Propelling device and water area movable equipment

Abstract

A propulsion device (100) can be used for water area movable equipment and comprises a rack (10), an electric control assembly (18), a motor (19) and a sealing structure (22). The rack (10) comprises an overwater part (11) and an underwater part (12), the underwater part (12) is provided with a flow guide pipe (13) and a power shell (14), an electric control cavity (16) is formed in the flow guide pipe (13), and a motor cavity (17) is formed in the power shell (14). The electric control assembly (18) is arranged in the electric control cavity (16) in a matched mode. And the motor (19) is fixed in the motor cavity (17). The propelling device can improve the sealing and waterproof performance.

Description

Propulsion devices and movable equipment in water areas Technical Field

[0001] The present application relates to the technical field of mobile equipment in water areas, and in particular to a propulsion device and a mobile equipment in water areas. Background Art

[0002] Some known electric outboard motors use a controller to control the motor's output power. As motor power increases, the controller generates more heat, which can easily lead to controller failure. As outboard motor power continues to increase, the increased heat generated by the controller complicates overall heat dissipation and impacts the motor's overall service life.

[0003] Summary of the Invention

[0004] The present application provides a propulsion device and a movable device in water areas.

[0005] The present application provides a propulsion device, which includes a frame, an electronic control assembly, a motor, and a sealing structure. The frame includes an above-water portion and an underwater portion. The underwater portion is provided with a guide tube and a power housing. One end of the guide tube is provided with an inner tube that is inserted into the above-water portion. The power housing is integrally arranged at the end of the guide tube away from the inner tube. An electronic control cavity that communicates with the inner side of the inner tube is provided in the guide tube, and a motor cavity is provided in the power housing. The electronic control assembly is at least partially fitted in the electronic control cavity and obtains direct current through a DC conductive member configured in the inner tube; the motor is fixed in the motor cavity and electrically connected to the electronic control assembly to receive drive control signals from the electronic control assembly; the propeller is connected to the motor through a torque transmission assembly and is located outside the power housing; and the sealing structure is sealed between the outer peripheral side wall of the inner tube and the above-water portion.

[0006] The propulsion device of the present application is provided with a guide tube in the underwater part, an electric control cavity is provided in the guide tube, and the electric control component is at least partially fitted in the electric control cavity, so that the electric control component can dissipate heat through contact with external water through the guide tube, which is beneficial to cooling the electric control component. In addition, the electric control component can control the motor inside the power casing, simplifying the overall heat dissipation of the propulsion device and improving its service life.

[0007] The present application also provides a movable water area device, comprising a water area carrier and the aforementioned propulsion device, wherein the frame of the propulsion device is used to connect to the water area carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0009] FIG1 is a schematic diagram of a structure of a mobile device for use in water areas according to an embodiment of the present application;

[0010] FIG2 is a schematic structural diagram of the connection between a propulsion device and a water body according to an embodiment of the present application;

[0011] FIG3 is a schematic structural diagram of a propulsion device according to an embodiment of the present application;

[0012] FIG4 is a schematic diagram of an exploded structure of a propulsion device according to an embodiment of the present application;

[0013] FIG5 is a cross-sectional view of a propulsion device according to an embodiment of the present application along the width direction of the cross section of the flow guide tube;

[0014] FIG6 is a cross-sectional view of a propulsion device along the longitudinal direction of a cross section of a flow guide tube according to an embodiment of the present application;

[0015] FIG7 is a front view of a propulsion device according to an embodiment of the present application with the underwater portion removed;

[0016] FIG8 is another exploded structural diagram of a propulsion device according to an embodiment of the present application;

[0017] FIG9 is a schematic structural diagram of a propulsion device according to another embodiment of the present application;

[0018] FIG10 is a schematic diagram of a partial structure of a propulsion device according to another embodiment of the present application;

[0019] FIG11 is a cross-sectional view of a propulsion device according to another embodiment of the present application;

[0020] FIG12 is a second cross-sectional view of a propulsion device according to another embodiment of the present application;

[0021] FIG13 is a third cross-sectional view of a propulsion device according to another embodiment of the present application;

[0022] FIG14 is a schematic structural diagram of a mobile device for use in water areas according to another embodiment of the present application;

[0023] FIG15 is a schematic diagram of an exploded structure of a propulsion device according to another embodiment of the present application;

[0024] FIG16 is a cross-sectional view of a propulsion device according to another embodiment of the present application;

[0025] FIG17 is an enlarged schematic diagram of the local structure in FIG16;

[0026] FIG18 is a schematic structural diagram of a movable device for use in water areas according to another embodiment of the present application.

[0027] Explanation of the main component symbols: 100, propulsion device; 100a, outboard motor; 100b, podded propulsion; 10, frame; 11, above-water part; 12, underwater part; 13, guide tube; 14, power casing; 15, inner tube; 16, electronic control cavity; 17, motor cavity; 18, electronic control assembly; 19, motor; 20, propeller; 21, torque transmission assembly; 22, sealing structure; 23, mounting notch; 24, first locking portion; 24a, first fastening hole; 25, first fastener; 26, locking hole; 27, second locking portion; 27a, second fastening hole; 28, second fastener; 29, sealing plug; 30, electric 31. Electric control installation opening; 32. Support boss; 33. Electric control seal; 34. Control circuit board; 35. Drive circuit board; 36. Power circuit board; 37. Cover assembly; 38. DC copper busbar interface; 39. DC copper busbar; 40. First heat exchanger; 41a. Metal plate; 41b. Metal plate; 44a. Metal plate; 44b. Metal plate; 42. First thermal conductive adhesive; 43. Electronic components; 44. Second heat exchanger; 45. Second thermal conductive adhesive; 46. Large capacitor components; 47. Main housing; 48. End cover; 49. Power opening; 50. Copper busbar assembly; 51. Three-phase copper busbar connector; 52. , copper busbar bracket; 53, three-phase line; 55, end cover sealing ring; 56, reducer housing; 57, reduction cavity; 58, reducer; 59, cooling lubricating oil; 60, mechanical pump; 63, flange; 64, connecting locking member; 65, wave suppressing plate; 66, lifting fixture; 66a, lifting part; 66b, fixing part; 67, lifting drive member; 68, steering assembly; 69, steering drive member; 70, steering shaft; 71, reducer housing sealing ring; 72, DC conductive member; 73, first gear shaft; 74, second gear shaft; 75, reduction assembly; 76, open opening; 77, shielding magnetic ring; 78, Central controller; 79. Control line; 80. Control line magnetic ring; 81. Hall sensor; 82. Conductive cable; 83. Magnetic ring groove; 84. Jack; 85. Battery; 86. Tiller; 87. Steering device; 88. Steering controller; 89. Control cable; 90. Accommodation cavity; 91. Wire outlet; 92. Wiring seal; 93. Terminal; 94. Vertical section; 95. Horizontal section; 96. Copper busbar locking piece; 97. Cooling shell; 98. Cooling cavity; 99. Isolation part; 101. Partition; 102. Sealing groove; 200. Movable device in water area; 201. Water area carrier; 202. Bottom. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be an element centered therein. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered therein. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be an element centered therein. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "or / and" as used herein includes any and all combinations of one or more of the relevant listed items.

[0031] Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0032] Example

[0033] Referring to Figure 1, this embodiment provides a movable device 200 for use in water areas, comprising a water area carrier 201 and a propulsion device 100. A frame 10 of the propulsion device 100 is connected to the water area carrier 201. The propulsion device 100 is used to propel the movable device 200 for use in water areas. In this embodiment, the propulsion device 100 is installed at the rear of the water area carrier 201. In other embodiments, the connection position between the propulsion device 100 and the water area carrier 201 may be adjusted accordingly based on the specific requirements of the installation position of the propulsion device 100 on the water area carrier 201.

[0034] The movable water vehicle 200 in this embodiment can be a passenger ship, yacht, fishing boat, sailboat, or other water-based vehicle. The corresponding water vehicle 201 is a ship hull, and the propulsion device 100 is an outboard motor 10a. Of course, the movable water vehicle 200 can also be an amphibious vehicle, an unmanned patrol boat, a water drone, etc., without limitation.

[0035] In this embodiment, referring to Figures 2 and 3 , the propulsion device 100 includes a frame 10, an electronic control assembly 18, a motor 19, a propeller 20, and a sealing structure 22. The frame 10 includes an above-water portion 11 and a submersible portion 12. The frame 10 is connected to a water body 201. When the propulsion device 100 is in operation, the above-water portion 11 is located above the water body, while the submersible portion 12 is located within the water body. The frame 10 is equipped with a wave-squeezing plate 65.

[0036] The underwater portion 12 is provided with a flow guide tube 13 and a power housing 14. One end of the flow guide tube 13 is provided with an inner tube 15 that is inserted into the above-water portion 11. The inner tube 15 is inserted into the above-water portion 11, which means that the above-water portion 11 is connected to the underwater portion 12, and the inner tube 15 is located within the cavity of the above-water portion 11. In this embodiment, the above-water portion 11 is provided with a socket 84 corresponding to the inner tube 15, and the inner tube 15 fits within the socket 84. The power housing 14 is integrally provided at the end of the flow guide tube 13 away from the inner tube 15. In this embodiment, the inner tube 15, the flow guide tube 13, and the power housing 14 are connected in sequence in the direction of gravity in Figure 2. The inner tube 15, the flow guide tube 13, and the power housing 14 are integrated, that is, the inner tube 15, the flow guide tube 13, and the power housing 14 together constitute the complete underwater portion 12.

[0037] An electrical control chamber 16 is located within the flow conduit 13 and communicates with the interior of the inner tube 15. A motor chamber 17 is located within the power housing 14, and the motor chamber 17 and electrical control chamber 16 are in communication. An electrical control assembly 18 is at least partially located within the electrical control chamber 16 and receives DC power from a DC conductive member 72 disposed within the inner tube 15. The electrical control assembly 18 can be completely located within the electrical control chamber 16, or partially located within the chamber 16, with the remainder located at the opening of the inner tube 15.

[0038] Motor 19 is secured within motor cavity 17 and electrically connected to electronic control assembly 18 to receive drive control signals from electronic control assembly 18. Motor 19 can be connected to power housing 14 via fastening structures such as bolts and screws, thereby securing motor 19 within motor cavity 17. Motor 19 is electrically connected to electronic control assembly 18 via a three-phase cable or a three-phase conductive copper busbar, or a combination thereof, and receives drive control signals from electronic control assembly 18. A communication line can also be provided between motor 19 and electronic control assembly 18 to transmit communication data.

[0039] The propeller 20 is connected to the motor 19 through a torque transmission assembly 21 and is located outside the power housing 14. The torque output by the motor 19 can be transmitted to the outside of the propeller 20 through the torque transmission assembly 21 to drive the propeller 20 to rotate and generate thrust. In this embodiment, the torque transmission assembly 21 can be a single transmission shaft, or a transmission shaft group connected in sequence. The torque transmission assembly 21 can also be a shaft combination of various reducers such as a gear group reduction mechanism, a screw-ball reduction mechanism, a worm gear reduction mechanism, and a planetary gear reduction mechanism. The torque transmission assembly 21 is not limited to the forms listed above. Any shaft combination that can convert the rotational torque of the motor 19 into the rotational torque of the propeller 20 belongs to the implementation method of the torque transmission assembly 21 of the present application.

[0040] The sealing structure 22 is sealed between the outer peripheral sidewall of the inner tube 15 and the above-water portion 11, thereby providing a waterproof seal at the connection between the above-water portion 11 and the underwater portion 12. This prevents external water from entering the electronic control chamber 16 and the motor chamber 17 of the underwater portion 12 through the connection between the above-water portion 11 and the underwater portion 12, thereby preventing damage to the electronic control components 18 and the motor 19 due to water contact and short circuits. Obviously, dividing the entire propulsion device 100 into the above-water portion 11 and the underwater portion 12 simplifies the structure of the frame 10 of the propulsion device 100, reduces the number of locations requiring sealing, and improves the sealing and anti-water intrusion performance of the propulsion device 100.

[0041] By arranging an inner tube 15 at the end of the guide tube 13, the inner tube 15 is inserted from bottom to top into the insertion hole 84 of the water-surface part 11. Compared with the sealing method of arranging an insertion tube on the water-surface part 11 and inserting it from top to bottom, the risk of water flowing downward into the guide tube 13 after passing through the joint between the water-surface part 11 and the inner tube 15 is avoided. That is, under this embodiment, after the external water enters the joint between the end face of the guide tube 13 and the water-surface part 11, most of it will be blocked on the outer peripheral side of the inner tube 15 and will not climb to the end of the inner tube 15 by itself. A small amount of water will only climb along the outer peripheral wall of the inner tube 15 under the action of external pressure. Under the blocking of the sealing structure 22, a small amount of water will also be further isolated on the outer peripheral side of the inner tube 15.

[0042] The sealing structure 22 improves the waterproof performance of the connection between the underwater portion 12 and the above-water portion 11, significantly reducing the possibility of water seeping into the electronic control cavity 16 or the motor cavity 17 and damaging the motor 19 or the electronic control component 18, thereby extending the service life of the propulsion device 100. Furthermore, the sealing structure 22 can simultaneously provide a sealing effect at two different gaps: the circumferential gap between the inner tube 15 and the above-water portion 11, and the end gap between the above-water portion 11 and the underwater portion 12, further improving the overall sealing and waterproof performance of the frame 10.

[0043] The electronic control component 18 is arranged in the guide tube 13 of the underwater part 12, and the motor 19 is arranged in the power casing 14 of the underwater part 12. During the operation of the propulsion device 100, the electronic control component 18 exchanges heat with the guide tube 13, and the guide tube 13 exchanges heat with the water area, so that the electronic control component 18 can exchange heat with the water area through the guide tube 13, thereby improving the heat exchange efficiency of the electronic control component 18, simplifying the heat dissipation structure of the propulsion device 100, and allowing the electronic control component 18 to operate at a higher efficiency, thereby extending the service life of the propulsion device 100; the motor 19 exchanges heat with the power casing 14, and the power casing 14 exchanges heat with the water area, thereby realizing heat exchange between the motor 19 and the water area through the power casing 14, thereby improving the heat exchange efficiency of the motor 19, further simplifying the heat dissipation structure of the propulsion device 100, and improving the propulsion efficiency of the propulsion device 100.

[0044] In this embodiment, referring to FIG. 3 , the DC conductive member 72 is connected to a conductive cable 82 . The conductive cable 82 passes through the above-water portion 11 and enters the inner tube 15 , and is then electrically connected to the electronic control assembly 18 to transmit DC power to the electronic control assembly 18 .

[0045] In this embodiment, referring to FIG2 , the propulsion device 100 further includes a tilting fixture 66 and a tilting driver 67. The tilting fixture 66 includes a tilting portion 66a for connecting to the above-water portion 11 and a fixed portion 66b for fixing to the water body 201. The tilting driver 67 has one end rotatably connected to the fixed portion 66b and the other end rotatably connected to the tilting portion 66a. The tilting driver 67 is retractable to drive the frame 10 to tilt relative to the water body 201. The fixed portion 66b of the tilting fixture 66 can be fixedly connected to the water body 201 by welding or bolting.

[0046] The tilting drive 67 can be a hydraulic cylinder, an electro-hydraulic cylinder, or other device capable of outputting power. For example, if the tilting drive 67 is an electro-hydraulic push rod, one end of the push rod is connected to the fixed portion 66b, and the other end is a telescopic end connected to the tilting portion 66a. By telescoping, the electric push rod can drive the frame 10 to rotate relative to the tilting fixture 66, causing the electronic control component 18, motor 19, and propeller 20 connected to the frame 10 to rotate and tilt relative to the water body 201.

[0047] In this embodiment, referring to FIG2 , the propulsion device 100 further includes a steering assembly 68, which is disposed on the above-water portion 11 and connected to the tilting portion 66a of the tilting fixture 66 to provide torque for steering the frame 10 relative to the water body 201. In this embodiment, the frame 10 is connected to the steering assembly 68, and the steering axis of the frame 10 rotating about the tilting portion 66a connected to the tilting fixture 66 is perpendicular to the steering axis of the steering assembly 68. That is, the rotation axis of the tilting axis of the tilting portion 66a (e.g., horizontal direction) is perpendicular to the rotation axis of the steering axis of the steering assembly 68 (e.g., direction of gravity). In this embodiment, the steering assembly 68 includes a steering drive 69 and a steering shaft 70. The steering drive 69 is mounted on the frame 10 and connected to the steering shaft 70. The steering shaft 70 is rotatably connected to the frame 10 and fixedly connected to the tilted portion 66a. The steering drive 69 is used to drive the steering shaft 70 to rotate, thereby driving the frame 10 to rotate relative to the tilted portion 66a, that is, to steer relative to the water body 201, so as to adjust the direction of the output power of the propulsion device 100. In this embodiment, the steering drive 69 can be a steering motor. Of course, in other embodiments, the steering shaft 70 can also be fixedly connected to the frame 10 and rotatably connected to the tilted portion 66a, the steering drive 69 can be fixed to the tilted portion 66a, and the steering drive 69 drives the steering shaft 70 to rotate.

[0048] It is understandable that a speed regulating assembly (not shown) can also be provided between the steering drive 69 and the steering shaft 70 , which reduces the speed of the rotational torque output by the steering drive 69 and increases the torque to provide the frame 10 with effective steering force relative to the water carrier 201 .

[0049] In this embodiment, referring to FIG1 , the propulsion device 100 further includes a central controller 78, which is connected to the electronic control assembly 18 via a control line 79. The propulsion device 100 further includes a battery 85, which is disposed within the water body 201 and is connected to the electronic control assembly 18 and the motor 19 via a conductive cable 82 to provide electrical energy to the electronic control assembly 18 and the motor 19.

[0050] In this embodiment, referring to Figure 1, the movable device 200 in the water area also includes a steering controller 88 and a steering device 87. The steering device 87 is arranged at the head end of the water area carrier 201, and the steering controller 88 is arranged in the water area carrier 201. The steering controller 88 is electrically connected to the steering device 87. The steering controller 88 is connected to the central controller 78 through a control line 79. The steering controller 88 can receive the steering signal of the steering device 87 and transmit the steering signal to the central controller 78. The central controller 78 then transmits the control signal to the electronic control component 18 and the motor 19. The electronic control component 18 can adjust the operating parameters of the drive component 67 and the steering component 68.

[0051] In this embodiment, referring to FIG1 , the mobile water vehicle 200 further includes a tiller 86 , which is mounted on the frame 10 of the propulsion device 100 and is used to receive steering signals. The tiller 86 transmits the steering signals to the central controller 78 , which in turn transmits the control signals to the electronic control assembly 18 and the motor 19 . The electronic control assembly 18 can adjust the operating parameters of the drive element 67 and the steering assembly 68 . The arrangement of the tiller 86 and the steering device 87 allows steering control to be achieved at both ends of the water vehicle 201 , improving the user experience.

[0052] In this embodiment, referring to FIG4 , a flange 63 is provided around the end of the flow conduit 13 adjacent to the inner tube 15. Multiple connecting and locking members 64 are provided along the circumference of the flow conduit 13. The end surface of the above-water portion 11 adjacent to the underwater portion 12 covers the flange 63 and is locked with the multiple connecting and locking members 64. The flange 63 reduces the difficulty of connecting the flow conduit 13 to the above-water portion 11 and improves the reliability of the connection between the above-water portion 11 and the flow conduit 13. Due to the fixed connection between the underwater portion 12 and the above-water portion 11, the locking method of the flange 63 and the above-water portion 11 from bottom to top using the connecting and locking members 64 allows the underwater portion 12 to adapt to various configurations of the above-water portion 11, reducing the structural requirements of the above-water portion 11 and avoiding the need for reserved assembly and locking space in the above-water portion 11, which would increase the structural complexity of the above-water portion 11.

[0053] Of course, in other embodiments where the structural requirements for the above-water portion 11 are less stringent, a flange 63 may be provided around the end of the above-water portion 11 adjacent to the underwater portion 12. The end surface of the flow conduit 13 adjacent to the above-water portion 11 may cover the flange 63 and be locked with a plurality of connecting and locking members 64, thereby also achieving the effect of firmly connecting the flow conduit 13 to the above-water portion 11. In other embodiments, a first flange may be provided around the end of the flow conduit 13 adjacent to the inner tube 15, and a second flange may be provided around the end of the above-water portion 11 adjacent to the underwater portion 12. The connecting and locking members 64 may be connected to the first and second flanges to secure the flow conduit 13 to the above-water portion 11.

[0054] In this embodiment, referring to FIG4 , the diameter of the inner tube 15 allows the electronic control assembly 18 to be inserted into the electronic control cavity 16 through the inner tube 15 . This allows the electronic control assembly 18 to be installed into the electronic control cavity 16 through the inner tube 15 , eliminating the need to provide an assembly opening in the underwater portion 12 that is sized appropriately for the electronic control assembly 18 . This improves the integrity and sealing of the underwater portion 12 , reduces the number of assembly steps required for the propulsion device 100 , and improves assembly efficiency of the propulsion device 100 .

[0055] In this embodiment, the electronic control component 18 is partially arranged on the inner side of the inner tube 15 and partially arranged in the electronic control cavity 16 so that the electronic control component 18 can be installed using part of the space of the above-water part 11 to reduce the volume of the underwater part 12. In other embodiments, the electronic control component 18 can be completely placed in the electronic control cavity 16 to increase the contact area between the electronic control component 18 and the underwater part 12, thereby improving the heat exchange efficiency of the electronic control component 18.

[0056] In this embodiment, referring to FIG4 , the electronic control assembly 18 includes a control circuit board 34, a driver circuit board 35, a power circuit board 36, and a first heat exchanger 40 and a second heat exchanger 44, which are electrically connected in sequence. The first heat exchanger 40 and the second heat exchanger 44 are spaced apart along the width of the cross-section of the flow conduit 13. At least two of the control circuit board 34, the driver circuit board 35, and the power circuit board 36 are positioned between the first heat exchanger 40 and the second heat exchanger 44. Heat is exchanged with the flow conduit 13 via the first heat exchanger 40 and the second heat exchanger 44, thereby improving the heat exchange efficiency of the electronic control assembly 18 and reducing its operating temperature. In other embodiments, only the first heat exchanger 40 or the second heat exchanger 44 may be provided.

[0057] In this embodiment, referring to Figures 4 and 5 , a mounting notch 23 is provided on one side of the inner tube 15, and a first locking portion 24 is provided on the other side of the inner tube 15 opposite the mounting notch 23. The electronic control assembly 18 is provided with a first fastener 25 that is locked to the first locking portion 24 through the mounting notch 23. In this embodiment, the first fastener 25 is fixedly connected to the first heat exchanger 40 and the inner tube 15. In other embodiments, the first fastener 25 may also pass through at least one of the control circuit board 34, the driver circuit board 35, and the power circuit board 36 and be fixedly connected to the inner tube 15. The mounting notch 23 is used to avoid the first fastener 25 when it is secured to the first locking portion 24, allowing the first fastener 25 to be threadedly connected to the inner tube 15 while aligning with the axis of the first fastening hole 24a, thereby improving the fastening reliability of the first fastener 25.

[0058] In this embodiment, referring to Figure 5 , the first locking portion 24 is a first fastening hole 24a. The first fastener 25 passes through the electronic control assembly 18 and is threadedly connected to the first fastening hole 24a. Furthermore, the first fastening hole 24a allows the first heat exchange element 40 or the second heat exchange element 44 to be attached to the flow conduit 13, thereby ensuring efficient heat exchange between the first heat exchange element 40 or the second heat exchange element 44. In other embodiments, the first locking portion 24 can also be a protruding column protruding from the inner surface of the inner tube 15, with the first fastener 25 securing the electronic control assembly 18 to the protruding column. In this embodiment, while the first heat exchange element 40 or the second heat exchange element 44 is tightly pressed against the inner wall of the flow conduit 13 via the first fastener 25, a heat-conducting structure such as thermal grease can be placed between the first heat exchange element 40 and the flow conduit 13, or between the second heat exchange element 44 and the flow conduit 13, to ensure efficient heat exchange between the first heat exchange element 40 or the second heat exchange element 44 and the flow conduit 13.

[0059] In this embodiment, referring to Figures 4 and 5 , a locking hole 26 is provided on one side of the flow conduit 13, adjacent to the electronic control assembly 18 and away from the inner tube 15. A second locking portion 27 is provided on the side of the flow conduit 13 facing away from the locking hole 26. A second fastener 28 is provided on the end of the electronic control assembly 18 facing away from the inner tube 15, which is locked to the second locking portion 27 through the locking hole 26. In this embodiment, the second fastener 28 is fixedly connected to the first heat exchanger 40 and the flow conduit 13. In other embodiments, the second fastener 28 may also pass through at least one of the control circuit board 34, the driver circuit board 35, or the power circuit board 36 and be fixedly connected to the flow conduit 13. In this embodiment, the end of the electronic control assembly 18 facing away from the inner tube 15 is the end of the electronic control assembly 18 located downward in the direction of gravity. This structural arrangement ensures that the first fastener 25 and the second fastener 28 are distributed in the direction of gravity, thereby improving the securement of the electronic control assembly 18 within the flow conduit 13.

[0060] In this embodiment, referring to FIG. 4 , the mounting notch 23 of the inner tube 15 and the locking hole 26 of the flow guide tube 13 are located on the same side of the underwater portion 12 , so that the operator can complete the locking operation of the electronic control component 18 from the same side of the underwater portion 12 . Furthermore, the connection between the electronic control component 18 and the inner tube 15 and the connection between the electronic control component 18 and the flow guide tube 13 are also located on the same side of the underwater portion 12 , thereby avoiding stress pulling problems at the two connections between the electronic control component 18 and the underwater portion 12 and improving the fixing reliability of the electronic control component 18 .

[0061] In this embodiment, referring to Figures 4 and 5 , the locking hole 26 facilitates the operator's use of a tool to insert the second fastener 28 into the electronic control cavity 16, allowing the second fastener 28 to pass through the first heat exchange element 40 and connect with the second locking portion 27 of the flow conduit 13. This eliminates the need for an overly large gap in the flow conduit 13. For example, in this embodiment, the locking hole 26 is relatively small, and a sealing plug 29 is provided on the sidewall of the flow conduit 13 to seal against the locking hole 26. Obviously, an overly large gap would significantly affect the sealing performance of the flow conduit 13. Therefore, the sealing and waterproof performance of the flow conduit 13 in this embodiment is minimally affected, and the flow conduit 13 still maintains excellent waterproof performance during actual use.

[0062] In this embodiment, referring to Figures 4 and 5, the second locking portion 27 is a second fastening hole 27a, and the second fastener 28 passes through the electronic control component 18 and is threadedly connected to the second fastening hole 27a. In addition, the second fastening hole 27a allows the first heat exchange component 40 or the second heat exchange component 44 to be attached to the flow guide tube 13 to ensure the heat exchange efficiency of the first heat exchange component 40 or the second heat exchange component 44. In other embodiments, the second locking portion 27 can also be configured as a boss protruding from the inner surface of the inner tube 15, and the second fastener 28 locks the electronic control component 18 to the boss. In this embodiment, a heat-conducting structure such as thermal grease can be filled between the first heat exchange component 40 and the flow guide tube 13 or between the second heat exchange component 44 and the flow guide tube 13 to similarly ensure heat exchange efficiency.

[0063] In this embodiment, referring to FIG4 , the cross-section of the flow guide tube 13 is runway-shaped. The front and rear outer surfaces of the flow guide tube 13 are both arc-shaped, and the outer surfaces on both sides of the flow guide tube 13 are both rectangular planes. To ensure balanced internal stress within the flow guide tube 13, the wall thickness of the flow guide tube 13 is uniform, and the shape of the inner wall of the flow guide tube 13 is the same as the shape of the outer surface. This allows the inner wall of the flow guide tube 13 to have two relatively large flat surfaces. The two relatively large flat surfaces within the flow guide tube 13 facilitate the fitting of the electronic control component 18 within the flow guide tube 13, allowing both opposing sides of the electronic control component 18 in the thickness direction to have a relatively large contact surface with the inner wall of the flow guide tube 13. This increases the heat exchange efficiency between the electronic control component 18 and the flow guide tube 13, makes the internal space of the flow guide tube 13 compact, and facilitates the installation of the electronic control component 18 within the flow guide tube 13 by inserting it from the top down.

[0064] In this embodiment, referring to Figures 5 and 6 , the control circuit board 34 covers the open opening 76 of the inner tube 15, while the drive circuit board 35 and the power circuit board 36 are stacked together within the electronic control chamber 16. The stacking direction is arranged along the cross-sectional width of the flow tube 13, which is perpendicular to the propulsion direction of the propulsion device 100. By covering the control circuit board 34 with the open opening 76 of the inner tube 15, the space at the connection between the inner tube 15 and the above-water portion 11 is utilized, so that only the drive circuit board 35 and the power circuit board 36 need to be installed in the flow tube 13. Compared to a case where the control circuit board 34, the drive circuit board 35, and the power circuit board 36 are all stacked within the flow tube 13, in this embodiment, the drive circuit board 35 and the power circuit board 36 have smaller dimensions along the cross-sectional width of the flow tube 13, thereby reducing the cross-sectional width of the flow tube 13, further reducing the fluid resistance experienced by the flow tube 13 during operation of the propulsion device 100, and improving propulsion efficiency.

[0065] In this embodiment, referring to Figures 4 to 6 , the electronic control assembly 18 further includes a cover member 37 that is pressed against the end surface of the inner tube 15. The control circuit board 34 is securely positioned between the cover member 37 and the end surface of the inner tube 15. The cover member 37 is fixedly connected to the end of the inner tube 15 facing away from the flow guide tube 13, thereby stably securing the control circuit board 34 between the cover member 37 and the inner tube 15 and ensuring reliable installation of the control circuit board 34. In this embodiment, the end of the cover member 37 facing the inner tube 15 is provided with a cover flange 63, which is connected to the end surface of the inner tube 15 via a fastening screw.

[0066] In this embodiment, referring to Figures 4 to 6 , the cover 37 is provided with a DC busbar interface 38. The DC conductive member 72 includes a DC busbar 39 inserted into the DC busbar interface 38. The DC busbar 39 also passes through the control circuit board 34 and is connected to the power circuit board 36. The DC busbar interface 38 facilitates the insertion of the DC busbar 39 into the electronic control cavity 16 and its connection with the power circuit board 36. In this embodiment, the DC busbar 39 outputs DC power to the power circuit board 36. The power circuit board 36 is also electrically connected to the control circuit board 34 and the driver circuit board 35, so that DC power is output to the control circuit board 34 and the driver circuit board 35.

[0067] In this embodiment, referring to Figures 6 and 8 , the electronic control assembly 18 further includes a shielding magnetic ring 77 secured to the cover 37 and enclosing the DC busbar 39. The shielding magnetic ring 77 improves the electromagnetic compatibility of the DC busbar 39, thereby minimizing the impact of high-frequency noise on control signals transmitted by the control circuit board 34 and ensuring the transmission quality of the control signals.

[0068] In this embodiment, referring to FIG. 6 and FIG. 8 , the cover member 37 is provided with a magnetic ring groove 83 for accommodating the shielding magnetic ring 77 , and the DC copper bus 39 passes through the interior of the magnetic ring groove 83 .

[0069] In this embodiment, referring to Figures 1, 2, and 6, a central controller 78 is fixed to the above-water portion 11. The central controller 78 is connected to the control circuit board 34 via a control line 79. The electronic control assembly 18 further includes a control line magnetic ring 80 fixed to the cover 37, through which the control line 79 passes. The control line magnetic ring 80 can improve the electromagnetic compatibility of the control line 79 to reduce high-frequency interference during signal shielding transmission within the control line 79 and reduce high-frequency noise to ensure the transmission quality of the control signal. The central controller 78 can be used to transmit control signals to and from the electronic control assembly 18 to control the operation of drive structures such as the motor 19, the tilting drive 67, and the steering drive 69. In other embodiments, the central controller 78 can also be fixed within the water area carrier 201.

[0070] In this embodiment, referring to FIG7 , the first heat exchanger 40 is attached to the driver circuit board 35 and the inner wall of the electronic control cavity 16. The driver circuit board 35 exchanges heat with the first heat exchanger 40 to transfer heat generated during operation to the first heat exchanger 40. The first heat exchanger 40 then exchanges heat with the inner wall of the electronic control cavity 16. In this embodiment, the inner wall of the electronic control cavity 16 is composed of the flow guide tube 13 and the inner tube 15. The heat generated by the first heat exchanger 40 can be transferred to the flow guide tube 13 and the inner tube 15. The inner tube 15 can exchange heat with the flow guide tube 13, thereby ultimately transferring the heat to the flow guide tube 13. The flow guide tube 13 then exchanges heat with the water area, ultimately achieving heat exchange between the driver circuit board 35 and the water area, thereby cooling the driver circuit board 35.

[0071] In this embodiment, referring to FIG7 , the first heat exchange element 40 is a metal plate 41a. The metal plate 41a has good heat exchange performance. In this embodiment, the metal plate 41a can be a solid metal plate or a hollow metal plate. The hollow metal plate can be filled with a circulating heat exchange fluid to further improve heat exchange efficiency. The first heat exchange element 40 is provided with a first thermally conductive adhesive 42 on one or both sides. The first heat exchange element 40 provided with the first thermally conductive adhesive 42 on one side means that the first thermally conductive adhesive 42 is provided between the first heat exchange element 40 and the inner wall of the electronic control cavity 16, or between the first heat exchange element 40 and the driver circuit board 35. The first heat exchange element 40 provided with the first thermally conductive adhesive 42 on both sides means that the first thermally conductive adhesive 42 is provided between the first heat exchange element 40 and the inner wall of the electronic control cavity 16, and between the first heat exchange element 40 and the driver circuit board 35. The first thermally conductive adhesive 42 is responsible for transferring heat from the driver circuit board 35 to the flow guide tube 13. The first thermally conductive adhesive 42 can improve the heat exchange efficiency between the driving circuit board 35 and the first heat exchange element 40 .

[0072] In this embodiment, the first thermally conductive adhesive 42 can be set to a variety of thermally conductive adhesives such as thermal grease, silicone thermally conductive adhesive, epoxy resin AB adhesive, acrylic thermally conductive adhesive, polyurethane thermally conductive adhesive, etc., and can also be set to a thermally conductive adhesive film to facilitate its fixed installation on the first heat exchanger 40.

[0073] In this embodiment, referring to Figure 7 , the electronic components 43 on the driver circuit board 35 are positioned on the side facing the power circuit board 36, while the first heat exchanger 40 is attached to the side of the driver circuit board 35 facing away from the power circuit board 36. This protects the electronic components 43 and facilitates the placement of the first thermally conductive adhesive 42 between the first heat exchanger 40 and the driver circuit board 35. In other embodiments, the electronic components 43 can also be attached to the first heat exchanger 40.

[0074] In this embodiment, referring to FIG7 , the second heat exchange element 44 is attached to the power circuit board 36 and the inner wall of the electronic control cavity 16. In this embodiment, the inner wall of the electronic control cavity 16 is formed by the flow conduit 13 and the inner tube 15. The heat generated by the first heat exchange element 40 can be transferred to the flow conduit 13 and the inner tube 15. The inner tube 15 can exchange heat with the flow conduit 13, thereby ultimately transferring the heat to the flow conduit 13. The flow conduit 13 then exchanges heat with the water area, ultimately achieving heat exchange between the power circuit board 36 and the water area, thereby cooling the power circuit board 36.

[0075] In this embodiment, referring to FIG. 7 , the second heat exchange member 44 is a metal plate 44 a , and a second thermal conductive adhesive 45 is provided on one or both sides of the second heat exchange member 44 . The second thermal conductive adhesive 45 is responsible for transferring heat from the power circuit board 36 to the flow guide pipe 13 .

[0076] The metal plate 44a has good heat exchange performance. In this embodiment, the metal plate 44a can be a solid metal plate or a hollow metal plate. The hollow metal plate can be filled with a circulating heat exchange fluid to further improve heat exchange efficiency. The second heat exchange element 44 is provided with a second thermally conductive adhesive 45 on one or both sides. The second heat exchange element 44 provided with the second thermally conductive adhesive 45 on one side means that the second thermally conductive adhesive 45 is provided between the second heat exchange element 44 and the inner wall of the electronic control cavity 16, or the first thermally conductive adhesive 42 is provided between the second heat exchange element 44 and the driver circuit board 35. The second heat exchange element 44 provided with the second thermally conductive adhesive 45 on both sides means that the second thermally conductive adhesive 45 is provided between the second heat exchange element 44 and the inner wall of the electronic control cavity 16, and between the second heat exchange element 44 and the driver circuit board 35. The second thermally conductive adhesive 45 is responsible for transferring heat from the driver circuit board 35 to the flow guide tube 13. The second thermally conductive adhesive 45 can improve the heat exchange efficiency between the power circuit board 36 and the second heat exchange element 44. In this embodiment, the second thermally conductive adhesive 45 can be set to a variety of thermally conductive adhesives such as thermal grease, silicone thermally conductive adhesive, epoxy resin AB adhesive, acrylic thermally conductive adhesive, polyurethane thermally conductive adhesive, etc., and can also be set to a thermally conductive adhesive film to facilitate its fixed installation on the second heat exchanger 44.

[0077] In this embodiment, referring to FIG7 , in order to meet the high power requirements of the motor 19 , a plurality of large capacitor devices 46 are provided on the side of the power circuit board 36 facing away from the driver circuit board 35 , and the second heat exchanger 44 is attached to the plurality of large capacitor devices 46 . In order to lower the center of gravity of the electronic control component 18 , the plurality of large capacitor devices 46 are arranged on the side of the circuit board close to the motor 19 , so that the layout space on the side of the power circuit board 36 close to the inner tube 15 can be used to arrange small electronic devices, and it is convenient for the power circuit board 36 to be connected to the DC copper bus 39 on the side close to the inner tube 15 . It is understandable that the large capacitor devices 46 tend to generate a large amount of heat when the power circuit board 36 is running. The second heat exchanger 44 is attached to the plurality of large capacitor devices 46, which can improve the heat exchange efficiency between the large capacitor devices 46 and the guide tube 13, thereby improving the heat dissipation performance of the power circuit board 36 . In other embodiments, the large capacitor devices 46 can also be placed on the side of the power circuit board 36 facing the driver circuit board 35 and connected to the guide tube 13 using an additional heat exchange structure.

[0078] In this embodiment, referring to FIG6 , the power housing 14 includes a main housing 47 integral with the flow guide tube 13 and an end cap 48 covering the main housing 47. The motor cavity 17 is provided with a power opening 49 at a location where the main housing 47 cooperates with the end cap 48, and the end cap 48 seals the power opening 49. The power opening 49 facilitates the installation of the motor 19 and its rotating shaft and other structures into the main housing 47, thereby facilitating the assembly of the motor 19 with the power housing 14. Furthermore, after the motor 19 is installed into the main housing 47 through the power opening 49, the power opening 49 also provides space for connecting the motor 19 and the electronic control assembly 18 through a connecting wire, thereby facilitating the connection and installation of the motor 19 and the electronic control assembly 18. In this embodiment, referring to FIG7 and FIG8 , the propulsion device 100 also includes a copper busbar assembly 50 that electrically connects the electronic control assembly 18 to the motor 19. The copper busbar assembly 50 is partially located in the motor cavity 17 in an area directly opposite the power opening 49. The electrical connection between the motor 19 and the electronic control assembly 18 can be achieved through the copper bar assembly 50. By placing the portion of the copper bar assembly 50 in the area of ​​the motor cavity 17 facing the power opening 49, it is convenient to complete the installation of the copper bar assembly 50 between the electronic control assembly 18 and the motor 19 from the power opening 49. In the present embodiment, referring to Figure 8, the propulsion device 100 also includes a Hall sensor 81, which is close to the copper bar assembly 50 and is used to sense the magnetic field of the copper bar assembly 50. When the copper bar assembly 50 transmits a control electrical signal between the motor 19 and the electronic control assembly 18, the Hall sensor 81 can sense the magnetic field changes of the copper bar assembly 50 and calculate the current value and voltage value based on the magnetic field changes to sample the current and voltage values ​​flowing through the copper bar assembly 50. In the present embodiment, the Hall sensor 81 is fixedly connected to one end of the electronic control assembly 18 near the motor 19.

[0079] In this embodiment, referring to FIG8 , the copper busbar assembly 50 includes three-phase copper busbar connectors 51, which are sequentially staggered in a direction directly opposite the power opening 49. Sequential staggering means that the three-phase copper busbar connectors 51 are spaced apart in the width direction of the cross section of the inner tube 15 and are also spaced apart in the propulsion direction of the propulsion device 100. The staggered three-phase copper busbar connectors 51 can be sequentially connected to the staggered three-phase wires 53, facilitating accurate installation of the three-phase wires 53 onto the three-phase copper busbar connectors 51 from the power opening 49.

[0080] In this embodiment, referring to FIG8 , the propulsion device 100 further includes a copper busbar bracket 52 fixed within the motor cavity 17 , a three-phase copper busbar connector fixed to the copper busbar bracket 52 , and a three-phase line 53 of the motor 19 fixedly connected to the three-phase copper busbar connector via the copper busbar bracket 52 . The copper busbar bracket 52 can be fixedly connected to the flow guide tube 13 via a fastening structure such as screws, thereby securing the copper busbar bracket 52 to the motor cavity 17 . The copper busbar bracket 52 can provide a stable and reliable support for the three-phase copper busbar connector 51 , thereby keeping the motor 19 , three-phase line 53 , three-phase copper busbar connector 51 , and flow guide tube 13 relatively fixed, making them less likely to become loose during operation of the propulsion device 100 .

[0081] In this embodiment, referring to FIG8 , the propulsion device 100 further includes an end cap seal 55 , which is sealingly connected to the connection between the main housing 47 and the end cap 48 to provide a waterproof seal at the connection between the end cap 48 and the main housing 47. The end cap 48 has a portion extending into the interior of the main housing 47. The end cap seal 55 is mounted between the portion of the end cap 48 located within the main housing 47 and the inner wall of the main housing 47. The end cap seal 55 abuts between the outer surface of the end cap 48 and the inner surface of the main housing 47, thereby providing a waterproof seal at the connection between the end cap 48 and the main housing 47. In this embodiment, the end cap seal 55 can be configured as a sealing rubber ring, a sealing waterstop, or the like.

[0082] In this embodiment, referring to FIG8 , the power housing 14 further includes a reducer housing 56 that covers the main housing 47 and is away from the end cover 48. A reduction cavity 57 is formed between the reducer housing 56 and the main housing 47. The propulsion device 100 further includes a reducer 58 connected between the motor 19 and the propeller 20. The reducer 58 is disposed within the reduction cavity 57. In this embodiment, the reducer 58 is connected to the output end of the motor 19 and is connected to the propeller 20 to transmit the increased torque after deceleration to the propeller 20, causing the propeller 20 to rotate and output propulsion. The reducer 58 can take various structural forms, such as a gear train reduction mechanism, a screw-ball reduction mechanism, a worm gear reduction mechanism, a planetary gear reduction mechanism, etc. The reducer 58 is not limited to the aforementioned forms; any transmission structure capable of converting the rotational torque of the motor 19 into the rotational torque of the propeller 20 is an embodiment of the reducer 58 of this application. In other embodiments, depending on the size of the reducer 58 in the propulsion direction, a portion of the reducer 58 can be located within the reducer housing 56, while another portion can be located within the main housing 47.

[0083] In this embodiment, referring to FIG8 , the propulsion device 100 further includes a reducer housing seal 71. The reducer housing seal 71 is sealingly connected to the connection between the main housing 47 and the reducer housing 56, thereby providing a waterproof seal at the connection between the reducer housing 56 and the main housing 47. In this embodiment, the separate arrangement of the reducer housing 56 and the main housing 47 facilitates installation of the reducer 58 within the reducer housing 56 and facilitates assembly with the propeller 20.

[0084] In this embodiment, referring to FIG6 , the reduction cavity 57 is isolated from the motor cavity 17 , and cooling lubricant 59 is disposed within the reduction cavity 57 . The cooling lubricant 59 lubricates and cools the reducer 58 . The cooling lubricant 59 reduces rotational friction of the reducer 58 and also facilitates heat exchange between the reducer 58 and the flow guide tube 13 , thereby improving the heat dissipation efficiency of the reducer 58 .

[0085] The deceleration cavity 57 is isolated from the motor cavity 17, which means that the output shaft of the motor 19 and the inner wall of the main shell 47 are sealed and connected, so that the deceleration cavity 57 on the side of the output shaft of the motor 19 close to the propeller 20 is isolated from the motor cavity 17, preventing the cooling lubricating oil 59 from entering the motor cavity 17 from the deceleration cavity 57 and then entering the electronic control cavity 16, thereby ensuring the reliable operation of the electronic control component 18.

[0086] In other embodiments, the motor cavity 17 can also be isolated from the electronic control cavity 16, and the reduction cavity 57 and the motor cavity 17 can be connected. In this way, the motor 19 and the reducer 58 can be lubricated and cooled by the cooling lubricating oil 59 at the same time, thereby improving the cooling efficiency of the motor 19.

[0087] In this embodiment, referring to Figures 6 and 8, the propulsion device 100 further includes a mechanical pump 60 disposed within the reducer housing 56. The mechanical pump 60 receives the rotational torque of the motor 19 and pumps the cooling lubricating oil 59 within the reduction cavity 57 from a lower location to a higher location. In this embodiment, a rotor is disposed within the mechanical pump 60. When the mechanical pump 60 is in operation, the rotation of the rotor can create a negative pressure, thereby pumping the cooling lubricating oil 59 from a lower location to a higher location. As a result, the cooling lubricating oil 59 does not need to be completely immersed in the reduction cavity 57, but instead fills the bottom of the reduction cavity 57, thereby saving the amount of cooling lubricating oil 59 used.

[0088] Specifically, in this embodiment, referring to Figures 6 and 8 , the reducer 58 includes a first gear shaft 73 and a second gear shaft 74. The first gear shaft 73 is connected to the motor 19, and the second gear shaft 74 is connected to the propeller 20. The first gear shaft 73 and the second gear shaft 74 are each provided with a reduction gear that meshes with each other. In this embodiment, the first gear shaft 73 is located at a lower position in the reduction chamber 57 in the direction of gravity, while the second gear shaft 74 is located at a higher position in the reduction chamber 57.

[0089] As a result, the cooling lubricating oil 59 can be filled in the bottom of the reduction cavity 57. When the reducer 58 stops running, the liquid level of the cooling lubricating oil 59 can roughly touch the reducer 58. Taking advantage of the viscosity of the cooling lubricating oil 59, the first gear shaft 73 can drive the cooling lubricating oil 59 attached thereto to the meshing point with the second gear shaft 74 during the rotation process, thereby lubricating the second gear shaft 74. The second gear on the second gear shaft 74 and the first gear on the first gear shaft 73 are both helical gears, and the axial component of the helical gear meshing movement of the second gear shaft 74 and the first gear shaft 73 can be used to drive the cooling lubricating oil 59 to various locations of the first gear shaft 73 and the second gear shaft 74. During the uninterrupted meshing movement of the first gear shaft 73 and the second gear shaft 74, the cooling lubricating oil 59 can maintain a certain height in the reduction cavity 57 and submerge one end of the reduction cavity 57. The cooling lubricating oil 59 will be stirred to both ends of the deceleration cavity 57 under the action of the rotational motion in the deceleration cavity 57. Therefore, the second gear shaft 74 at a higher position, both ends of the second gear shaft 74, and the end of the first gear shaft 73 connected to the propeller 20 can all be lubricated, and the cooling lubricating oil 59 does not need to immerse the second gear shaft 74, which saves the amount of cooling lubricating oil 59 without affecting the lubrication effect.

[0090] FIG9 shows another propulsion device 100 , which is different from the aforementioned propulsion device 100 in that the specific structure of the flow guide tube 13 of the propulsion device 100 is different.

[0091] Referring to Figures 9 and 10 , the side of the flow conduit 13 is provided with an electrical control installation opening 30 and an electrical control cover 31 that covers the electrical control installation opening 30. The electrical control assembly 18 is received within the electrical control cavity 16 through the electrical control installation opening 30. The diameter of the inner tube 15 allows the DC conductive member 72 connected to the electrical control assembly 18 to be disposed within the inner tube 15. In this embodiment, the electrical control installation opening 30 is provided on the side of the width direction of the cross section of the flow conduit 13. In other embodiments, the electrical control installation opening 30 may also be provided on the side of the length direction of the cross section of the flow conduit 13, thereby also allowing the electrical control assembly 18 to be installed within the electrical control cavity 16.

[0092] In this embodiment, the inner tube 15 has a smaller diameter, which simplifies assembly between the inner tube 15 and the flow tube 13, reduces the volume occupied by the inner tube 15, and facilitates design of different shapes and specifications for the propulsion device 100. In this case, the electronic control assembly 18 is difficult to install from the inner tube 15 into the flow tube 13. By providing an electronic control installation opening 30 on the side of the flow tube 13, the electronic control assembly 18 can be conveniently installed from this opening. Furthermore, securing the electronic control assembly 18 to the flow tube 13 is also more convenient. Specifically, the opening diameter of the electronic control installation opening 30 allows the electronic control assembly 18 to be installed into the electronic control cavity 16 from the side wall of the superimposed flow tube 13. The conductive assembly can then be inserted through the inner tube 15, connecting the conductive assembly to the electronic control assembly 18. The electronic control assembly 18 is then locked and secured perpendicular to the circuit board surface of the electronic control assembly 18, thereby achieving secure installation.

[0093] In this embodiment, a support boss 32 is provided inside the electrical control installation opening 30, and the perimeter of the electrical control cover 31 overlaps with the support boss 32. The support boss 32 cooperates with the electrical control cover 31 to improve the sealing performance of the connection between the electrical control cover 31 and the flow guide tube 13. In other embodiments, an annular groove may be provided inside the electrical control installation opening 30, and an annular protrusion may be provided on the surface of the electrical control cover 31 to cooperate with the annular groove.

[0094] The propulsion device 100 further includes an electric control seal 33, which is sealed between the periphery of the electric control cover plate 31 and the support boss 32 to provide a waterproof seal at the connection between the electric control cover plate 31 and the flow guide tube 13. In this embodiment, the electric control seal 33 can be configured as a sealing rubber ring, a sealing water stop, or the like.

[0095] FIG11 shows another propulsion device 100 , which differs from the aforementioned propulsion device 100 in that the specific structures of the flow guide tube 13 and the electronic control component 18 of the propulsion device 100 are different.

[0096] In this embodiment, as shown in Figures 11 to 13 , the cross-section of the flow guide tube 13 is elliptical. The elliptical shape of the flow guide tube 13 forms an arc-shaped side surface along the width of the cross section, resulting in lower fluid resistance. When the propulsion direction of the propulsion device 100 is perpendicular to the width of the cross section of the flow guide tube 13, the propulsion efficiency of the propulsion device 100 is higher.

[0097] In this embodiment, referring to Figures 11 to 13 , the electronic control assembly 18 includes a control circuit board 34, a driver circuit board 35, and a power circuit board 36, which are electrically connected in sequence. The control circuit board 34, the driver circuit board 35, and the power circuit board 36 are stacked along the minor axis of the cross-section of the flow conduit 13. The elliptical flow conduit 13 can be divided into spaces with various chord lengths along the minor axis of the cross-section of the flow conduit 13. Each space can be used to accommodate circuit boards of different sizes, thereby facilitating the installation of circuit boards of varying sizes. For example, the driver circuit board 35 and the power circuit board 36 can be stacked in a space with a larger chord length (such as the middle portion of the elliptical flow conduit 13), while the control circuit board 34, having a shorter length, can be located in a space with a smaller chord length. This improves the space utilization of the electronic control cavity 16 within the flow conduit 13.

[0098] In this embodiment, referring to FIG. 11 to FIG. 13 , the control circuit board 34 is adjacent to the inner wall of the electronic control cavity 16 .

[0099] In this embodiment, as shown in Figure 11 , the electronic components 43 on the control circuit board 34 face the inner wall of the adjacent electronic control cavity 16. During operation, the electronic components 43 generate significant heat. Positioning them facing the inner wall of the adjacent electronic control cavity 16 improves the efficiency of heat exchange between the electronic components 43 and the water area through the flow guide tube 13, thereby enhancing the cooling effect of the control circuit board 34.

[0100] In this embodiment, referring to Figures 12 and 13 , the electronic control assembly 18 further includes a first heat exchanger 40 disposed between the control circuit board 34 and the inner wall of the electronic control chamber 16. The control circuit board 34 exchanges heat with the first heat exchanger 40, transferring heat generated during operation to the first heat exchanger 40. The first heat exchanger 40 then exchanges heat with the flow conduit 13, which in turn exchanges heat with the water area. Ultimately, heat exchange between the control circuit board 34 and the water area is achieved, cooling the electronic control circuit board. The first heat exchanger 40 enhances the efficiency of heat exchange between the control circuit board 34 and the water area.

[0101] In this embodiment, the first heat exchanger 40 is a metal plate 41b. A first thermally conductive adhesive 42 is provided on one or both sides of the first heat exchanger 40. The first thermally conductive adhesive 42 is responsible for controlling the heat transfer from the circuit board 34 to the flow guide tube 13. The metal plate 41b has good heat exchange performance. In this embodiment, the metal plate 41b can be a solid metal plate or a hollow metal plate. The hollow metal plate can be filled with a circulatory heat exchange liquid to further improve the heat exchange efficiency. The first heat exchanger 40 is provided with the first thermally conductive adhesive 42 on one or both sides. The first heat exchanger 40 is provided with the first thermally conductive adhesive 42 on one side, which means that the first thermally conductive adhesive 42 is provided between the first heat exchanger 40 and the inner wall of the electronic control cavity 16, or between the first heat exchanger 40 and the control circuit board 34. The first thermally conductive adhesive 42 is provided on both sides of the first heat exchanger 40. This means that the first thermally conductive adhesive 42 is provided between the first heat exchanger 40 and the inner wall of the electronic control cavity 16, and between the first heat exchanger 40 and the control circuit board 34. The first thermally conductive adhesive 42 is responsible for transferring heat from the control circuit board 34 to the flow conduit 13. The first thermally conductive adhesive 42 improves the heat exchange efficiency between the control circuit board 34 and the first heat exchanger 40.

[0102] In this embodiment, the first thermally conductive adhesive 42 can be set to a variety of thermally conductive adhesives such as thermal grease, silicone thermally conductive adhesive, epoxy resin AB adhesive, acrylic thermally conductive adhesive, polyurethane thermally conductive adhesive, etc., and can also be set to a thermally conductive adhesive film to facilitate its fixed installation on the first heat exchanger 40.

[0103] In this embodiment, as shown in FIG12 , the driver circuit board 35 is located between the control circuit board 34 and the power circuit board 36. Alternatively, as shown in FIG13 , the power circuit board 36 is located between the control circuit board 34 and the driver circuit board 35. In this embodiment, the positional relationship between the driver circuit board 35 and the power circuit board 36 can be determined based on their actual heat dissipation requirements, or any structural installation conflicts among the control circuit board 34, the driver circuit board 35, and the power circuit board 36.

[0104] In this embodiment, referring to Figures 11 to 13 , the electronic control assembly 18 further includes a second heat exchanger 44, which is attached to the inner wall of the electronic control cavity 16 on a side away from the control circuit board 34. The driver circuit board 35 or the power circuit board 36 is attached to the second heat exchanger 44. The driver circuit board 35 / power circuit board 36 exchanges heat with the second heat exchanger 44 to transfer heat generated during operation to the first heat exchanger 40. The first heat exchanger 40 then exchanges heat with the flow guide 13, which in turn exchanges heat with the water area. Ultimately, heat exchange between the driver circuit board 35 / power circuit board 36 and the water area is achieved, thereby cooling the electronic control circuit board. The first heat exchanger 40 can enhance the heat exchange efficiency between the driver circuit board 35 / power circuit board 36 and the water area.

[0105] In this embodiment, the second heat exchange member 44 is a metal plate 44b. A second thermally conductive adhesive 45 is provided on one or both sides of the second heat exchange member 44. The second thermally conductive adhesive 45 is responsible for driving the heat transfer from the drive circuit board 35 or the power circuit board 36 to the flow conduit 13. When the drive circuit board 35 is located between the control circuit board 34 and the power circuit board 36, the second thermally conductive adhesive 45 is responsible for driving the heat transfer from the power circuit board 36 to the flow conduit 13. When the power circuit board 36 is located between the control circuit board 34 and the drive circuit board 35, the second thermally conductive adhesive 45 is responsible for driving the heat transfer from the drive circuit board 35 to the flow conduit 13. The metal plate 44b has good heat transfer performance. In this embodiment, the metal plate 44b can be a solid metal plate or a hollow metal plate. The hollow metal plate can be filled with a circulating heat exchange fluid to further improve the heat exchange efficiency. The second thermally conductive adhesive 45 is provided on one or both sides of the second heat exchange member 44. Providing the second thermally conductive adhesive 45 on a single side of the second heat exchanger 44 means that the second thermally conductive adhesive 45 is provided between the second heat exchanger 44 and the inner wall of the electronic control cavity 16, or between the second heat exchanger 44 and the driver circuit board 35 / power circuit board 36. Providing the second thermally conductive adhesive 45 on both sides of the second heat exchanger 44 means that the second thermally conductive adhesive 45 is provided between the second heat exchanger 44 and the inner wall of the electronic control cavity 16, and between the second heat exchanger 44 and the driver circuit board 35 / power circuit board 36. The second thermally conductive adhesive 45 can improve the heat exchange efficiency between the driver circuit board 35 / power circuit board 36 and the second heat exchanger 44.

[0106] In this embodiment, the second thermally conductive adhesive 45 can be set to a variety of thermally conductive adhesives such as thermal grease, silicone thermally conductive adhesive, epoxy resin AB adhesive, acrylic thermally conductive adhesive, polyurethane thermally conductive adhesive, etc., and can also be set to a thermally conductive adhesive film to facilitate its fixed installation on the third heat exchange component.

[0107] FIG. 14 and FIG. 15 show another propulsion device 100 , which differs from the aforementioned propulsion device 100 in that the electronic control component 18 and the motor 19 of the propulsion device 100 are respectively housed in two isolated cavities.

[0108] In this embodiment, referring to FIG. 16 , the flow guide tube 13 is further provided with a receiving cavity 90 . The receiving cavity 90 is isolated from the electric control cavity 16 and communicates with the motor cavity 17 . The receiving cavity 90 is used to receive the three-phase line 53 of the motor 19 .

[0109] The housing cavity 90 is isolated from the electronic control cavity 16 and communicates with the motor cavity 17, thereby isolating the motor cavity 17 from the electronic control cavity 16. This prevents the operation of the motor 19 and the electronic control assembly 18 from interfering with each other. The three-phase line 53 of the motor 19 can extend through the housing cavity 90 to the outside of the guide tube 13 and connect to the electronic control assembly 18, allowing the electronic control assembly 18 to control the operation of the motor 19 and allowing the battery 85 (see Figure 14) to transmit power to the motor 19 through the electronic control assembly 18 and the three-phase line 53, so that the motor 19 outputs propulsion torque to the propeller 20.

[0110] In this embodiment, referring to FIG. 16 , the underwater portion 12 further includes an insulating portion 99 and a partition 101. The insulating portion 99 is connected to the partition 101, and the insulating portion 99 separates the electronic control chamber 16 from the motor chamber 17. The partition 101 is located within the flow conduit 13 and separates the flow conduit 13 into the electronic control chamber 16 and the receiving chamber 90. The partition 101 extends to the open opening 76 of the inner tube 15. The partition 101, the insulating portion 99, and the inner wall of one side of the flow conduit 13 collectively define the electronic control chamber 16. The partition 101 and the inner wall of the other side of the flow conduit 13 collectively define the receiving chamber 90. The insulating portion 99 and the inner wall of the power housing 14 collectively define the motor chamber 17. In other embodiments, a peripheral wall may be provided on the inner surface of the flow guide tube 13, and a closed end wall may be provided on the side of the peripheral wall away from the inner surface of the flow guide tube 13, so that the peripheral wall, the end wall and the inner wall of the flow guide tube 13 together form a closed electric control cavity 16, and other areas of the flow guide tube 13 are formed as a receiving cavity 90 and a motor cavity 17. Therefore, there are many ways to isolate the electric control cavity 16 from the receiving cavity 90, which can be determined according to actual needs.

[0111] In this embodiment, referring to FIG16 , a cooling lubricant 59 is provided in the motor cavity 17 to lubricate and cool the motor 19. The cooling lubricant 59 can reduce the rotational friction of the rotor of the motor 19 and the movement of the transmission structure between the motor 19 and the propeller 20. At the same time, the cooling lubricant 59 can exchange heat with the moving motor 19 and the transmission structure to absorb heat from the motor 19 and the transmission structure. The cooling lubricant 59 then exchanges heat with the water area through the sidewall of the underwater portion 12, thereby transferring the absorbed heat to the water area. The cooling lubricant 59 can improve the heat dissipation efficiency of the motor 19 and the transmission structure.

[0112] Furthermore, because the motor cavity 17 is isolated from the electronic control cavity 16, the cooling lubricant 59 cannot enter the electronic control cavity 16 through the motor cavity 17 or the receiving cavity 90. This ensures that the operation of the electronic control component 18 is not affected by the cooling lubricant 59, ensuring the stable operation of the electronic control component 18. The electronic control component 18 can exchange heat with the water through the housing of the underwater portion 12, which also ensures the reliability of the heat dissipation of the electronic control component 18.

[0113] In this embodiment, referring to Figures 16 and 17 , a wire outlet 91 is provided at the top of the flow guide tube 13. This wire outlet 91 communicates with the receiving chamber 90. The propulsion device 100 also includes a wiring seal 92 and a terminal 93. The wiring seal 92 is sealed against the wire outlet 91, and the terminal 93 is sealed within the wiring seal 92 and connected to the three-phase line 53. The wire outlet 91 is the opening of the receiving chamber 90. By sealing the wire outlet 91 with the wiring seal 92, the cooling lubricating oil 59 in the motor chamber 17 cannot leak from the wire outlet 91 of the receiving chamber 90 into the surface section 11 or into the electronic control chamber 16, thereby further ensuring the operational safety of the electronic control assembly 18. Configuring the terminal post 93 in the wiring seal 92 can facilitate the connection of the three-phase line 53 to the terminal post 93, and then connect it to the electronic control component 18 through the terminal post 93. Compared with sealing the three-phase line 53 to the wiring seal 92, the sealing cooperation between the terminal post 93 and the wiring seal 92 is simpler and has better sealing performance.

[0114] In this embodiment, referring to FIG. 17 , a wiring seal 92 is fitted within a receiving cavity 90. A sealing groove 102 is defined on the outer circumference of the wiring seal 92 to accommodate a sealing ring for sealing against the inner wall of the underwater portion 12. In this embodiment, a step is defined on the surface of the receiving cavity 90 to support the wiring seal 92 and prevent it from falling into the receiving cavity 90.

[0115] In this embodiment, referring to FIG16 , the receiving cavity 90 and the electric control cavity 16 are spaced apart along the propulsion direction of the propulsion device 100 , thereby reducing the size of the underwater part 12 along the width direction of its cross section, which is beneficial to reducing the water flow resistance encountered by the propulsion device 100 during operation.

[0116] In this embodiment, referring to Figure 16, the propulsion device 100 also includes a copper busbar assembly 50, which is arranged in the electronic control cavity 16. One end of the copper busbar assembly 50 is connected to the electronic control component 18, and the other end of the copper busbar assembly 50 extends out of the electronic control cavity 16 and is electrically connected to the terminal 93.

[0117] In this embodiment, referring to FIG16 , the copper busbar assembly 50 includes a vertical section 94 and a horizontal section 95. The vertical section 94 fits within the electrical control cavity 16, while the horizontal section 95 is connected to the vertical section 94 and electrically connected to the terminal 93. The vertical section 94 can be installed between the electrical control assembly 18 and the partition 101 to fully utilize the space within the electrical control cavity 16. The horizontal section 95 is located at the opening of the electrical control cavity 16 to facilitate electrical connection to the terminal 93. The vertical section 94 and the horizontal section 95 generally form a G shape, which facilitates the copper busbar assembly 50 to be placed within the partition 101 and electrically connected to the terminal 93.

[0118] In the present embodiment, referring to Figures 16 and 17, the propulsion device 100 also includes a copper bar locking piece 96, which locks the copper bar assembly 50 to the terminal 93. By locking the copper bar locking piece 96, the copper bar assembly 50 can be relatively fixed to the underwater part 12, thereby eliminating the need to fix the vertical section 94 in the electric control cavity 16, reducing the assembly difficulty of the propulsion device 100. Of course, in order to further improve the robustness of the copper bar assembly 50, the vertical section 94 can also be fixed simultaneously when the electric control assembly 18 is fixedly installed. In the present embodiment, the copper bar locking piece 96 is a screw, which is threadedly connected to the terminal 93 to lock the horizontal section 95 to the top surface of the terminal 93, thereby realizing the fixed connection between the horizontal section 95 and the terminal 93. In other embodiments, the copper bar locking piece 96 can also be pinned to the terminal 93.

[0119] In this embodiment, referring to FIG16 , the power housing 14 further includes a cooling shell 97 covering the main housing 47 away from the end cover 48. A cooling cavity 98 is formed between the cooling shell 97 and the main housing 47. The cooling cavity 98 is in communication with the motor cavity 17. The propulsion device 100 further includes a transmission shaft connected to the motor 19. The transmission shaft is disposed in the cooling cavity 98. Cooling lubricant 59 is disposed in the cooling cavity 98. The cooling lubricant 59 can cool both the motor 19 and the transmission shaft.

[0120] In other embodiments, according to the spatial size of the cooling cavity 98, the transmission shaft can also be replaced with the transmission shaft group, reduction mechanism or reducer 58 in the aforementioned embodiments, so as to adjust the torque output by the motor 19 to the propeller 20 and achieve a speed change effect; or the mechanical pump 60 in the aforementioned embodiment can be additionally added to accelerate the circulation flow of the cooling lubricating oil 59 through the mechanical pump 60 to further improve the cooling efficiency and reduce the consumption of the cooling lubricating oil 59, which will not be repeated here.

[0121] In the above-described embodiments, the propulsion device 100 is an outboard motor 100a. Of course, the embodiments of the present application are not limited to the above-described embodiments. For example, referring to FIG18 , the propulsion device 100 may also be a podded propulsion device 100b. The podded propulsion device 100b is substantially similar to the outboard motor 100a of the above-described embodiment, except that the above-water portion 11 of the podded propulsion device 100b is fixed within the water body 201, and the bottom of the above-water portion 11 is connected to the underwater portion 12 outside the bottom 202 of the water body 201. The bottom 202 is used for support on the surface of a water body, where the water surface refers to the surface of a water body such as a river, lake, or sea. That is, when the movable device 200 is traveling in the water body, a portion of the outer surface of the bottom 202 is in direct contact with the water body. The flange 63 of the guide tube 13 is fastened to the bottom of the above-water portion 11 and is adjacent to the bottom 202 of the water body 201. Central controller 78 is located within water carrier 201, separate from surface portion 11, and connected to electronic control assembly 18 via conductive cable 82. In other embodiments, central controller 78 may also be fixed to surface portion 11. In this embodiment, steering controller 88 is connected to central controller 78 via control cable 89.

[0122] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present application should not depart from the spirit and scope of the technical solutions of the present application.

Claims

1. A propulsion device, characterized in that: include: A frame, wherein the frame comprises an above-water part and an underwater part, the underwater part is provided with a guide tube and a power housing, one end of the guide tube is provided with an inner tube inserted into the above-water part, the power housing is integrally arranged at one end of the guide tube away from the inner tube, an electric control cavity connected to the inner side of the inner tube is arranged in the guide tube, and a motor cavity is arranged in the power housing; An electric control component, wherein the electric control component is at least partially matched in the electric control cavity and obtains direct current through a direct current conductive member configured in the inner tube; A motor, fixed in the motor cavity and electrically connected to the electric control component to receive a driving control signal of the electric control component; A sealing structure is provided between the outer peripheral side wall of the inner tube and the above-water part.

2. The propulsion device according to claim 1, characterized in that: The diameter of the inner tube allows the electric control component to be inserted into the electric control cavity from the inner tube.

3. The propulsion device according to claim 2, characterized in that: The electric control component is partially arranged on the inner side of the inner tube, and partially arranged inside the electric control cavity.

4. The propulsion device according to claim 3, characterized in that: A mounting notch is arranged on one side of the inner tube, a first locking portion is arranged on the other side of the inner tube directly opposite to the mounting notch, and the electric control component is provided with a first fastener which is locked to the first locking portion through the mounting notch.

5. The propulsion device according to claim 3, characterized in that: A locking hole is provided on one side of the guide tube adjacent to the electric control component away from the inner tube, a second locking portion is provided on the side of the guide tube away from the locking hole, and a second fastener is provided at one end of the electric control component away from the inner tube that is locked to the second locking portion through the locking hole.

6. The propulsion device according to claim 5, characterized in that: The side wall of the flow guide pipe is provided with a sealing plug which is sealed to fit the locking hole.

7. The propulsion device according to claim 1, characterized in that: An electric control installation opening and an electric control cover plate covering the electric control installation opening are provided on the side of the guide tube. The electric control component is accommodated in the electric control cavity through the electric control installation opening. The diameter of the inner tube allows a DC conductive member connected to the electric control component to be arranged in the inner tube.

8. The propulsion device according to claim 7, characterized in that: A supporting boss is arranged inside the electric control installation opening, and the periphery of the electric control cover plate overlaps with the supporting boss.

9. The propulsion device according to claim 8, characterized in that: The propulsion device further comprises an electric control seal, which is sealed between the periphery of the electric control cover plate and the supporting boss.

10. The propulsion device according to claim 1, characterized in that: The cross section of the flow guide pipe is in a racetrack shape.

11. The propulsion device according to claim 10, characterized in that: The electronic control component includes a control circuit board, a drive circuit board and a power circuit board which are electrically connected in sequence. The control circuit board covers the opening of the inner tube. The drive circuit board and the power circuit board are overlapped together in the electronic control cavity, and the overlapping direction is configured as the cross-sectional width direction of the guide tube. The cross-sectional width direction of the guide tube is perpendicular to the propulsion direction of the propulsion device.

12. The propulsion device according to claim 11, characterized in that: The electric control component also includes a cover piece pressed on the end surface of the inner tube, and the control circuit board is firmly fixed between the cover piece and the end surface of the inner tube.

13. The propulsion device according to claim 12, characterized in that: The cover is provided with a DC copper busbar interface, and the DC conductive member includes a DC copper busbar inserted into the DC copper busbar interface. The DC copper busbar also passes through the control circuit board and is connected to the power circuit board.

14. The propulsion device according to claim 12, characterized in that: The electric control component also includes a shielding magnetic ring fixed on the cover and enclosed around the DC copper busbar.

15. The propulsion device according to claim 12, characterized in that: The propulsion device also includes a central controller fixed to the above-water part, and the central controller is connected to the control circuit board via a control line. The electric control component also includes a control line magnetic ring fixed on the cover, and the control line passes through the control line magnetic ring.

16. The propulsion device according to claim 11, characterized in that: The electric control component further includes a first heat exchanger, which is attached to the driving circuit board and the inner wall of the electric control cavity.

17. The propulsion device according to claim 16, characterized in that: The first heat exchange member is a metal plate. A first heat conductive adhesive is disposed on one or both sides of the first heat exchange member. The first heat conductive adhesive is responsible for transferring heat from the driving circuit board to the flow guide pipe.

18. The propulsion device according to claim 16, characterized in that: The electronic components on the driving circuit board are arranged on the side facing the power circuit board, and the first heat exchange component is attached to the side of the driving circuit board facing away from the power circuit board.

19. The propulsion device according to claim 11, characterized in that: The electric control component further includes a second heat exchanger, which is attached to the power circuit board and the inner wall of the electric control cavity.

20. The propulsion device according to claim 19, characterized in that: The second heat exchange member is a metal plate. A second heat conductive adhesive is disposed on one or both sides of the second heat exchange member. The second heat conductive adhesive is responsible for transferring heat from the power circuit board to the flow guide pipe.

21. The propulsion device according to claim 19, characterized in that: A plurality of large capacitor components are arranged on a side of the power circuit board away from the driving circuit board, and the second heat exchange component is attached to the plurality of large capacitor components.

22. The propulsion device according to claim 1, characterized in that: The cross section of the flow guide tube is elliptical.

23. The propulsion device according to claim 22, characterized in that: The electric control assembly comprises a control circuit board, a drive circuit board and a power circuit board which are electrically connected in sequence, and the control circuit board, the drive circuit board and the power circuit board are stacked along the short axis direction of the cross section of the guide tube.

24. The propulsion device according to claim 23, characterized in that: The control circuit board is adjacent to the inner wall of the electric control cavity.

25. The propulsion device according to claim 24, characterized in that: The electronic components on the control circuit board face the adjacent inner wall of the electric control cavity.

26. The propulsion device according to claim 24, characterized in that: The electric control component also includes a first heat exchange member disposed between the control circuit board and the inner wall of the electric control cavity.

27. The propulsion device according to claim 26, characterized in that: The first heat exchange member is a metal plate. A first heat conductive adhesive is disposed on one or both sides of the first heat exchange member. The first heat conductive adhesive is responsible for transferring heat from the control circuit board to the flow guide pipe.

28. The propulsion device according to claim 24, characterized in that: The driving circuit board is located between the control circuit board and the power circuit board.

29. The propulsion device according to claim 24, characterized in that: The power circuit board is located between the control circuit board and the drive circuit board.

30. The propulsion device according to claim 24, characterized in that: The electric control component further includes a second heat exchanger, which is attached to an inner wall of the electric control cavity away from the control circuit board, and the drive circuit board or the power circuit board is attached to the second heat exchanger.

31. The propulsion device according to claim 30, characterized in that: The second heat exchange member is a metal plate. A second heat conductive adhesive is disposed on one or both sides of the second heat exchange member. The second heat conductive adhesive is responsible for transferring heat from the drive circuit board or the power circuit board to the flow guide pipe.

32. The propulsion device according to claim 1, characterized in that: The power housing comprises a main shell integrated with the flow guide tube and an end cover covering the main shell; the motor cavity is provided with a power opening at the location where the main shell cooperates with the end cover, and the end cover seals the power opening.

33. The propulsion device according to claim 32, characterized in that: The propulsion device also includes a copper busbar assembly electrically connecting the electric control assembly and the motor, and the copper busbar assembly is located in a region of the motor cavity facing the power opening.

34. The propulsion device according to claim 33, characterized in that: The propulsion device further includes a Hall sensor, which is located close to the copper bar assembly and is used to sense the magnetic field of the copper bar assembly.

35. The propulsion device according to claim 34, characterized in that: The copper busbar assembly comprises a three-phase copper busbar connector, and the three-phase copper busbar connectors are staggered in sequence in a direction facing the power opening.

36. The propulsion device according to claim 35, characterized in that: The propulsion device also includes a copper bar bracket fixed in the motor cavity, the three-phase copper bar connector is fixed on the copper bar bracket, and the three-phase line of the motor is fixedly connected to the three-phase copper bar connector via the copper bar bracket.

37. The propulsion device according to claim 32, characterized in that: The propulsion device further comprises an end cover sealing ring, and the end cover sealing ring is sealingly connected to the connection between the main shell and the end cover.

38. The propulsion device according to claim 32, characterized in that: The power casing also includes a reducer housing covering the main casing away from the end cover, a reduction cavity is formed between the reducer housing and the main casing, and the propulsion device also includes a reducer connected to the motor, and the reducer is arranged in the reduction cavity.

39. The propulsion device according to claim 38, characterized in that: The deceleration cavity is isolated from the motor cavity, and cooling lubricating oil is arranged in the deceleration cavity, and the cooling lubricating oil lubricates and cools the reducer.

40. The propulsion device according to claim 39, characterized in that: The propulsion device also includes a mechanical pump arranged in the deceleration cavity, wherein the mechanical pump receives the rotation torque of the motor and pumps the cooling lubricating oil in the deceleration cavity from a low position to a high position.

41. The propulsion device according to claim 1, characterized in that: The propulsion device also includes a lifting fixture, which is connected to the above-water part and is used to be fixed on the water area carrier to drive the frame to lift relative to the water area carrier.

42. The propulsion device according to claim 41, characterized in that: The propulsion device also includes a steering assembly, which is arranged on the above-water part and connected to the lifting fixture to provide a torque for the frame to turn relative to the water body carrier.

43. The propulsion device according to claim 1, characterized in that: A flange is arranged on the peripheral side of the end of the flow guide tube adjacent to the inner tube, and a plurality of connecting and locking parts are arranged on the flange along the circumference of the flow guide tube. The end surface of the above-water part adjacent to the underwater part covers the flange and is locked with the plurality of connecting and locking parts.

44. The propulsion device according to claim 1, characterized in that: The propulsion device also includes a propeller, which is connected to the motor through a torque transmission component and is located outside the power casing.

45. The propulsion device according to claim 1, characterized in that: The electric control cavity is isolated from the motor cavity, and the flow guide tube is further provided with a receiving cavity, which is isolated from the electric control cavity and connected to the motor cavity, and is used to receive the three-phase wires of the motor.

46. ​​The propulsion device according to claim 45, characterized in that: A wire outlet is provided at the top of the flow guide tube, and the wire outlet is connected to the receiving cavity. The propulsion device also includes a wiring seal and a terminal. The wiring seal is sealed in the wire outlet, and the terminal is sealed in the wiring seal and connected to the three-phase line.

47. The propulsion device according to claim 45, characterized in that: The receiving cavity and the electric control cavity are arranged at intervals along the propulsion direction of the propulsion device.

48. The propulsion device according to claim 46, characterized in that: The propulsion device also includes a copper bar assembly, which is arranged in the electric control cavity, one end of the copper bar assembly is connected to the electric control component, and the other end of the copper bar assembly extends out of the electric control cavity and is electrically connected to the terminal.

49. The propulsion device according to claim 48, characterized in that: The copper busbar assembly includes a vertical section and a horizontal section. The vertical section is fitted in the electric control cavity, and the horizontal section is connected to the vertical section and electrically connected to the terminal.

50. The propulsion device according to claim 48, characterized in that: The propulsion device also includes a copper bar locking piece, which locks the copper bar assembly to the terminal.

51. The propulsion device according to claim 45, characterized in that: Cooling lubricating oil is arranged in the motor cavity, and the cooling lubricating oil is used for lubricating and cooling the motor.

52. The propulsion device according to claim 51, characterized in that: The power casing includes a main shell integrated with the guide tube and a cooling shell covering the main shell, a cooling cavity is formed between the cooling shell and the main shell, the cooling cavity is connected to the motor cavity, the propulsion device also includes a transmission shaft connected to the motor, the transmission shaft is configured in the cooling cavity, and the cooling lubricating oil is disposed in the cooling cavity.

53. The propulsion device according to claim 45, characterized in that: The underwater part also includes an isolating portion and a dividing portion, wherein the isolating portion is connected to the dividing portion, the isolating portion separates the electric control cavity from the motor cavity, the dividing portion is located in the flow guide tube, and separates the motor cavity and the receiving cavity in the flow guide tube, and the dividing portion extends to the opening of the inner tube.

54. A movable device in water area, characterized in that: include: Water carrier; The propulsion device as described in any one of claims 1 to 53, wherein the frame is connected to the water body carrier.

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