired remote control box 93, and display screen 94, for receiving control information of control devices 90 such as the near-control steering handle 91, steering wheel 92, wired remote control box 93, and display screen 94, and feeding back operation information to control devices 90 such as the near-control steering handle 91, steering wheel 92, wired remote control box 93, and display screen 94; so that the main control module 20 can control the operation of the drive module 50, the steering module 40 and the tilting module 30 according to the received instructions. Among them, the cover body 110a is provided with a terminal head 1104a, and the terminal head 1104a is communicatively connected with the main control module 20, so that the fourth communication cable 25 can be communicatively connected with the main control module 20 through the terminal head 1104a. This not only makes the connection and separation of the fourth communication cable 25 and the main control module 20 easier and faster to operate; but also allows the threading hole 1102d for the communication cable to be passed through to be separately arranged from the conductive cable hole for the conductive cable to be passed through, so that the communication cable is separated from the conductive cable, avoiding interference between the strong electric signal on the conductive cable and the weak electric signal of the communication cable.

[0140] In this embodiment, the hood 110e is arranged on the outside of the threading hole 1102d, and the part of the fourth communication cable 25 passing through the hood 110e can be wrapped by a telescopic tube that can be extended or shortened. The telescopic tube is connected to the side of the hood 110e close to the water carrier 200. This can not only provide telescopic margin for the fourth communication cable 25, but also prevent the fourth communication cable 25 from being entangled or pulled apart, thereby improving the service life of the fourth communication cable 25.

[0141] In an optional embodiment, if Figure 2 , Figure 5 and Figure 8 As shown, the cover body 110a is provided with a communication line hole 1102a and a cable seal 1103a. The communication cable passes through the communication line hole 1102a and is connected to the main control module 20. The cable seal 1103a is sealed between the communication cable and the cover body 110a to fill the gap between the communication cable and the communication line hole 1102a.

[0142] Exemplarily, the communication line hole 1102a is set on the side of the cover 110a facing the threading hole 1102d, so that the communication cable passes through the threading hole 1102d and the communication line hole 1102a in sequence and then connects to the main control module 20, which is used to connect to the external control devices 90 such as the near-control steering handle 91, the steering wheel 92, the wired remote control box 93, and the display screen 94. Among them, the wiring head 1104a is installed in the communication line hole 1102a and is connected to the main control module 20 through the communication cable, one end of the fourth communication cable 25 is detachably connected to the wiring head 1104a, and the other end of the fourth communication cable 25 passes through the threading hole 1102d and is connected to the external control devices 90 such as the near-control steering handle 91, the steering wheel 92, the wired remote control box 93, and the display screen 94. The cable seal 1103a is installed in the communication line hole 1102a, and is used to seal the gap between the terminal head 1104a and the communication line hole 1102a to prevent water and other liquids from entering the interior of the accommodating cavity along the gap between the fourth communication cable 25 and the communication line hole 1102a, thereby causing a short circuit in the main control module 20 or failure of certain functions, thereby improving the waterproof function of the thruster.

[0143] In an optional embodiment, if Figure 2 , Figure 8 and Fig.16 As shown, the fuselage body 11b is provided with a first wire hole 110f and a first seal 110g connected to the second area 111b, and the propeller 100 includes a first cable 16 passed through the first wire hole 110f, the first cable 16 is used to connect to the external power battery 80a, and transmit direct current of a first voltage to the drive control board 51, the drive control board 51 boosts the direct current of the first voltage and converts it into alternating current and outputs it to the propulsion motor 52, and the first seal 110g seals the gap between the first wire hole 110f and the first cable 16.

[0144] Exemplarily, one end of the first cable 16 is electrically connected to the drive control board 51, and the other end of the first cable 16 passes through the first wire hole 110f and is connected to the external power battery 80a, so that the power battery 80a can deliver direct current of the first voltage to the drive control board 51. Among them, the drive control board 51 can boost the direct current of the first voltage and convert it into alternating current and output it to the propulsion motor 52, so that the propulsion motor 52 runs and the state of the propulsion motor 52 is fed back in real time through the feedback line, and then it can be adjusted in real time. Since the first cable 16 is connected to the drive control board 51 from the second area 111b, the high voltage of the first cable 16 is prevented from affecting the main control module 20. Moreover, the first cable 16 is close to the drive control board 51, which optimizes the wiring structure.

[0145] In an optional embodiment, the auxiliary battery 80 is used to transmit a second voltage of direct current to the main control module 20, the steering control board 41 and the tilting control board 31, and the second voltage is less than the first voltage to ensure the power supply safety of the main control module 20, the steering control board 41 and the tilting control board 31. Among them, the output power of the propulsion motor 52 is at least 10KW. If it is powered by the auxiliary battery 80, its current is quite large, which may easily cause the circuit system of the main control module 20, the steering control board 41 and the tilting control board 31 to burn out. Therefore, the drive control board 51 is powered by the power battery, and then the drive control board 51 boosts the output voltage of the power battery and converts it into AC power to output to the propulsion motor 52, which can not only effectively power the propulsion motor 52 and ensure the high-power operation of the propulsion motor 52; but also ensure the power supply safety of the main control module 20, the steering control board 41 and the tilting control board 31.

[0146] In an optional embodiment, the second voltage is 12V, which is used to power the main control module 20, the steering control board 41 and the tilting control board 31; the first voltage is not less than 96V, which is used to power the drive control board 51. The power battery 80a includes a plurality of battery packs, which are arranged in parallel or transmit the working voltage to the drive control board 51 through a boost circuit.

[0147] After adopting the above technical solution, since the driving control board 51 and the main control module 20, the steering control board 41 and the tilting control board 31 are powered by two batteries with different voltage outputs, namely the power battery 80a and the auxiliary battery 80, respectively, the high-power operation of the propulsion motor 52 is guaranteed, and the circuit systems such as the main control module 20, the steering control board 41 and the tilting control board 31 will not be burned, thereby ensuring the safety of the main control module 20, the steering control board 41 and the tilting control board 31. In addition, the first wire hole 110f and the first cable 16 are sealed by the first sealing member 110g, so that external liquid can be prevented from entering the second area 111b or the third area 111c from the first wire hole 110f along the first cable 16, so that the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 are arranged in a sealed and waterproof environment for protection.

[0148] In an optional embodiment, if Figure 2 , Figure 8 and Fig.16As shown, the fuselage body 11b is also provided with a second wire hole 110h and a second seal 110i adjacent to the first wire hole 110f and connected to the second area 111b, the thruster 100 includes a second cable 17 cooperating with the second wire hole 110h, the second cable 17 is used to connect the external auxiliary battery 80, and transmit direct current of a second voltage to the steering control board 41, the tilting control board 31 and the main control module 20, the second seal 110i seals the gap between the second wire hole 110h and the second cable 17, and the second voltage is less than the first voltage.

[0149] Exemplarily, the second power cable 17 includes a first power cable 171, a second power cable 172 and a third power cable 173, one end of the first power cable 171 is electrically connected to the main power interface 21 of the main control module 20, and the other end of the first power cable 171 is electrically connected to the external auxiliary battery 80 after passing through the second wire hole 110h. One end of the second power cable 172 and the third power cable 173 can be electrically connected to the first power cable 171 or the main power interface 21 of the main control module 20, or one end of the second power cable 172 and the third power cable 173 is directly electrically connected to the external auxiliary battery 80 after passing through the second wire hole 110h, so that the auxiliary battery 80 can transmit direct current of a second voltage to the steering control board 41, the tilting control board 31 and the main control module 20. Among them, the second sealing member 110i fills the gap between the second wire hole 110h and the first power line 171, the second power line 172 and the third power line 173, or the second sealing member 110i fills the gap between the second wire hole 110h and the first power line 171 to prevent external liquid from entering the second area 111b along the first power line, the second power line and / or the third power line from the second wire hole 110h, so that the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 are set in a sealed and waterproof environment for protection.

[0150] It should be noted that the second wire hole 110h is arranged adjacent to the first wire hole 110f, and the second wire hole 110h and the first wire hole 110f can include two independent hole structures, or two hole structures connected into one. The present application is not limited to this. The main purpose is to enable the first cable 16 and the second cable 17 to pass through the body 11b and then be connected to the external power battery 80a and the auxiliary battery 80 accordingly, so that the propulsion motor 52 can be powered by the power battery 80a, and the auxiliary battery 80 can power the steering control board 41, the tilting control board 31 and the main control module 20.

[0151] Among them, the cable structure of the second power cable 17 passing through the second wire hole 110h can be composed of the first power cable 171, the second power cable 172 and the third power cable 173, or the cable structure of the second power cable 17 passing through the second wire hole 110h can also be composed of one of the first power cable 171, the second power cable 172 and the third power cable 173 or an extension of one of them, and then the other two of the first power cable 171, the second power cable 172 and the third power cable 173 are connected to the cable structure of the second power cable 17 passing through the second wire hole 110h inside the fuselage body 11b, and the present application is not limited to this.

[0152] In an optional embodiment, if Figure 1 , Figure 2 and Fig.16 As shown, the propeller 100 further includes a mounting assembly 60 for connecting to the water body carrier 200, the fuselage body 11b is connected to the mounting assembly 60, and the tilting actuator 32 is assembled on the mounting assembly 60, and is used to drive the mounting assembly 60 to drive the fuselage body 11b to tilt. The fuselage body 11b is provided with a third wire hole 110j and a third sealing member 110k connected to the second area 111b, and a third cable 18 is connected between the tilting actuator 32 and the tilting control board 31, and the third cable 18 is passed through the third wire hole 110j and sealed by the third sealing member 110k.

[0153] Exemplarily, the mounting assembly 60 can be fixedly connected to the water body carrier 200 or integrally provided with the water body carrier 200 by welding or threaded connection. The fuselage body 11b can be rotatably connected to the mounting assembly 60 through the steering shaft 45. Among them, the tilting actuator 32 can be an electric push rod, a hydraulic cylinder, a cylinder or other equipment capable of outputting power. For example, when the tilting actuator 32 is an electric push rod, one end thereof is mounted on the mounting assembly 60, and the other end is a telescopic end, which can drive the fuselage body 11b to rotate relative to the mounting assembly 60 by telescoping, so that other structures connected to the frame 10 (including the main control module 20, the drive module 50 and the steering module 40, etc.) rotate and tilt.

[0154] In addition, the tilting actuator 32 is electrically connected to the tilting control board 31 through the third cable 18, so that the tilting control board 31 can control the tilting actuator 32 to allow; at the same time, the third sealing member 110k is filled between the third cable 18 and the third wire hole 110j, which can prevent external liquid from entering the second area 111b through the third wire hole 110j along the third cable 18, so that the main control module 20, the steering control board 41, the tilting control board 31 and the driving control board 51 are arranged in a sealed and waterproof environment for protection.

[0155] In an optional embodiment, if Figure 1 , Figure 2and Fig.16 As shown, the mounting assembly 60 includes a rotating bracket 62 connected to the fuselage and a clamping bracket 61 for fixing on the water body carrier 200. The rotating bracket 62 is rotatably connected to the clamping bracket 61. The tilting actuator 32 is connected between the rotating bracket 62 and the clamping bracket 61, and is used to drive the rotating bracket 62 to tilt and rotate relative to the clamping bracket 61.

[0156] Exemplarily, the clamping bracket 61 can be fixedly connected to the water area carrier 200 or integrally provided with the water area carrier 200 by welding or threaded connection, the upper end of the rotating bracket 62 is rotatably connected to the upper end of the clamping bracket 61, the lifting actuator 32 is an electric push rod, one end of the electric push rod is rotatably connected to the rotating bracket 62, and the other end of the electric push rod is a telescopic end, which is rotatably connected to the clamping bracket 61, so that the rotating bracket 62 can rotate relative to the clamping bracket 61 under the telescopic force of the telescopic end, thereby driving the frame 10 connected to the rotating bracket 62 and other structures on the frame 10 to rotate and lift.

[0157] In an optional embodiment, if Figure 1 , Figure 2 and Fig.16 As shown, a steering shaft 45 is arranged between the installation assembly frame 60 and the fuselage main body 11b, and the fuselage main body 11b is steered relative to the installation assembly frame 60 via the steering shaft 45. The steering shaft 45 is a hollow shaft, and the third wire hole 110j is communicated with the inner side of the steering shaft 45. The third cable 18 passes through the inner side of the steering shaft 45 from the end of the steering shaft 45 connected to the fuselage main body 11b, and passes through the steering shaft 45, so that the third cable 18 can be hidden.

[0158] Exemplarily, the frame 10 is rotatably connected to the mounting assembly 60 via the steering shaft 45, one end of the steering shaft 45 is located in the accommodating chamber 111, so as to receive the steering power of the steering actuator 42 via the reducer and the torque increasing assembly, so that the steering control board 41 can drive the steering shaft 45 to rotate through the steering actuator 42 to drive the mounting assembly 60 to rotate relative to the frame 10, thereby realizing the steering function of the propeller 100. Among them, since the third wire hole 110j is connected to the inner side of the steering shaft 45, the third cable 18 can be routed to the tilting actuator 32 through the third wire hole 110j and the internal space of the steering shaft 4, which is used for the electrical connection between the tilting control board 31 and the tilting actuator 32.

[0159] In an optional embodiment, if Figure 1 , Figure 2 and Fig.16As shown, a steering shaft 45 is disposed between the mounting assembly 60 and the fuselage body 11b, and the fuselage body 11b is steered relative to the mounting assembly 60 via the steering shaft 45, and the steering shaft 45 is a hollow shaft. Among them, the third wire hole 110j is disposed near the steering shaft 45 of the fuselage body 11b.

[0160] Exemplarily, the frame 10 is rotatably connected to the mounting assembly 60 via the steering shaft 45, one end of the steering shaft 45 is located in the accommodating chamber 111, so as to receive the steering power of the steering actuator 42 via the reducer and the torque increasing assembly, so that the steering control board 41 can drive the steering shaft 45 to rotate through the steering actuator 42 to drive the mounting assembly 60 to rotate relative to the frame 10, thereby realizing the steering function of the propeller 100. The third cable 18 passes through the third wire hole 110j and then passes through the internal space of the steering shaft 4 to the tilting actuator 32, which is used for the electrical connection between the tilting control board 31 and the tilting actuator 32.

[0161] In an optional embodiment, if Figure 2 , Figure 3 and Figure 7 As shown, the underwater fuselage 12 includes a flow guide tube 12a and a propulsion casing 12b, the third area 111c is formed in the flow guide tube 12a, the drive control board 51 exchanges heat with the external water area through the flow guide tube 12a, the propulsion casing 12b is provided with a motor cavity 121, and the propulsion motor 52 is accommodated in the motor cavity 121.

[0162] Exemplarily, the propulsion casing 12b is connected to the lower end of the guide tube 12a, and the upper end of the guide tube 12a is connected to the fuselage body 11b. When the water body carrier 200 is traveling, at least part of the guide tube 12a sinks below the water surface, so that the heat of the drive control board 51 installed inside the guide tube 12a can be transferred to the water area through the guide tube 12a. Among them, the drive control board 51 can contact the inner wall of the guide tube 12a, so that the drive control board 51 can quickly transfer heat to the guide tube 12a; the drive control board 51 may not contact the inner wall of the guide tube 12a, that is, the drive control board 51 exchanges heat with the guide tube 12a through the gas in the guide tube 12a, and then transfers the heat to the water area, so that the water flow in the water area can generate heat exchange with the guide tube 12a, effectively reducing the heat generated during the operation of the drive control board 51.

[0163] Similarly, since the propulsion housing 12b is connected to the lower end of the guide tube 12a, the propulsion motor 52 is accommodated in the motor cavity 121 inside the propulsion housing 12b, so that the propulsion motor 52 can exchange heat with the propulsion housing 12b through the gas in the motor cavity 121, and the propulsion housing 12b can conduct heat to the water area, so that the water flow in the water area can generate heat exchange with the propulsion housing 12b, effectively reducing the heat generated by the propulsion motor 52 in the process of outputting the rotation torque, and improving the heat dissipation effect of the propeller 100. In an optional embodiment, Figure 2 , Figure 3 and Figure 7 As shown, the motor cavity 121 is communicated with the third area 111c, and the propulsion motor 52 is thermally coupled with the propulsion casing 12b, so that the external water flow can cool the propulsion motor 52 through the propulsion casing 12b.

[0164] Exemplarily, the third area 111c is located above the motor cavity 121 and is connected to the motor cavity 121, which can reduce the sealing structure. The third area 111c and the second area 111b can be isolated from each other or connected to each other; when the third area 111c is isolated from the second area 111b, the drive control board 51 and the propulsion motor 52 are accommodated in the common cavity formed by the third area 111c and the motor cavity 121, so that heat exchange can be carried out with the propulsion casing 12b through the gas in the common cavity, and then the heat is transferred to the water area through the propulsion casing 12b, so that the water flow in the water area can produce heat exchange with the propulsion casing 12b, thereby effectively reducing the heat generated by the drive control board 51 and the propulsion motor 52 during operation, and improving the heat dissipation effect of the propeller 100. In an optional embodiment, Figure 2 , Figure 3 and Figure 7 As shown, the propulsion housing 12b is also provided with a deceleration cavity 122, and the deceleration cavity 122 is isolated from the motor cavity 121 and the third area 111c to prevent external liquid from entering the motor cavity 121 and the third area 111c from the deceleration cavity 122, or to prevent the liquid in the deceleration cavity 122 from entering the motor cavity 121 and the third area 111c, thereby increasing the protection level of the motor cavity 121, and maintaining the safety of electronic devices in the motor cavity 121 after water accidentally enters the motor cavity 121.

[0165] The driving module 50 further includes a propulsion reducer 55, which is accommodated in the deceleration cavity 122 and connected to the propulsion motor 52 to decelerate the rotation torque output by the propulsion motor 52. The deceleration cavity 122 is filled with cooling lubricating oil 551, and the propulsion reducer 55 exchanges heat with the propulsion casing 12b through the cooling lubricating oil 551 to cool the propulsion reducer 55. The cooling lubricating oil 551 should not be filled too much or too little. Too much cooling lubricating oil will cause great running resistance of the propulsion reducer 55, and too little cooling oil will not have a real cooling effect. Generally, the cooling lubricating oil 551 can fill the deceleration cavity 122.

[0166] Exemplarily, the propulsion housing 12b is further provided with an oil cavity or an oil chamber, which is connected to the speed reduction cavity 122. When the cooling lubricating oil 551 in the speed reduction cavity 122 is too high, the cooling lubricating oil 551 can be contained in the oil cavity or the oil chamber, so that the speed reduction cavity 122 can achieve an automatic balancing effect, which can not only solve the problem of thermal expansion and contraction of the cooling lubricating oil 551 with the change of the working temperature in the speed reduction cavity 122, but also use the cooling lubricating oil 551 as a transmission medium to play a role in cooling and lubrication, so that the heat dissipation of the speed reducer 55 is faster and the use is more stable. In an optional embodiment, Figure 2 , Figure 3 and Figure 7 As shown, the motor cavity 121 is filled with cooling lubricating oil 551, and the propulsion motor 52 exchanges heat with the propulsion casing 12b through the cooling lubricating oil 551. The motor cavity 121 is isolated from the third area 111c to prevent the liquid in the motor cavity 121 from entering the third area 111c. At the same time, the propulsion motor 52 can also be cooled by the propulsion casing 12b.

[0167] Exemplarily, the motor cavity 121 and the reduction cavity 122 can be connected together so that the cooling lubricating oil 551 can fill the motor cavity 121 and the reduction cavity 122; at the same time, one of the motor cavity 121 and the reduction cavity 122 can be connected to the oil cavity or the oil chamber to solve the problem of thermal expansion and contraction of the cooling lubricating oil 551 due to temperature changes; or, the motor cavity 121 and the reduction cavity 122 are isolated from each other, and the cooling lubricating oil 551 is respectively filled in the motor cavity 121 and the reduction cavity 122, which is used to cool the propulsion motor 52 and the propulsion reducer 55, so that the propulsion motor 52 and the propulsion reducer 55 can transfer heat to the propulsion casing 12b through the cooling lubricating oil 551, and then transfer the heat to the water area through the propulsion casing 12b, so that the water flow in the water area can produce heat exchange with the propulsion casing 12b, thereby improving the heat dissipation effect of the propulsion motor 52 and the propulsion reducer 55.

[0168] like Figures 1 to 18As shown, according to the second aspect of the present application, a movable device in water area includes a water area carrier 200 and the above-mentioned propeller 100, wherein the frame 10 is connected to the water area carrier 200. The movable device in water area can be a ship. The water area carrier 200 is a hull. The propeller 100 is fixed on the transom of the water area carrier 200 via the mounting assembly 60.

[0169] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0170] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0171] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0172] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A propeller, characterized in that: include: A frame, wherein the frame is provided with a receiving cavity; A driving module, comprising a driving control board and a propulsion motor, wherein the driving control board is electrically connected to the propulsion motor and is used to control the propulsion motor to provide propulsion force; A steering module, comprising a steering control board and a steering actuator, wherein the steering control board is electrically connected to the steering actuator and is used to control the steering actuator to provide steering power for steering the propulsion motor; A tilting module, comprising a tilting control board and a tilting actuator, wherein the tilting control board is electrically connected to the tilting actuator and is used to control the tilting actuator to provide a tilting power for tilting the frame and the driving module connected to the frame; A main control module, electrically connected to the driving module, the steering module and the lifting module, for receiving input instructions and controlling the driving module, the steering module and the lifting module to work according to the received instructions; Wherein, the driving control board, the steering control board, the lifting control board and the main control module are all sealed and arranged in the accommodating cavity.

2. The propeller according to claim 1, characterized in that The frame includes a main body and an underwater body connected to the main body, the propulsion motor is arranged at a portion of the underwater body away from the main body, the propeller also includes a propeller arranged outside the underwater body and connected to the propulsion motor shaft, and the accommodating cavity is at least formed in the main body.

3. The propeller according to claim 2, characterized in that The main fuselage has a nose away from the underwater fuselage and a fuselage body connected to the underwater fuselage, the accommodating cavity has a first area formed in the nose, and the main control module is arranged in the first area.

4. The propeller according to claim 3, characterized in that The accommodating cavity has a second area formed in the fuselage body, and the tilting control plate and the steering control plate are arranged in the second area.

5. The propeller according to claim 4, characterized in that The drive control board is arranged in the second area and adjacent to the underwater body, and the accommodating cavity forms a closed end in the second area adjacent to the underwater body.

6. The propeller according to claim 4, characterized in that The accommodating cavity has a third area formed in the underwater fuselage, the third area is communicated with the second area, the drive control board is arranged in the third area, and the accommodating cavity forms a closed end in the third area away from the fuselage body.

7. The propeller according to claim 1, characterized in that The main control module includes a main control communication interface and a main control power interface. The main control power interface is used to connect to an auxiliary battery outside the thruster. The main control communication interface is used to communicate with the steering control board, the lift control board and the drive control board to transmit the operation data generated according to the input instructions.

8. The propeller according to claim 7, characterized in that The steering control panel includes a steering communication interface, a steering power interface and a UVW steering interface. A first communication cable is connected between the steering communication interface and the main control communication interface. The steering power interface is connected to a conductive cable connected between the main control power interface and the battery. A UVW steering cable is connected between the UVW steering interface and the steering actuator.

9. The propeller according to claim 8, characterized in that The steering module further includes a steering angle sensor. The steering control board is connected to the steering angle sensor signal for detecting the torque angle output by the steering actuator.

10. The propeller according to claim 8, characterized in that The steering module further includes a steering lock, and the steering control plate is connected to the steering lock by signal so as to slow down or stop the steering actuator from rotating.

11. The propeller according to claim 8, characterized in that The steering module further includes a steering temperature sampling circuit, which is disposed on the steering control board and is used to obtain the temperature of the steering actuator.

12. The propeller according to claim 8, characterized in that The steering module further includes a steering position acquisition circuit, which is disposed on the steering control board and is used to acquire the rotation position of the steering actuator.

13. The propeller according to claim 7, characterized in that The tilting control board includes a tilting main control board and a tilting power board. The tilting power board is connected to the main control communication interface and the auxiliary battery through the tilting main control board, and the tilting actuator is connected to the tilting power board.

14. The propeller according to claim 13, characterized in that The lift main control board includes a lift controller and an isolation drive circuit. The isolation drive circuit is arranged between the lift controller and the lift power board. The lift controller is used to perform logic control on the lift actuator.

15. The propeller according to claim 13, characterized in that The warping module includes a warping temperature sampling circuit, which is arranged on the warping main control board and is used to obtain the temperature of the warping actuator.

16. The propeller according to claim 13, characterized in that The tilting module further includes a tilting position sensor, the tilting controller is electrically connected to the tilting position sensor, and the tilting position sensor is used to detect the tilting position actuated by the tilting actuator and send the tilting position to the tilting controller.

17. The propeller according to claim 7, characterized in that The drive control board includes a drive main control board and a drive power board. The drive main control board is connected to the main control communication interface and the drive power board, and is used to communicate and interact with the drive main control board and control the operation of the drive power board. The drive power board is connected to an external power battery and outputs current to the propulsion motor.

18. The propeller according to claim 17, characterized in that The driving module includes a driving temperature sampling circuit, which is arranged on the driving main control board. The driving temperature sampling circuit is electrically connected to the driving power board and the propulsion motor, and is used to collect the temperature of the driving power board and the temperature of the propulsion motor.

19. The propeller according to claim 17, characterized in that The driving module further comprises an aluminum substrate electrically connected to the driving power board, and the driving temperature acquisition circuit is also electrically connected to the aluminum substrate for acquiring the temperature of the aluminum substrate.

20. The propeller according to claim 17, characterized in that The driving module further includes a driving position sensor, the driving main control board is electrically connected to the driving position sensor, and the driving position sensor is used to detect the rotation position of the propulsion motor.

21. The propeller according to claim 1, characterized in that The drive control board is located at the part of the frame above the water. The thruster also includes a cooling system, which is arranged on the frame, a part of which is thermally coupled with the drive control board, and another part of which is arranged in the underwater part of the frame to conduct the heat of the drive control board to the water through the frame.

22. The propeller according to claim 21, characterized in that The cooling system is configured with a circulating cooling liquid, the cooling liquid is isolated from the accommodating cavity, the cooling liquid absorbs heat from the drive control board, and releases the heat to the external water area at the underwater part of the rack.

23. The propeller according to claim 21, characterized in that The cooling system includes a heat exchanger, a cooler for cooling a heat source, and a storage tank for storing a coolant. The heat exchanger is arranged at a portion of the frame that can contact the water area. The storage tank is fixed to the frame and is connected to the heat exchanger through a flow channel. The cooler is located in the accommodating cavity and is connected to the storage tank and the heat exchanger through the flow channel to form a closed loop. The cooler is in contact with the drive control board to absorb the heat of the drive control board.

24. The propeller according to claim 23, characterized in that The cooling system comprises a pump body, which is arranged in the closed loop and is used to drive the circulation of the cooling liquid in the closed loop.

25. The propeller according to claim 23, characterized in that The cooler is provided with a cooling mounting plate and a curved flow channel formed in the cooling mounting plate, the curved flow channel is connected to the cooling liquid of the closed loop, the drive control board is mounted on the surface of the cooling mounting plate, and heat is transferred to the cooling liquid in the curved flow channel through the cooling mounting plate.

26. The propeller according to claim 25, characterized in that The drive control board includes a first drive board and a second drive board, and the first drive board and the second drive board are arranged on two opposite surfaces of the cooling mounting plate.

27. The propeller according to claim 26, characterized in that The propulsion motor includes a first stator winding and a second stator winding, the first stator winding and the second stator winding are arranged side by side along the main axis of the propulsion motor, the first drive plate is electrically connected to the first stator winding, and the second drive plate is electrically connected to the second stator winding.

28. The propeller according to claim 1, characterized in that The frame is provided with a mounting seat in the accommodating cavity, and the steering actuator, the steering control plate and the tilting control plate are fixed on the mounting seat.

29. The propeller according to claim 28, characterized in that The thruster also includes an installation assembly frame, which is used to connect to the water body carrier. A steering shaft is arranged between the installation assembly frame and the frame. One end of the steering shaft is located in the accommodating cavity to receive the steering power of the steering actuator. A shaft seal is arranged between the steering shaft and the frame, and the mounting seat is located on the frame near the steering shaft.

30. The propeller according to claim 29, characterized in that The frame is equipped with a deceleration bracket, the mounting seat is fixedly connected to the deceleration bracket, the steering module also includes a deceleration module assembled on the deceleration bracket, the deceleration module is connected to the steering shaft, the steering actuator is connected to the deceleration module, and the steering torque is output to the steering shaft through the deceleration module.

31. The propeller according to claim 30, characterized in that The deceleration module includes a torque-increasing gear set and a reducer. The torque-increasing gear set is assembled on the deceleration bracket and connected to the steering shaft. The reducer is fixed to the deceleration bracket and connected to the torque-increasing gear set. The steering actuator is connected to the reducer.

32. The propeller according to claim 3, characterized in that The machine head is provided with a cover body, the peripheral side of the cover body is sealed and covered with the machine body, and the first area is formed on the inner side of the cover body.

33. The propeller according to claim 32, characterized in that The nose is also provided with an inner flange, and the peripheral side of the cover body is provided with a lip which is sealed with the inner flange, the lip is located outside the first area, and is stacked with the inner flange in the relative direction from the main body to the underwater body.

34. The propeller according to claim 32, characterized in that The machine head is configured with an isolation plate fixed on the inner flange, the first area is formed between the isolation plate and the cover body, and the main control module is connected to the steering control board, the tilting control board and the driving control board via a communication cable passing through the isolation plate.

35. The propeller according to claim 34, characterized in that The isolation plate is also provided with a power cord hole, and the main control module is connected to the steering control board or the tilting control board via a conductive cable passing through the power cord hole. The conductive cable is used to electrically connect to an external auxiliary battery via the steering control board or the tilting control board, and transmit current to the main control module.

36. The propeller according to claim 32, characterized in that The machine head is further provided with an upper baffle on the side of the inner flange away from the first area, and the frame further comprises a machine cover covering the upper baffle, and the machine cover is located on the side of the cover body away from the first area.

37. The propeller according to claim 36, characterized in that An end of the upper baffle away from the inner flange is provided with an inner fold, and the edge of the hood is engaged with the inner fold to allow the inner fold to be located inside the hood.

38. The propeller according to claim 36, characterized in that The edge of the upper baffle is provided with a threading hole, the hood covers the threading hole, the threading hole is used for passing a communication cable connected to the main control module, and the communication cable is used for connecting to an external control device.

39. The propeller according to claim 38, characterized in that The cover body is provided with a communication line hole and a cable seal. The communication cable passes through the communication line hole and is connected to the main control module. The cable seal is sealed between the communication cable and the cover body.

40. The propeller according to claim 4, characterized in that The fuselage body is provided with a first wire hole and a first seal connected to the second area. The propeller includes a first cable passed through the first wire hole. The first cable is used to connect to an external power battery and transmit direct current of a first voltage to the drive control board. The drive control board boosts the direct current of the first voltage into alternating current and outputs it to the propulsion motor. The first seal seals the gap between the first wire hole and the first cable.

41. The propeller according to claim 40, characterized in that The fuselage body is also provided with a second wire hole adjacent to the first wire hole and connected to the second area, and a second seal. The thruster includes a second cable that cooperates with the second wire hole. The second cable is used to connect an external auxiliary battery and transmit direct current of a second voltage to the steering control panel, the tilting control panel and the main control module. The second seal seals the gap between the second wire hole and the second cable. The second voltage is less than the first voltage.

42. The propeller according to claim 4, characterized in that The propeller also includes a mounting assembly for connecting to a water body carrier, the fuselage body is connected to the mounting assembly, the tilting actuator is assembled on the mounting assembly, and is used to drive the mounting assembly to drive the fuselage body to tilt, the fuselage body is provided with a third wire hole and a third seal connected to the second area, a third cable is connected between the tilting actuator and the tilting control panel, the third cable is passed through the third wire hole and is sealed by the third seal.

43. The propeller according to claim 42, characterized in that The mounting assembly frame includes a rotating bracket connected to the main body and a clamping bracket for fixing on the water body carrier, the rotating bracket is rotatably connected to the clamping bracket, and the tilting actuator is connected between the rotating bracket and the clamping bracket, and is used to drive the rotating bracket to tilt and rotate relative to the clamping bracket.

44. The propeller according to claim 42, characterized in that A steering shaft is arranged between the mounting assembly frame and the fuselage main body, and the fuselage main body is steered relative to the mounting assembly frame via the steering shaft. The steering shaft is a hollow shaft, and the third wire hole is communicated with the inner side of the steering shaft. The third cable passes through the inner side of the steering shaft from the end of the steering shaft connected to the fuselage main body and passes through the steering shaft.

45. The propeller according to claim 42, characterized in that A steering shaft is arranged between the installation assembly and the fuselage body, and the fuselage body is steered relative to the installation assembly via the steering shaft. The steering shaft is a hollow shaft, and the third wire hole is arranged on the fuselage body near the steering shaft.

46. ​​The propeller according to claim 6, characterized in that The underwater fuselage includes a guide tube and a propulsion casing, the third area is formed in the guide tube, the drive control board exchanges heat with the external water area through the guide tube, and the propulsion casing is provided with a motor cavity, and the propulsion motor is accommodated in the motor cavity.

47. The propeller according to claim 46, characterized in that The motor cavity is in communication with the third region, and the propulsion motor is thermally coupled with the propulsion casing.

48. The propeller according to claim 47, characterized in that The propulsion casing is also provided with a deceleration cavity, which is isolated from the motor cavity and the third area. The drive module also includes a propulsion reducer, which is accommodated in the deceleration cavity and connected to the propulsion motor to decelerate the rotational torque output by the propulsion motor. The deceleration cavity is filled with cooling lubricating oil, and the propulsion reducer exchanges heat with the propulsion casing through the cooling lubricating oil.

49. The propeller according to claim 46, characterized in that The motor cavity is filled with cooling lubricating oil, the propulsion motor exchanges heat with the propulsion casing via the cooling lubricating oil, and the motor cavity is isolated from the third area.

50. A movable device in water area, characterized by: It comprises a water area carrier and the thruster according to any one of claims 1 to 49, wherein the frame is connected to the water area carrier.

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