Pull-type lifting device and propelling equipment

Abstract

The invention provides a traction type lifting device and propelling equipment. The traction type lifting device comprises a lifting driver, a rotating shaft and a driven shaft; the lifting driver is in transmission connection with the rotating shaft, and the rotating shaft and the driven shaft are arranged in parallel at an interval; a first groove for winding a steel cable is formed in the rotating shaft in a surrounding mode, and a second groove for winding the steel cable is formed in the driven shaft in a surrounding mode.

Description

A traction-type lifting device and propulsion equipment

[0001] Cross-references

[0002] This application claims the Chinese application No. 202321066808.0 filed on May 6, 2023, the Chinese application No. 202321066834.3 filed on May 6, 2023, the Chinese application No. 202322448829.5 filed on September 9, 2023, the Chinese application No. 202323131721.X filed on November 16, 2023, and the Chinese application No. 202429691 filed on February 27, 2024. 20355166.4, Chinese application 202420430981.2 filed on March 6, 2024, Chinese application 202420483766.9 filed on March 13, 2024, Chinese application 202420716761.6 filed on April 9, 2024, and Chinese application 202420800443.8 filed on April 17, 2024, all of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of marine propulsion technology, and in particular to a traction-type lifting device and propulsion equipment. Background Art

[0004] Automatic lifting devices are widely used in various fields due to their advantages such as large lifting weights and labor-saving features. Existing lifting devices often use hydraulic mechanisms or gear transmission mechanisms to achieve the lifting and lowering of objects. However, hydraulic devices require the installation of multiple devices such as hydraulic cylinders. This type of lifting device is complex in structure, requires a large number of devices, and has high installation costs. In addition, it takes up a lot of space and is difficult to use in places with limited space. Gear transmission mechanisms require the installation of multiple gear sets to cooperate with each other, resulting in an excessive number of parts, which cannot reduce production costs, and the installation process is cumbersome, making it extremely inconvenient to repair and maintain.

[0005] A propulsion device, also known as an electric thruster, top-stream engine or electronic anchor, is a device installed on the hull to provide power and steering for the hull. It is generally powered by electricity, has low noise levels and is environmentally friendly, making it popular with more and more ship users. In some application scenarios, the propulsion device can help the ship move on the water, while in other application scenarios, the propulsion device can help the ship stay on the water. The propulsion device includes a propeller, which is the source of power required for the ship to move or stay, and generally includes a propeller and a power device (such as an electric motor, etc.).

[0006] Summary of the Invention

[0007] One or more embodiments of the present specification provide a traction-type lifting device, comprising a lifting drive, a rotating shaft, and a driven shaft; the lifting drive is in transmission connection with the rotating shaft, and the rotating shaft and the driven shaft are arranged in parallel with each other; a first groove for winding a steel cable is arranged around the rotating shaft, and a second groove for winding the steel cable is arranged around the driven shaft.

[0008] In some embodiments, the traction-type lifting device also includes a shell, the lifting drive is arranged in the shell, the rotating shaft is connected to one side of the lifting drive, the driven shaft is arranged above the rotating shaft, and a lifting rod capable of moving up and down along the shell is arranged on one side of the rotating shaft and the driven shaft, and both ends of the steel cable are connected to the lifting rod; the first groove and the second groove are staggered.

[0009] In some embodiments, an adjustment mechanism for adjusting the tightness of the steel cable is provided on the lifting rod.

[0010] In some embodiments, the adjustment mechanism includes a first fixture disposed at the front end of the lifting rod and a second fixture disposed at the end of the lifting rod, the front end of the steel cable is connected to the first fixture, and the end of the steel cable is connected to the second fixture.

[0011] In some embodiments, an isolation cavity is provided in the housing, the rotating shaft and the driven shaft are provided in the isolation cavity, and the lifting drive is provided in the housing and connected to the rotating shaft.

[0012] In some embodiments, heat dissipation holes are provided on the housing, and the housing is made of aluminum alloy.

[0013] In some embodiments, the driven shaft is disposed above the rotating shaft; and a width of an opening of the first groove on the surface of the rotating shaft is greater than a width of a bottom of the first groove.

[0014] In some embodiments, two or more first grooves for the steel cable to be wound around are arranged on the rotating shaft, and two or more second grooves for the steel cable to be wound around are arranged on the driven shaft.

[0015] In some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the cross section of the first groove is V-shaped or trapezoidal; the cross section of the second groove is arc-shaped.

[0016] In some embodiments, a width of an opening of the first groove on the surface of the rotating shaft is not greater than a diameter of the steel cable, and a width of an opening of the second groove on the surface of the driven shaft is not less than a diameter of the steel cable.

[0017] One or more embodiments of the present specification provide a propulsion device, including the traction-type lifting device described in any embodiment of the present specification.

[0018] In some embodiments, the propulsion device includes a motion control mechanism, a lifting rod is provided on the motion control mechanism, a top shell is provided at the top of the lifting rod, a propeller is provided at the end of the lifting rod, and the lifting device is provided on one side of the lifting rod on the motion control mechanism. The lifting device includes a lifting drive, the rotating shaft driven by the lifting drive, the driven shaft perpendicular to the rotating shaft, and a steel cable connected to the lifting rod, and the first groove on the rotating shaft and the second groove on the driven shaft are staggered.

[0019] In some embodiments, the motion control mechanism includes a rotating device that is sleeved on the lifting rod and can drive the lifting rod to rotate, and the lifting device is arranged above the rotating device.

[0020] In some embodiments, the propulsion device includes a base plate for fixing the propulsion device and a rotating device arranged on the base plate; wherein, side plates are fixed on both sides of the base plate, and one end of the side plate is provided with a slot for locking the rotating device, and the rotating device is provided with a lever mechanism that is engaged in the slot, and the rotating device can be unlocked or locked on the side plate by tossing the lever mechanism; wherein, the base plate is also provided with an open slot for inverting the propulsion device.

[0021] In some embodiments, the lever mechanism includes a locking rod engaged with the slot, a connecting rod connected to the rotating device, a hand lever for pushing and pulling, and a connecting plate rotatably connected to the connecting rod near the center side. The locking rod is located at one end of the connecting plate, and the hand lever is located at the other end of the connecting plate, so that pushing and pulling the hand lever can drive the locking rod to slide in the slot.

[0022] In some embodiments, a locking mechanism is further provided on the other side of the propulsion device relative to the lever mechanism, and the locking mechanism includes a hinged rod rotatably arranged on the other side of the rotating device, and a circular groove with an opening is provided on the side panel, and also includes a positioning portion with an opening rotatably embedded in the groove; wherein, both ends of the hinged rod are placed in the openings of the positioning portion, and the hinged rod is rotatably connected to the positioning portion.

[0023] In some embodiments, a positioning hook with the same opening as the positioning portion is fixedly provided on the outside of the positioning portion, and a handle is provided on the positioning hook; a positioning groove is provided on the periphery of the positioning portion; positioning holes are provided on both sides of the groove on the side panel, and a fixing pin can be inserted into the positioning hole.

[0024] In some embodiments, the propulsion device includes: a mounting seat, a lifting rod that rotates with the mounting seat and can move up and down, a top shell installed on the top of the lifting rod, and a propeller installed at the bottom of the lifting rod. The lifting device is installed on the mounting seat, and the lifting device includes an outer shell, a lifting drive and a steel cable. A driving shaft and a driven shaft are rotatably engaged in the outer shell. The driving shaft is provided with a first groove with a V-shaped cross-section or a trapezoidal structure with a wide upper part and a narrow lower part. The driven shaft is arranged above the driving shaft and is provided with a second groove staggered with the first groove. The steel cable is wrapped around and tightly engaged with the lower side wall of the first groove, and is wrapped around and engaged with the upper part of the second groove, and the upper and lower ends of the steel cable are correspondingly connected to the upper and lower ends of the lifting rod. The lifting drive is drivingly connected to one end of the driving shaft, and is used to drive the driving shaft to rotate and link the lifting rod to move up and down.

[0025] In some embodiments, a rotating device is installed on the mounting seat, and the rotating device is drivingly connected to the lifting rod to drive the lifting rod to rotate.

[0026] In some embodiments, both side walls of the first groove are provided with anti-slip protrusions.

[0027] In some embodiments, the lifting drive is a lifting drive motor or a crank, the lifting drive motor is installed in the shell, the drive shaft of the lifting drive motor is connected to the driving shaft through a coupling, the crank is arranged outside the shell, one end of the crank extends into the shell and is connected to the driving shaft.

[0028] In some embodiments, the rotating device includes a rotating driver arranged in the mounting seat, a driving gear connected to the output shaft of the rotating driver, a driven gear connected to the driving gear, a sleeve rotatably matched with the through hole on the mounting seat, a first limiting structure and a second limiting structure, the driven gear is fixedly sleeved on the outside of the sleeve, the outer shell is fixed to the top of the sleeve, the second limiting structure is fixed to one side of the outer shell, the first limiting structure is fixed to the upper end of the lifting rod and can be adjusted up and down, one of the second limiting structure and the first limiting structure is provided with a plug-in portion, and the other is provided with a plug-in slot matched with the plug-in portion. When the plug-in portion is matched with the plug-in slot, the second limiting structure is driven to rotate and can link the lifting rod to rotate.

[0029] In some embodiments, the first limiting structure includes a ring with a ring gap, a plug-in portion provided on the outside of the ring gap and fixed to the ring, and an abutment plate provided in the ring gap, the abutment plate is provided with a connecting column that cooperates with the through hole on the plug-in portion, the plug-in portion is provided with a threaded through hole corresponding to the abutment plate, and the threaded through hole is matched with a locking screw for pressing and fixing the abutment plate on the lifting rod.

[0030] In some embodiments, a nylon sleeve is fixed inside the sleeve, and the nylon sleeve has a through hole for the steel cable to pass through. The lifting rod rotates with the through hole on the nylon sleeve and can move up and down.

[0031] In some embodiments, an adjustment component for adjusting the tightness of the steel cable is installed at the upper end of the lifting rod, and the adjustment component includes a first fixer, an elastic member and a first stopper. The first fixer is provided with a through hole for the steel cable to pass through. The first fixer is fixed to the lifting rod adjustably up and down. The first stopper is locked to the upper end of the steel cable. The elastic member is sleeved on the steel cable, and the upper end of the elastic member is in contact with the steel wire lock buckle, and the lower end of the elastic member is in contact with the first fixer.

[0032] In some embodiments, the lifting drive motor is a servo motor or a stepper motor with a locking function, the steering drive is a servo motor or a stepper motor, a GPS signal receiver is provided in the top shell, a magnetic induction switch is installed at the bottom of the mounting seat, and a magnetic block is connected to the lower end of the lifting rod. The lifting drive motor, steering drive, thruster, GPS signal receiver and magnetic induction switch are all electrically connected to the electronic control component.

[0033] In some embodiments, the left end of the mounting seat is hingedly connected to the base through a hinge rod, and the right side of the mounting seat is provided with a horizontally structured strip through hole and a hinged lever mechanism. The two ends of the locking rod at the lower end of the lever mechanism pass through the two strip through holes and movably cooperate with the strip through holes. A card slot is provided on the right side of the base, and pulling the upper end of the lever mechanism can make the two ends of the locking rod correspondingly engaged in the two slots.

[0034] In some embodiments, the propulsion equipment includes a lifting rod, a propeller and the lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft and a steel cable; a first groove for the steel cable to be wound around the rotating shaft is arranged around the rotating shaft, and a second groove for the steel cable to be wound around the driven shaft is arranged around the driven shaft; one end of the steel cable is connected to the upper end of the lifting rod, and the steel cable is wrapped around at least a portion of the first groove and at least a portion of the second groove, and the other end of the steel cable is connected to the lower end of the lifting rod; wherein, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the width of the opening is not greater than the diameter of the steel cable.

[0035] In some embodiments, a cross section of the first groove is V-shaped or trapezoidal.

[0036] In some embodiments, an angle between a side of a cross section of the first groove and a height direction of the cross section is 10° to 45°.

[0037] In some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is 60% to 100% of the diameter of the steel cable; the width of the bottom of the first groove is 20% to 50% of the diameter of the steel cable.

[0038] In some embodiments, anti-slip patterns are provided on the sidewalls of the first groove.

[0039] In some embodiments, the depth of the first groove is no greater than the diameter of the wire rope.

[0040] In some embodiments, the depth of the first groove is 50% to 100% of the diameter of the steel cable.

[0041] In some embodiments, the first groove and the second groove are staggered in the vertical direction; the steel cable is wound from top to bottom and then upward against the first groove of the rotating shaft, and then wound from bottom to top and then downward against the second groove of the driven shaft.

[0042] In some embodiments, the propulsion device further includes a rotating device; the lifting device is fixedly mounted on the rotating device, and the rotating device is used to drive the lifting device and the lifting rod to rotate together, thereby driving the propeller to change its direction.

[0043] In some embodiments, the propulsion device includes a controller, a first limit sensor, a lifting rod, a propeller, a lifting device and a rotating device; the lifting rod is inserted into the first guide hole of the rotating device, and the lower end of the lifting rod is connected to the propeller; the lifting device is arranged on the rotating device and has a transmission connection with the lifting rod, for driving the lifting rod to rise or fall; the rotating device is used to drive the lifting device to rotate, thereby driving the lifting rod to rotate; the first limit sensor is arranged on the lower side of the rotating device and / or at a certain position in the lower half of the lifting rod, and the output signal of the first limit sensor reflects the distance information between a certain position in the lower half of the lifting rod and the rotating device, and the first limit sensor has a signal connection with the controller; the controller also has a signal connection with the lifting device, for controlling whether the lifting device is braked based on the output signal of the first limit sensor.

[0044] In some embodiments, the lower side of the rotating device includes a lower end surface of the side wall of the first guide hole.

[0045] In some embodiments, a first limiting structure is provided on the lifting rod, and a second limiting structure adapted to the first limiting structure is provided on the upper side of the rotating device.

[0046] In some embodiments, the first limiting structure is fastened to the lifting rod in a detachable manner; the second limiting structure has a third guide hole, the second limiting structure is arranged on the upper side of the rotating device and its third guide hole corresponds to the first guide hole, the second limiting structure can rotate under the drive of the rotating device, and the lifting rod is simultaneously inserted into the first guide hole and the third guide hole; wherein, the second limiting structure is provided with a groove adapted to the shape of the first limiting structure.

[0047] In some embodiments, the first limiting structure includes a V-shaped portion protruding from the surface of the lifting rod, and the groove is a V-shaped groove.

[0048] In some embodiments, the first limiting structure is fixedly connected to a hoop structure or a closed ring, and the hoop structure or the closed ring is detachably fixed to the lifting rod.

[0049] In some embodiments, the propulsion device also includes a second limit sensor; the second limit sensor is arranged at the first limit structure and / or the second limit structure, the output signal of the second limit sensor reflects the distance information between the first limit structure and the second limit structure, and the second limit sensor has a signal connection with the controller; the controller is also used to control whether the lifting device is braked based on the output signal of the second limit sensor.

[0050] In some embodiments, the second limit sensor includes a magnetic induction sensor; when the second limit sensor is arranged at the first limit structure, a magnetic element is arranged at the second limit structure; when the second limit sensor is arranged at the second limit structure, a magnetic element is arranged at the first limit structure.

[0051] In some embodiments, the lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft, and a steel cable; a first groove for the steel cable to be wound around the rotating shaft is arranged around the rotating shaft, and a second groove for the steel cable to be wound around the driven shaft is arranged around the driven shaft; one end of the steel cable is connected to a certain position in the upper half of the lifting rod, the steel cable is wrapped around at least a portion of the first groove and at least a portion of the second groove, and the other end of the steel cable is connected to a certain position in the lower half of the lifting rod.

[0052] In some embodiments, the propulsion device also includes a second fixing ring; the second fixing ring is sleeved and detachably fastened to a certain position in the lower half of the lifting rod; the lower end of the steel cable passes through the through hole on the second fixing ring from top to bottom, and the other end of the steel cable is fixedly provided with a second stop so that when the steel cable is tightened, the second stop can rest on the second fixing ring to fasten the steel cable; the first limit sensor includes a magnetic induction sensor; when the first limit sensor is provided on the lower side of the rotating device, a magnetic element is provided on the first fixing ring; when the first limit sensor is provided on the second fixing ring, a magnetic element is provided on the lower side of the rotating device.

[0053] In some embodiments, the propulsion equipment includes a lifting rod, a propeller and a lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft and a steel cable; the rotating shaft is surrounded by two or more first grooves for the steel cable to be wound around, and the driven shaft is surrounded by two or more second grooves for the steel cable to be wound around; one end of the steel cable is connected to the upper end of the lifting rod, and the steel cable is wrapped around at least a portion of each first groove and at least a portion of each second groove, and the other end of the steel cable is connected to the lower end of the lifting rod.

[0054] In some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the cross-section of the first groove is V-shaped or trapezoidal; the cross-section of the second groove is arc-shaped; the width of the opening of the first groove on the surface of the rotating shaft is not greater than the diameter of the steel cable, and the width of the opening of the second groove on the surface of the driven shaft is not less than the diameter of the steel cable.

[0055] In some embodiments, anti-slip grooves are provided on the sidewalls of the first groove; and the depth of the first groove is not greater than the diameter of the steel cable.

[0056] In some embodiments, the number of the second grooves is one greater than the number of the first grooves.

[0057] In some embodiments, each first groove is aligned with a second groove in the vertical direction, or the first groove and the second groove are staggered in the vertical direction; the steel cable rests against the first second groove of the driven shaft from top to bottom, and is wrapped around the first first groove of the rotating shaft from top to bottom and then upward, and is wrapped around the second second groove of the driven shaft from bottom to top and then downward, and then is wrapped around the second first groove of the rotating shaft from top to bottom and then upward, and is wrapped around the second second groove of the driven shaft from bottom to top and then downward, and so on, until the steel cable is wrapped around the last second groove of the driven wheel.

[0058] In some embodiments, the diameter of the rotating shaft is larger than the diameter of the driven shaft.

[0059] In some embodiments, the propulsion device further includes an elastic member and a first fixing ring, and the elastic member has elastic deformation capability in a direction consistent with the length direction of the lifting rod; the first fixing ring is sleeved and detachably fastened to the upper half of the lifting rod, and the elastic member is located above the first fixing ring; one end of the steel cable passes through the through hole on the first fixing ring and the elastic member in sequence from bottom to top, and a first stop is fixedly provided at one end of the steel cable so that the first stop can rest against the elastic member to tighten the steel cable when the steel cable is tightened.

[0060] In some embodiments, the propulsion device also includes a second fixer; the second fixer is mounted on and detachably fastened to the lower half of the lifting rod; the other end of the steel cable passes through the through hole on the second fixer from top to bottom, and the other end of the steel cable is fixed with a second stop so that when the steel cable is tightened, the second stop can rest against the second fixer to fasten the steel cable.

[0061] In some embodiments, the propulsion device further includes a rotating device; the lifting device is fixedly mounted on the rotating device, and the rotating device is used to drive the lifting device and the lifting rod to rotate together, thereby driving the propeller to change its direction.

[0062] In some embodiments, the propulsion device includes a base, a motion control mechanism, a lifting rod, a propeller and a locking mechanism; the lower end of the lifting rod is connected to the propeller; the base includes a bottom plate and two side plates arranged on the bottom plate and parallel to each other, and the bottom plate has an open groove extending along the setting direction of the side plates; at least part of the motion control mechanism is supported on the bottom plate and located between the two side plates; the lifting rod is inserted into the motion control mechanism and the opening groove of the bottom plate, and the motion control mechanism is used to drive the lifting rod to rise and fall, and / or drive the lifting rod to rotate to change the The direction of the thruster; the locking mechanism includes an operating component, a limit rod and a limit slot; the operating component is connected to the limit rod; one of the limit rod and the limit slot is arranged on the base, and the other is arranged on the motion control mechanism; at least a portion of the limit rod is inserted into the limit slot to limit the rotation of the motion control mechanism and the lifting rod between the two side plates around the first direction, and the operating component is used to drive the at least portion of the limit rod to disengage from the limit slot to release the rotation restriction of the motion control mechanism and the lifting rod between the two side plates around the first direction.

[0063] In some embodiments, the limit groove is provided on the side surface of the motion control mechanism parallel to the side panel, and a notch channel is provided on the side surface, one end of the notch channel is connected to the limit groove, and the other end of the notch channel is connected to one of the surfaces of the motion control mechanism parallel to the bottom panel; the operating component is arranged on the base; the operating component includes an operating rod, a rotating rod, a support rod and at least one connecting rod assembly; the rotating rod is vertically connected to the two side panels; the operating rod is transmission-connected to the rotating rod through the support rod; the connecting rod assembly is mounted on the side panel, and one end of the connecting rod assembly is transmission-connected to the rotating rod, and the other end is rotationally connected to the side panel; the limit rod is fixedly connected to the connecting rod assembly parallel to the first direction, and at least a portion of the limit rod is stuck in the limit groove.

[0064] In some embodiments, an extension path of the opening of the notch channel on the side surface is an arc, and a center of the arc is located on the rotation axis of the motion control mechanism when the motion control mechanism rotates around the first direction.

[0065] In some embodiments, the limit groove is opened on the side surface of the motion control mechanism parallel to the side panel, and the limit groove is connected to one of the surfaces of the motion control mechanism that is perpendicular to both the bottom panel and the side panel; the operating component is arranged on the base; the operating component includes an operating rod, a rotating rod, a support rod and at least one connecting rod assembly; the rotating rod is vertically connected to the two side panels; the operating rod is transmission-connected to the rotating rod through the support rod; the connecting rod assembly is mounted on the side panel, and one end of the connecting rod assembly is transmission-connected to the rotating rod, and the other end thereof is rotationally connected to the side panel; the limit rod is connected to the connecting rod assembly parallel to the first direction, and at least a portion of the limit rod is stuck in the limit groove.

[0066] In some embodiments, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod that are rotatably connected in sequence; wherein, the end of the first connecting rod away from the second connecting rod is fixedly connected to the rotating rod, and the end of the third connecting rod away from the second connecting rod is rotatably mounted on the corresponding side panel; wherein, the limiting rod is fixedly connected to the second connecting rod parallel to the first direction.

[0067] In some embodiments, the limit grooves are opened on the two side panels; the operating component is arranged on the motion control mechanism; the motion control mechanism is relatively provided with two mounting plates parallel to the side panels; the operating component includes an operating rod, a rotating rod and a support rod; the operating rod, the rotating rod and the limit rod are parallel to each other and are fixedly connected to the support rod in turn; the rotating rod is vertically rotated and connected between the two mounting plates, and the two ends of the limit rod are respectively stuck in the limit grooves.

[0068] In some embodiments, the limiting groove is formed on a surface of the side plate facing the motion control mechanism, and the limiting groove is connected to one of the surfaces of the side plate that is perpendicular to the mounting plate and not parallel to the bottom plate.

[0069] In some embodiments, a through hole is provided on the mounting plate, and the two ends of the limiting rod are respectively inserted into the limiting groove through the through holes on the two mounting plates; wherein, the size of the through hole along the movement direction of the limiting rod is larger than the size of the limiting groove along the movement direction of the limiting rod.

[0070] In some embodiments, the locking mechanism also includes an elastic mechanism, one end of which is connected to the motion control mechanism, and the other end rotates with the rotating rod; when at least a portion of the limit rod is stuck in the limit groove, the elastic mechanism provides a pre-tightening force to keep the limit rod in the limit groove.

[0071] In some embodiments, the locking mechanism also includes an elastic mechanism, one end of which is connected to the base, and the other end rotates with the rotating rod; when at least a portion of the limit rod is stuck in the limit groove, the elastic mechanism provides a pre-tightening force to keep the limit rod in the limit groove.

[0072] In some embodiments, the propulsion device includes a lifting rod, a propeller and a lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device has a transmission connection with the lifting rod, which is used to drive the lifting rod to rise or fall; wherein, the lifting device includes a lifting drive, a rotating shaft and a clutch mechanism; when the clutch mechanism is in a first state, it can transmission connect the lifting drive and the rotating shaft; when the clutch mechanism is in a second state, it can release the transmission connection between the lifting drive and the rotating shaft, so that the rotating shaft can be driven by a driving force other than the lifting drive.

[0073] In some embodiments, the lifting device also includes a steel cable and a driven shaft arranged above the rotating shaft; a first groove for the steel cable to be wound around the rotating shaft is arranged around the driven shaft, and a second groove for the steel cable to be wound around the driven shaft is arranged around the driven shaft; one end of the steel cable is connected to a certain position in the upper half of the lifting rod, the steel cable is wrapped around at least a portion of the first groove and at least a portion of the second groove, and the other end of the steel cable is connected to a certain position in the lower half of the lifting rod.

[0074] In some embodiments, the lifting drive has a hollow shaft; the rotating shaft is provided with an assembly hole along its axial direction; the clutch mechanism includes a connecting shaft and a connecting sleeve; the connecting sleeve is non-rotatably installed in the hollow shaft, and at least part of the connecting shaft is slidably located in the connecting sleeve; when the connecting shaft is slid to change its axial relative position with the connecting sleeve, the clutch mechanism can be placed in the first state and the second state respectively.

[0075] In some embodiments, the connecting shaft includes a first shaft segment, a second shaft segment, a third shaft segment and a fourth shaft segment in sequence along its axial direction; at least a portion of the first shaft segment is slidably and non-rotatably located in the assembly hole, and at least a portion of the fourth shaft segment is located outside the hollow shaft; wherein, when the clutch mechanism is in the second state, only at least a portion of the second shaft segment is located in the connecting sleeve so that the connecting shaft can rotate relative to the hollow shaft; when the clutch mechanism is in the first state, at least a portion of the third shaft segment is located in the connecting sleeve so that the connecting shaft can rotate synchronously with the hollow shaft.

[0076] In some embodiments, the lifting device also includes a shell, and the lifting drive and the rotating shaft are arranged in the shell; the shell has a back plate, and the back plate is located on the side of the lifting drive away from the rotating shaft, and the end of the fourth shaft segment away from the third shaft segment passes through the back plate; the clutch mechanism also includes a positioning sleeve, and the positioning sleeve is arranged on the connecting shaft, and its two ends respectively abut against the inner surfaces of the connecting sleeve and the back plate.

[0077] In some embodiments, the radial cross-sectional shape of the first shaft segment is adapted to the radial cross-sectional shape of the assembly hole, and / or the radial cross-sectional shape of the third shaft segment is adapted to the radial cross-sectional shape of the inner cavity of the connecting sleeve; wherein the radial cross-sectional shape of the first shaft segment and / or the third shaft segment is a regular hexagon or a regular octagon.

[0078] In some embodiments, the diameter of the circumscribed circle of the radial cross-section of the second shaft segment is not greater than the diameter of the inscribed circle of the radial cross-section of the inner cavity of the connecting sleeve.

[0079] In some embodiments, at least a portion of the rotating shaft is located inside the hollow shaft, wherein the radial dimension of the first shaft segment is larger than the radial dimension of the inner cavity of the connecting sleeve, and the minimum axial spacing between the rotating shaft and the connecting sleeve is smaller than the axial length of the first shaft segment; or, the rotating shaft is located outside the hollow shaft, the radial dimension of the first shaft segment is larger than the radial dimension of the inner cavity of the hollow shaft, and the minimum axial spacing between the rotating shaft and the hollow shaft is smaller than the axial length of the first shaft segment.

[0080] In some embodiments, a first through hole is formed on the back plate, a bearing is installed in the first through hole, and at least a portion of the fourth shaft segment is slidably and non-rotatably installed in the inner ring of the bearing.

[0081] In some embodiments, a sealing assembly is fixedly connected to the outer surface of the back plate, and the sealing assembly includes a sealing cover and an oil seal; the sealing cover is fixedly connected to the outer surface of the back plate, and an oil seal mounting groove is provided on the surface of the sealing cover facing the back plate, and the oil seal is arranged in the sealing mounting groove and fits with the end face of the bearing away from the lifting drive; the end of the fourth shaft segment away from the third shaft segment passes through the oil seal and the sealing cover and protrudes from the surface of the sealing cover away from the back plate.

[0082] In some embodiments, the propulsion device includes a lifting rod, a propeller and a lifting device, the lower end of the lifting rod is connected to the propeller, and the lifting device is used to drive the lifting rod to rise and fall; the lifting rod includes a metal outer rod and a carbon fiber inner rod, and the carbon fiber inner rod is fixed inside the metal outer rod.

[0083] In some embodiments, the metal outer rod is a stainless steel outer rod or a titanium alloy outer rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings represent the same structures or steps.

[0085] FIG1 is a schematic structural diagram of a lifting device according to some embodiments of the present specification.

[0086] FIG2 is a schematic side view of the structure of a lifting device according to some embodiments of the present specification.

[0087] FIG3 is a schematic diagram of the internal structure of a lifting device according to some embodiments of this specification.

[0088] FIG4 is a schematic diagram of a steel cable installation structure of a lifting device according to some embodiments of this specification.

[0089] FIG5 is a schematic structural diagram of a propulsion device according to some embodiments of the present specification.

[0090] FIG6 is a schematic side view of the structure of a propulsion device according to some embodiments of the present specification.

[0091] FIG. 7 is a partially exploded schematic diagram of a propulsion device according to some embodiments of the present specification.

[0092] FIG8 is a partially exploded schematic diagram of a propulsion device from another perspective according to some embodiments of the present specification.

[0093] FIG9 is a schematic structural diagram of a propulsion device from a bottom perspective according to some embodiments of the present specification.

[0094] FIG10 is a schematic cross-sectional view of a portion of the structure of a propulsion device according to some embodiments of the present specification.

[0095] FIG11 is a schematic diagram of the installation structure of a lifting device according to some embodiments of this specification.

[0096] FIG12 is a schematic diagram of the overall structure of a propulsion device according to some embodiments of the present specification.

[0097] FIG13 is a schematic structural diagram of a propulsion device according to other embodiments of the present specification.

[0098] FIG14 is a schematic diagram of a propulsion device after flipping according to some embodiments of the present specification.

[0099] FIG15 is a schematic structural diagram of a mounting seat, a lifting device, and a base on a propulsion device according to some embodiments of this specification.

[0100] FIG16 is a schematic structural diagram of a mounting seat, a lifting device, and a base on a propulsion device from another perspective according to some embodiments of this specification.

[0101] FIG17 is a schematic structural diagram of the disassembled state of the mounting seat, lifting device and base on the propulsion device according to some embodiments of this specification.

[0102] FIG18 is a schematic diagram of the internal structure of a mounting base and a lifting device on a propulsion device according to some embodiments of this specification.

[0103] FIG19 is a schematic diagram of the cross-sectional structure of a mounting seat, a lifting device, and a base on a propulsion device according to some embodiments of this specification.

[0104] FIG. 20 is a schematic diagram of a disassembled structure of a first limiting structure according to some embodiments of this specification.

[0105] FIG21 is a schematic structural diagram of a propulsion device according to yet other embodiments of the present specification.

[0106] FIG22 is a schematic structural diagram of a lifting device according to other embodiments of the present specification.

[0107] FIG. 23 is a cross-sectional view of a rotating shaft according to some embodiments of the present disclosure.

[0108] FIG24 is a schematic structural diagram of a rotating shaft according to some embodiments of the present specification.

[0109] FIG. 25 is a schematic diagram of a side wall of a first groove on a rotating shaft according to some embodiments of the present specification.

[0110] FIG26 is a schematic diagram showing the connection between the lifting device and the rotating device according to some embodiments of this specification.

[0111] FIG. 27 is a bottom view of a rotating device according to some embodiments of the present specification.

[0112] FIG28 is a schematic diagram of the connection relationship between the lower end of the steel cable and the lifting rod according to some embodiments of this specification.

[0113] FIG. 29 is a schematic diagram of the coordination relationship between the first limiting structure and the second limiting structure according to some embodiments of this specification.

[0114] FIG30 is a schematic structural diagram of a lifting device according to yet another embodiment of the present specification.

[0115] FIG31 is a schematic structural diagram of a rotating shaft according to yet other embodiments of the present specification.

[0116] FIG32 is a schematic structural diagram of a driven shaft according to yet other embodiments of the present specification.

[0117] FIG33 is a schematic diagram showing the relative position relationship between the first groove and the second groove according to some embodiments of this specification.

[0118] FIG34 is a schematic diagram showing the relative position relationship between the first groove and the second groove according to some other embodiments of the present specification.

[0119] FIG35 is a cross-sectional view of a rotating shaft according to yet other embodiments of the present specification.

[0120] FIG. 36 is a cross-sectional view of a driven shaft according to some embodiments of the present disclosure.

[0121] FIG. 37 is a partial side view of a lifting device according to some embodiments of the present specification.

[0122] FIG38 is a schematic diagram of the connection between the steel cable and the lifting rod according to some embodiments of the present specification.

[0123] FIG39 is a schematic diagram showing the connection between the lifting device and the rotating device according to some other embodiments of this specification.

[0124] Figure 40 is a schematic structural diagram of a propulsion device according to some other embodiments of the present specification.

[0125] FIG41 is a schematic diagram of the assembly of the base and the operating component according to some embodiments of this specification.

[0126] FIG42 is a schematic diagram of the assembly of the base and the rotating device according to some embodiments of this specification.

[0127] FIG43 is a schematic diagram of a motion control mechanism according to some embodiments of the present specification.

[0128] FIG. 44 is a schematic diagram of the propulsion device shown in FIG. 40 after restriction on rotation about the first direction is released.

[0129] FIG. 45 is a schematic diagram of the propulsion device shown in FIG. 40 during rotation about a first direction.

[0130] FIG46 is a schematic diagram of a motion control mechanism according to other embodiments of the present specification.

[0131] Figure 47 is a schematic diagram of a propulsion device shown in some embodiments of this specification after the restriction on the rotation of the rotating device around the first direction is released.

[0132] Figure 48 is a schematic diagram of the process of rotating the rotating device around the first direction in the propulsion equipment shown in some embodiments of this specification.

[0133] FIG49 is a schematic diagram of the assembly of the base and the rotating device from another perspective according to some embodiments of this specification.

[0134] Figure 50 is a schematic cross-sectional view of the lifting device when the clutch mechanism is in the first state according to some embodiments of this specification.

[0135] Figure 51 is a schematic cross-sectional view of the lifting device when the clutch mechanism is in the second state according to some embodiments of this specification.

[0136] Figure 52 is a schematic cross-sectional view of the lifting device when the clutch mechanism is in the first state according to other embodiments of this specification.

[0137] FIG53 is a schematic diagram of the internal structure of a lifting rod according to some embodiments of this specification.

[0138] FIG54 is a schematic diagram of the structural components of a lifting rod according to some embodiments of this specification.

[0139] Markings in the figure: 100 lifting device, 101 side, 102 first limiting groove, 103 notch channel, 110 housing, 111 isolation cavity, 112 heat dissipation hole, 113 back plate, 114 first bearing, 115 sealing assembly, 116 sealing cover, 117 oil seal, 118 lower base plate, 120 lifting drive, 121 hollow shaft, 122 connecting sleeve, 123 positioning sleeve, 130 rotating shaft, 131 first groove, 132 assembly hole, 133 side wall, 140 driven shaft, 141 second groove, 150 steel cable, 151 first stopper, 152 second stopper, 160 connecting shaft, 161 first shaft section, 162 second shaft section, 163 third shaft section, 164 fourth shaft section, 200 lifting rod, 201 first magnetic element, 202 first magnetic induction sensor, 203 second magnetic element, 204 second magnetic induction sensor, 210 first fixer, 220 second fixer, 230 first limiting structure, 231 plug-in portion, 232 threaded through hole, 233 collar, 234 collar notch, 235 abutting plate, 236 connecting column, 240 second limiting structure, 241 plug-in slot, 250 elastic member, 260 adjustment component, 270 metal outer rod, 280 carbon fiber inner rod, 300 propeller, 400 rotating device, 410 connecting part, 411 first guide hole, 412 second guide hole, 420 mounting plate, 421 through hole, 430 rotating driver, 440 driving gear, 450 driven gear, 460 sleeve, 470 second bearing, 480 nylon sleeve, 500 base, 501 first operating rod, 502 first rotating rod, 503 first supporting rod, 504 first connecting rod, 505 second connecting rod, 506 third connecting rod, 507 first limiting rod, 510 bottom plate, 520 side plate, 521 slot, 522 groove, 523 positioning hole, 524 fixing pin, 530 opening slot, 540 rotating shaft, 600 top shell, 700 lever mechanism, 701 second operating lever, 702 second rotating lever, 703 second support rod, 704 second limiting rod, 705 elastic mechanism, 710 locking lever, 720 connecting rod, 730 hand lever, 740 connecting piece, 800 locking mechanism, 810 hinged rod, 820 positioning part, 830 positioning hook, 840 handle, 850 positioning slot, 900 mounting seat, 1000 propulsion device, 1100 motion control mechanism. DETAILED DESCRIPTION

[0140] To more clearly illustrate the technical solutions of the embodiments of this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the following descriptions are some examples or embodiments of this specification, and those skilled in the art can apply the technical solutions or methods disclosed in this specification to other scenarios based on these technical contents without inventive effort.

[0141] It should be understood that the terms "system," "device," "equipment," "unit," and / or "part" used in this specification are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0142] Unless otherwise specified, technical terms used in this specification to describe components, elements, and the like do not necessarily refer to the singular but may include the plural. Generally speaking, terms such as "include" and "comprising" only indicate the inclusion of the steps, elements, or components specifically identified, and these steps, elements, and components do not constitute an exclusive list. For example, the method or device being described may also include other steps or components.

[0143] In the description of this specification, it should be understood that the descriptions involving directions, such as up, down, front, back, left, and right, and the directions or positional relationships indicated are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In the description of this specification, unless otherwise expressly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this specification in combination with the specific content of the technical solution.

[0144] One or more embodiments of this specification provide a traction-type lifting device. In some embodiments, the traction-type lifting device may include a lifting drive, a rotating shaft, and a driven shaft; the lifting drive is in driving connection with the rotating shaft, and the rotating shaft and the driven shaft are spaced and parallel to each other; the rotating shaft is provided with a first groove for winding a steel cable, and the driven shaft is provided with a second groove for winding a steel cable. In some embodiments, the spaced-apart parallel arrangement of the rotating shaft and the driven shaft may mean that a certain distance is spaced between the rotating shaft and the driven shaft, and the rotating shaft and the driven shaft are spaced and parallel to each other.

[0145] In some embodiments, as shown in Figures 1-4, the traction-type lifting device 100 may include a shell 110, a lifting drive 120 (such as a motor) is arranged in the shell 110, a rotating shaft 130 driven by the lifting drive 120 is connected to one side of the lifting drive 120, a freely rotatable driven shaft 140 is arranged above the rotating shaft 130, a lifting rod 200 capable of moving up and down along the shell 110 is arranged on one side of the rotating shaft 130 and the driven shaft 140, a steel cable 150 is connected to the lifting rod 200, a first groove 131 for winding the steel cable 150 is arranged around the rotating shaft 130, and a second groove 141 for winding the steel cable 150 is arranged around the driven shaft 140, and the first groove 131 and the second groove 141 are staggered. In some embodiments, when the steel cable 150 is installed, its front end is first connected to the front end of the lifting rod 200, and its other end first passes around and abuts the bottom of the first groove 131 and extends upward. It then abuts and wraps around the upper part of the second groove 141 before extending downward, and finally connects to the end of the lifting rod 200. Because the first groove 131 and the second groove 141 are staggered, the steel cable 150 will not be entangled or stacked together when rotating along the rotating shaft 130 and the driven shaft 140. This prevents the steel cable 150 from getting entangled and becoming too tight during rotation, thereby making the lifting process smoother. In some embodiments, the lift actuator 120 is a servo motor with variable rotational direction. Its output shaft is connected to the rotating shaft 130, controlling the clockwise or counterclockwise rotation of the rotating shaft 130. The steel cable 150, which is wound around the rotating shaft 130 and abuts against the driven shaft 140, also winds around the driven shaft 140. As the rotating shaft 130 rotates, the steel cable 150 also drives the driven shaft 140 to rotate along with the rotating shaft 130. In some embodiments, a bracket, object, or other equipment to be lifted can be connected to the front or end of the lift rod 200.

[0146] In some embodiments, when the lifting device 100 is in use, if it is necessary to lower an object connected to the end of the lifting rod 200, the lifting actuator 120 can drive the rotating shaft 130 to rotate clockwise. The steel cable 150 is then tightened and pushed upward on the first groove 131. The steel cable 150 passes through the second groove 141, driving the driven shaft 140 to rotate clockwise and move downward. At this time, the lifting rod 200 connected to the steel cable 150 also descends, and finally lowers the object to the desired position. Conversely, if it is necessary to lift the object, the lifting actuator 120 can drive the rotating shaft 130 to rotate counterclockwise. At the same time, the steel cable 150 also drives the driven shaft 140 to rotate in the same direction as the rotating shaft 130. At this time, the lifting rod 200 connected to the steel cable 150 rises upward, and the lifting rod 200 can be lifted to the desired position by connecting to the lifting rod 200.

[0147] The traction-type lifting device provided in the embodiment of the present specification drives the rotating shaft 130 through the lifting driver 120, and makes it cooperate with the driven shaft 140 and the steel cable 150 to drive the lifting rod 200 to perform a lifting operation, so that the lifting rod 200 reaches the required position; the traction-type lifting device has a simple structure and occupies a small space, freeing up more limited activity space and being suitable for a variety of different scenarios; in addition, due to the further reduction of parts, the difficulty of installation and maintenance is reduced while the production cost is greatly reduced.

[0148] In some embodiments, to facilitate installation and maintenance, an adjustment mechanism for adjusting the tension of the steel cable 150 is provided on the lifting rod 200. Specifically, the adjustment mechanism includes a first retainer 210 (or positioner) disposed at the front end of the lifting rod 200 and a second retainer 220 (or positioning ring) disposed at the end of the lifting rod 200. The front end of the steel cable 150 is connected to the first retainer 210, and the end thereof is connected to the second retainer 220. In some embodiments, the steel cable 150 can be tightened or loosened by simply loosening the second retainer 220 and adjusting its vertical position on the lifting rod 200. Finally, the second retainer 220 is fixed, making adjustment quick and convenient. The second retainer 220 can be fixed to the lifting rod 200 in various ways, such as a snap-on connection and a screw connection.

[0149] In some embodiments, to protect the lift actuator 120 from contact with rainwater when used outdoors, an isolation chamber 111 is provided within the housing 110. The rotating shaft 130 and the driven shaft 140 are disposed within the isolation chamber 111. The lift actuator 120 is disposed within the housing 110 and connected to the rotating shaft 130. This ensures that the lift actuator 120 is relatively isolated from the rotating shaft 130 and the driven shaft 140, preventing the risk of short circuit damage due to contact with water.

[0150] In some embodiments, the housing 110 may be provided with heat dissipation holes 112 for discharging hot air from the housing 110 .

[0151] In some embodiments, in order to further reduce the weight of the housing 110 and improve the corrosion resistance of the housing 110, the housing 110 can be made of aluminum alloy.

[0152] The traction-type lifting device provided in some embodiments of the present specification drives the rotating shaft through a motor, and cooperates with the driven shaft and the steel cable to drive the lifting rod to perform a lifting operation, thereby allowing the lifting rod to reach the required position; the traction-type lifting device has a simple structure and occupies a small space, freeing up more limited activity space and being suitable for a variety of different scenarios; in addition, due to the further reduction of parts, the difficulty of installation and maintenance is reduced while greatly reducing production costs.

[0153] One or more embodiments of the present specification provide a propulsion device, which may include the traction-type lifting device of any embodiment of the present specification.

[0154] In some embodiments, as shown in Figures 3-6, a propulsion device 1000 (or a top-flow machine with a lifting device) may include a motion control mechanism 1100 (or a directional device) made of aluminum alloy, which is used to support the main components. A lifting rod 200 is movably installed on the motion control mechanism 1100, and the lifting rod 200 can move up and down on the motion control mechanism 1100. A top shell 600 with a control button is provided at the top of the lifting rod 200, and a propeller 300 is provided at the end thereof. A lifting device is provided on one side of the lifting rod 200 on the motion control mechanism 1100 to drive the lifting rod 200 up or down. The lifting device includes a lifting drive 120 (e.g., a motor), a rotating shaft 130 connected to and driven by the lifting drive 120, a driven shaft 140 that rotates freely above and perpendicular to the rotating shaft 130, and a steel cable 150 vertically connected to the lifting rod 200. A first groove 131 is provided around the rotating shaft 130 for winding around the steel cable 150, and a second groove 141 is provided around the driven shaft 140 for winding around the steel cable 150. The first groove 131 and the second groove 141 are staggered. In some embodiments, during installation, the front end of the steel cable 150 is first connected to the front end of the lifting rod 200, while the other end first abuts the bottom of the first groove 131 and winds upward. It then abuts and winds around the upper portion of the second groove 141 before passing downward through the motion control mechanism 1100 and finally connecting to the end of the lifting rod 200. In some embodiments, the top shell 600 is electrically connected to the motion control mechanism 1100, the propeller 300 and the lifting device respectively. The lifting driver 120 is a servo motor with changeable rotation direction. Its output shaft is connected to the rotating shaft, and can control the rotating shaft 130 to rotate clockwise or counterclockwise. The steel cable 150 that is abutted and wrapped around the rotating shaft 130 is also wrapped around the driven shaft 140. When the rotating shaft 130 rotates, the steel cable 150 also drives the driven shaft 140 to rotate with the rotating shaft 130.

[0155] In some embodiments, when the propulsion device 1000 is in use, if the propeller 300 needs to be lowered into the water, an electrical signal is sent to the lifting device via the control button on the top housing 600. The lifting driver 120 drives the rotating shaft 130 to rotate clockwise, and the steel cable 150 is then tightened in the first groove 131 and pushed upward. The steel cable 150 then passes through the second groove 141, driving the driven shaft 140 to rotate clockwise and descend downward. At this time, the lifting rod 200 connected to the steel cable 150 also descends to the desired depth. Conversely, if the propeller 300 needs to be raised to adjust its depth or directly lifted out of the water, an electrical signal is sent to the lifting device via the control button. The lifting driver 120 drives the rotating shaft 130 to rotate counterclockwise, and the steel cable 150 then drives the lifting rod 200 to the desired height.

[0156] The propulsion device 1000 provided in this embodiment utilizes a lifting actuator 120 to drive a rotating shaft 130, which, in conjunction with a driven shaft 140 and a steel cable 150, drives a lifting rod 200 for elevation, thereby adjusting the draft of a propeller 300 or lifting it out of the water. This propulsion device 1000 boasts a simple structure and minimal footprint, freeing up limited space and adapting to various vessels of varying sizes. Furthermore, the reduced number of components significantly reduces production costs while also simplifying installation and maintenance.

[0157] In some embodiments, the propulsion device 1000 further includes a housing 110 (or protective housing) disposed on the motion control mechanism 1100. The lifting device may be partially disposed within the housing 110 to protect the components from erosion by sunlight and rain. Furthermore, during operation, the steel cable 150 will inevitably bring moisture into the lifting device. To better protect the lifting drive 120, an isolation chamber 111 may be provided within the housing 110. The lifting drive 120 is disposed within the housing 110, and the rotating shaft 130 and the driven shaft 140 are disposed within the isolation chamber 111. The lifting and lowering of the steel cable 150 is performed within the isolation chamber 111, thereby isolating the lifting drive 120 from the moisture brought up and preventing the risk of short-circuit damage.

[0158] In some embodiments, the motion control mechanism 1100 includes a rotating device 400 (or steering mechanism) mounted on the lifting rod 200 and configured to drive the same. The lifting device is disposed above the rotating device 400. In some embodiments, simply pressing a control button on the top housing 600 causes the rotating device 400 mounted on the motion control mechanism 1100 to rotate the lifting rod 200 and the lifting device together, thereby changing the propeller's direction of operation and, consequently, the vessel's sailing direction. This makes the entire operation simple and convenient.

[0159] One or more embodiments of this specification provide a quick-detachable top-flow machine. In some embodiments, as shown in Figures 7-9, the quick-detachable top-flow machine may include a propulsion device 1000 (or referred to as a top-flow machine body), the propulsion device 1000 including a base plate 510 for fixing the propulsion device 1000 and a rotating device 400 placed on the base plate 510.

[0160] In some embodiments, side panels 520 are provided on either side of the base plate 510. A slot 521 is provided at one end of each side panel 520 for locking the rotating device 400. A lever mechanism 700 is provided on the rotating device 400, which engages within the slot 521. Activating the lever mechanism 700 unlocks or locks the rotating device 400 on the side panel 520. In some embodiments, the base plate 510 also has an open slot 530 for inverting the propulsion device 1000.

[0161] In some embodiments, a lever mechanism 700 is provided on the rotating device 400 of the propulsion device 1000. The lever mechanism 700 engages with the slot 521. When the lever mechanism is pushed or pulled, the lever mechanism and the side panel 520 are locked or unlocked. When the lever mechanism abuts the innermost end of the slot, the rotating device is fixed to the base plate, that is, the propulsion device 1000 is fixed to the base plate. The manual lever is pushed toward the lifting rod of the propulsion device to gradually move the lever mechanism away from the slot. When the lever mechanism disengages the slot, the rotating device is separated from the base plate. The opening in the base plate provides a position for the propulsion device to be tilted after it is separated from the base plate. Tilting the propulsion device upside down is beneficial for later maintenance and facilitates operation. It also makes it easier to re-secure the propulsion device to the base plate after maintenance. In some embodiments, the side panel can also prevent the rotating device of the propulsion device from rocking left and right during operation, thereby providing a clamping and fixing function.

[0162] In some embodiments, the lever mechanism 700 may include a locking lever 710 engaged with the slot 521, a connecting rod 720 connected to the rotating device 400, and a manual lever 730 for pushing and pulling. The lever mechanism 700 also includes a connecting piece 740 rotatably connected to the connecting rod 720 near the center. The locking lever 710 is located at one end of the connecting piece 740, and the manual lever 730 is located at the other end of the connecting piece 740, so that pushing and pulling the manual lever 730 can drive the locking lever 710 to slide within the slot 521.

[0163] In some embodiments, when the propulsion device 1000 is fixed to a vessel, by pushing the hand lever, the connecting piece causes the locking lever to gradually disengage from the slot and move outward. When the locking lever is out of the slot, the propulsion device can be placed upside down on the vessel without removing the base plate, facilitating maintenance and repair of the propulsion device. After maintenance and repair of the propulsion device, the propulsion device is lifted and placed on the base plate, and the hand lever is then pulled to slide the locking lever on the side plate into the slot. When the locking lever contacts the inside of the slot, the propulsion device is installed and fixed to the base plate. The entire process is convenient, fast, and saves time and effort.

[0164] In some embodiments, a locking mechanism 800 is further provided on the propulsion device 1000 on the other side of the lever mechanism 700. The lever mechanism is provided on one side of the propulsion device, and the locking mechanism is provided on the other side. With the cooperation of the lever mechanism and the locking mechanism, the propulsion device can be further mounted and fixed on the bottom plate to prevent the top flow machine body from tipping over to one side.

[0165] In some embodiments, the locking mechanism 800 may include a hinged rod 810 rotatably mounted on the other side of the rotating device 400. A circular groove 522 with an opening is provided on the side panel 520. The locking mechanism 800 also includes a positioning portion 820 rotatably embedded in the groove 522 and having an opening. The ends of the hinged rod 810 are positioned within the openings of the positioning portion 820, and the hinged rod 810 and the positioning portion 820 are rotatably connected.

[0166] In some embodiments, the positioning portion 820 is embedded in a circular groove with an opening. The positioning portion can rotate 360° in the groove. The opening of the positioning portion is rotated to be consistent with the opening direction of the groove. The hinged rod can be placed into the opening of the positioning portion, and then the positioning portion is rotated so that its opening faces downward, and the hinged rod is fixed on the positioning portion.

[0167] In some embodiments, a positioning hook 830 having the same opening as the positioning portion 820 is fixed to the outside of the positioning portion 820, and the positioning hook is provided with a handle 840. The positioning hook with a handle fixed to the outside of the positioning portion can facilitate the rotation of the opening positioner, making the rotation more labor-saving and convenient.

[0168] In some embodiments, a positioning groove 850 is provided on the periphery of the positioning portion 820. In some embodiments, an annular protrusion may be provided on the interior of the groove to cooperate with the positioning groove on the periphery of the positioning portion to increase the rotational friction between the positioning portion and the groove, thereby preventing the positioning portion from rotating arbitrarily and causing the hinge rod to unintentionally detach from the positioning portion.

[0169] In some embodiments, the side panel 520 is provided with positioning holes 523 on both sides of the groove 522, into which fixing pins 524 can be inserted. As shown in FIG10 , when the positioning portion is open and facing downward, the fixing pins are inserted into the positioning holes and engage with the positioning grooves on the open positioning portion, thereby securing the open positioning portion in the circular groove, thereby securing the rotating device to the side panel.

[0170] In some embodiments, as shown in Figures 11-12, the propulsion device 1000 further includes a lifting device 100 disposed on one side of a lifting rod 200 of the propulsion device to cause it to rise and fall. The lifting device 100 is used to drive the lifting rod to rise and fall. The lifting device 100 may include a lifting driver 120, a rotating shaft 130 drivingly connected to the lifting driver 120, and a driven shaft 140 parallel to the rotating shaft 130 and rotatably connected to the driven shaft 140 via a steel cable 150. The steel cable 150 is wound around the outer circumference of the rotating shaft 130 and the driven shaft 140, and its ends are respectively fixed to the upper and lower ends of the lifting rod 200 via a first fixer 210 and a second fixer 220.

[0171] In some embodiments, the controller can be electrically connected to the rotating device, the propeller and the lifting device respectively. The lifting drive is a servo motor with a changeable rotation direction. Its output shaft is connected to the rotating shaft, which can control the rotating shaft to rotate clockwise or counterclockwise. The steel cable that is wound around the rotating shaft is also wound around the driven shaft. When the rotating shaft rotates, the steel cable also drives the driven shaft to rotate with the rotating shaft, which can drive the lifting rod to perform a lifting operation, thereby adjusting the draft of the propeller or lifting it out of the water. The propulsion equipment (such as the top flow machine with a lifting device) has a simple structure and occupies a small space, freeing up more limited activity space and being suitable for all kinds of ships of different sizes. In addition, due to the further reduction of parts, the difficulty of installation and maintenance is reduced while greatly reducing the production cost. The lifting top flow machine is convenient for the maintenance and inspection of the underwater propeller, and it does not need to be disassembled from the ship for maintenance and inspection. A protective shell can also be set around the lifting device to prevent the parts from being eroded by the sun and rain.

[0172] In some embodiments, retaining grooves are vertically offset on the rotating shaft 130 and the driven shaft 140 to retain and secure the steel cable 150. Specifically, the retaining grooves may include a first groove 131 circumferentially disposed on the rotating shaft 130 and a second groove 141 circumferentially disposed on the driven shaft 140. In some embodiments, the retaining grooves are V-shaped, such that the width of the retaining groove 18 gradually narrows from the outside to the inside.

[0173] In some embodiments, the limit groove is a pulley-type "V"-shaped structure, so that the width of the limit groove opening gradually narrows from the outside to the inside. In some embodiments, the diameter of the steel cable is preferably 6 mm, the width of the outermost end of the limit groove opening is preferably 6.2 mm, and the width of the innermost end is 2 mm. When the steel cable is stuck in the limit groove, the rotating shaft drives the driven shaft to rotate. During the rotation of the steel cable, the steel cable gradually rotates inward toward the inside of the limit groove and tightens. Because the width of the limit groove opening gradually narrows from the outside to the inside, the steel cable is stuck tighter and tighter in the limit groove, so that the friction between the steel cable and the rotating shaft and the driven shaft gradually increases, so that the steel cable is frictionally linked with the rotating shaft and the driven shaft through the two limit grooves, preventing the steel cable from slipping during rotation. In addition, the limit grooves on the rotating shaft and the driven shaft can prevent the steel cable from easily shifting during rotation, so that the lifting rod can be raised and lowered smoothly. Because the limit grooves on the rotating shaft and the driven shaft are staggered, the steel cables will not be entangled and stacked together when rotating along the rotating shaft and the driven shaft, preventing the steel cables from getting stuck and being too tight due to entanglement when rotating, making the lifting process smoother.

[0174] In some embodiments, the end of the steel cable 150 passes through the first fixture 210, and a first stopper 151 (or a clamping portion) is provided on the steel cable 150, with an elastic member 250 provided between the first stopper 151 and the first fixture 210. The upper end of the steel cable passes through the first fixture, and the first stopper 151 is fixedly provided at the end. An elastic member is provided between the first stopper 151 and the first fixture, and the elastic member is preferably a spring. The spring through which the steel cable passes has high elasticity. When the steel cable is wound and rotated on the rotating shaft, the elastic action of the spring can relieve the upper and lower pressure of the tension on the first and second fixtures, further preventing damage to the lifting device.

[0175] In some embodiments, existing propulsion devices generally include a mounting base, a mounting rod, and a propeller mounted at the bottom of the mounting rod. The mounting rod is generally not adjustable up and down, so the position of the propeller cannot be adjusted. This makes the propulsion device unsuitable for use on vessels of varying heights. Therefore, designing a propulsion device with adjustable propeller position has become a technical problem that needs to be solved. To this end, some embodiments of this specification provide a propulsion device with a lifting and lowering adjustment function.

[0176] In some embodiments, as shown in Figures 13-20, the propulsion device 1000 (or an electronic anchor with lifting and adjusting functions) may include: a mounting base 900, a lifting rod 200 that rotates with the mounting base 900 and can move up and down, a top shell 600 installed on the top of the lifting rod 200, and a propeller 300 installed on the bottom of the lifting rod 200.

[0177] In some embodiments, a GPS signal receiver is disposed within the top housing 600. The propeller 300 includes a sealed housing, a propeller, and a propulsion drive motor mounted within the housing. The propulsion drive motor may be a stepper motor, a servo motor, or a brushless motor, preferably a brushless motor. A drive shaft of the propulsion drive motor extends outside the housing and is connected to the propeller to drive the propeller to rotate and provide driving force.

[0178] In some embodiments, a lifting device 100 is mounted on a mounting base 900. The lifting device 100 includes a housing 110, a lifting actuator 120, and a steel cable 150. A driving shaft 130 and a driven shaft 140 are rotatably coupled within the housing 110. The driving shaft 130 is provided with a first groove 131 (or a first annular groove). The cross-section of the first groove 131 is a V-shaped structure or a trapezoidal structure with a width at the top and a narrowness at the bottom. Preferably, the cross-section of the first groove 131 is a trapezoidal structure with a width at the top and a narrowness at the bottom. The driven shaft 140 is disposed above the driving shaft 130 and is provided with a second groove 141 (or a second annular groove) staggered from the first groove 131. The cross-section of the second groove 141 is a semicircular structure or a trapezoidal structure with a width at the top and a narrowness at the bottom. Preferably, the cross-section of the second groove 141 is a semicircular structure. The steel cable 150 is wrapped around and tightly engaged with the lower sidewall of the first groove 131, and is wrapped around and engaged with the upper portion of the second groove 141. The upper and lower ends of the steel cable 150 are correspondingly connected to the upper and lower ends of the lifting rod 200. The steel cable 150 is clamped and wrapped around the lower side wall of the first groove 131 to ensure that when the active shaft 130 drives the steel cable 150 to move, the steel cable 150 can be clamped between the two inclined side surfaces of the first groove 131 to prevent the steel cable 150 from slipping. The lifting drive 120 is driven and connected to one end of the active shaft 130, and is used to drive the active shaft 130 to rotate and lift the linkage lifting rod 200.

[0179] In some embodiments, in order to further prevent slipping between the steel cable 150 and the active shaft 130, anti-slip protrusions are provided on both side walls of the first groove 131. The anti-slip protrusions are strip-shaped or bent, with one end extending to the bottom of the first groove 131 and the other end extending to the edge of the notch of the first groove 131. Several anti-slip protrusions are evenly distributed in a circular shape along the side of the first groove 131.

[0180] In some embodiments, the lift driver 120 is a lift drive motor or a crank handle. The lift drive motor is installed in the housing 110, and its drive shaft is connected to the active shaft 130 via a coupling. The crank handle is provided outside the housing 110, and one end thereof extends into the housing 110 and is connected to the active shaft 130. In some embodiments, the lift driver 120 is a lift drive motor. The lift drive motor is a servo motor or a stepper motor with a locking function. Preferably, the lift drive motor is a servo motor with a locking function.

[0181] In some embodiments, when the lifting drive 120 drives the active shaft 130 to rotate clockwise, the part of the steel cable 150 above the housing 110 is driven downward and clamped to bypass the lower part of the first groove 131, and then upward to bypass the upper part of the second groove 141 and transported downward. The steel cable 150 moves downward to link the lifting rod 200 to move downward, driving the propeller 300 to move downward. When the lifting drive 120 drives the active shaft 130 to rotate counterclockwise, the steel cable 150 can move upward to link the lifting rod 200 to move upward, driving the propeller 300 to move upward, thereby realizing the adjustment of the position of the propeller 300.

[0182] In some embodiments, a rotating device 400 is installed on the mounting seat 900, and the rotating device 400 is driven and connected to the lifting rod 200 to drive the lifting rod 200 to rotate. The rotation of the lifting rod 200 links the rotation of the propeller 300 to achieve steering adjustment.

[0183] In some embodiments, the rotating device 400 includes a rotating driver 430, a driving gear 440, a driven gear 450, a sleeve 460, a second limiting structure 240, and a first limiting structure 230. The rotating driver 430 is installed in the mounting base 900. The rotating driver 430 is a servo motor or a component motor, preferably a servo motor. The driving gear 440 is installed on the drive shaft of the rotating driver 430. The sleeve 460 is rotatably engaged with the through hole in the mounting base 900. Specifically, the upper and lower ends of the sleeve 460 are respectively provided with second bearings 470. The two second bearings 470 are installed in the through holes in the mounting base 900. The second bearings 470 are respectively provided with oil seals on the upper and lower sides. The driven gear 450 is fixedly sleeved on the outside of the sleeve 460. The inside of the sleeve 460 is fixedly connected to a nylon sleeve 480. The nylon sleeve 480 has a through hole for the steel cable 150 to pass through. The lifting rod 200 rotates and can move up and down in the through hole in the nylon sleeve 480. The wall thickness of one side of the nylon sleeve 480, through which the steel cable 150 passes, is thicker than the wall thickness of the other side. As shown in the cross-sectional view, the left side wall of the nylon sleeve 480 is thicker than the right side wall. In some embodiments, a through hole is provided at the right end of the lower base plate 118 of the housing 110. The right end of the lower base plate 118 is bolted to the top of the sleeve 460. The second limiting structure 240 is fixed to the right end of the lower base plate 118 of the housing 110. The first limiting structure 230 is fixed to the upper end of the lifting rod 200 in an adjustable manner. One of the second limiting structure 240 and the first limiting structure 230 is provided with a plug-in portion 231, and the other is provided with a plug-in slot 241 that mates with the plug-in portion 231. In some embodiments, preferably, the second limiting structure 240 is provided with a plug-in slot 241, and the first limiting structure 230 is provided with a plug-in portion 231. The insertion slot 241 is V-shaped or U-shaped, and the insertion portion 231 is triangular or rectangular. Preferably, the insertion slot 241 is V-shaped, and the insertion portion 231 is triangular. In some embodiments, when the insertion portion 231 is engaged with the insertion slot 241, the rotary driver 430 drives the driving gear 440 to rotate the driven gear 450. The driven gear 450 rotates to drive the sleeve 460. The sleeve 460 rotates, thereby driving the second limiting structure 240. The rotation of the second limiting structure 240 drives the first limiting structure 230 to drive the lifting rod 200 to rotate. The rotation of the lifting rod 200 drives the propeller 300 to rotate, thereby achieving steering adjustment of the propeller 300.

[0184] In some embodiments, the first limiting structure 230 includes a ring 233 provided with a ring gap 234, a plug-in portion 231 provided on the outside of the ring gap 234 and fixedly connected to the ring 233, and an abutment plate 235 provided in the ring gap 234, the abutment plate 235 is provided with a connecting column 236 that cooperates with the through hole on the plug-in portion 231, the plug-in portion 231 is provided with a threaded through hole 232 corresponding to the abutment plate 235, and the threaded through hole 232 is cooperated with a locking screw for pressing and fixing the abutment plate 235 on the lifting rod 200.

[0185] In some embodiments, an adjustment assembly 260 for adjusting the tightness of the steel cable 150 is mounted on the upper end of the lifting rod 200. The adjustment assembly 260 includes a first anchor 210, an elastic member 250, and a first stopper 151 (or a wire lock). The first anchor 210 is provided with a through hole for the steel cable 150 to pass through. The first anchor 210 is fixed to the lifting rod 200 in an adjustable manner. Specifically, the first anchor 210 includes two semicircular clamping members, which are tightly connected to the lifting rod 200 by bolts. The first stopper 151 is locked to the upper end of the steel cable 150. The elastic member 250 is sleeved on the steel cable 150, and the upper end of the elastic member 250 abuts against the first stopper 151, and the lower end abuts against the first anchor 210. The tightness of the steel cable 150 can be adjusted by adjusting the position of the first anchor 210 up and down. The lower end of the lifting rod 200 is fixedly connected to the second fixer 220 , and the lower end of the steel cable 150 is fixedly connected to the second fixer 220 .

[0186] In some embodiments, a magnetic induction switch is installed at the bottom of the annular protrusion at the bottom of the mounting base 900, and a magnet is connected to the lower end of the lifting rod 200. Specifically, a magnet is installed on the second fixer 220 at the lower end of the lifting rod 200. The magnetic induction switch and the magnet are arranged correspondingly above and below. When the lifting rod 200 is driven upward, the magnet can be driven close to the magnetic induction switch, causing the magnetic induction switch to be triggered.

[0187] In some embodiments, the propulsion device 1000 also includes an electronic control component, which includes a central control host and a lifting drive motor driver, a rotation drive motor driver and a propulsion drive motor driver electrically connected to the central control host. The lifting drive motor driver, the rotation drive motor driver and the propulsion drive motor driver are electrically connected to the lifting drive motor, the rotation drive motor (such as the rotation driver 430) and the propulsion drive motor respectively. The GPS signal receiver is connected to the central control host by electrical signals, and the start and stop of each motor are controlled separately by the central control host.

[0188] In some embodiments, the left end of the mounting base 900 is hingedly coupled to the base 500 (or mounting base) via a hinged rod 810. Specifically, the left end of the mounting base 900 is connected to a hinged rod 810, with both ends of the hinged rod 810 correspondingly hingedly coupled to through holes in the base 500. A through hole 421 (e.g., a strip-shaped through hole) is provided on the right side of the mounting base 900, and a lever mechanism 700 (or flip frame) is hingedly coupled to the right side of the mounting base 900. Specifically, the two ends of the rod body in the middle of the lever mechanism 700 are hingedly coupled to the hinge holes in the mounting base 900 via hinged bolts. A locking rod 710 is connected to the lower end of the lever mechanism 700, with both ends of the locking rod 710 correspondingly passing through two through holes 421 and movably engaging with the through holes 421. In some embodiments, a card slot 521 is provided on the right side of the base 500. By pulling the upper end of the lever mechanism 700 to the right, the two ends of the locking rod 710 can be correspondingly engaged in the two card slots 521. At this time, the mounting seat 900 is locked and the mounting seat 900 cannot be flipped over; when the upper end of the lever mechanism 700 is pulled to the left, the two ends of the locking rod 710 can be disengaged from the two card slots 521. At this time, the mounting seat 900 is unlocked, and the lever mechanism 700 can be pulled to the upper left to flip the mounting seat 900. After the mounting seat 900 is flipped, it is convenient to maintain the propeller 300. When the lever mechanism 700 is pulled left or right, the ends of the locking lever 710 move within the through hole 421 along a predetermined arc path. When the through hole 421 is horizontal, and the ends of the locking lever 710 are positioned within the through hole 421, a gap is maintained between the locking lever 710 and the inner sidewall of the through hole 421, allowing the ends of the locking lever 710 to swing within the through hole 421 along a predetermined arc. When the through hole 421 is curved, the curved structure of the through hole 421 matches the arc path of the locking lever 710, allowing the ends of the locking lever 710 to swing within the through hole 421 along a predetermined arc.

[0189] In some embodiments of the present specification, a lifting device is provided on the propulsion equipment. When the lifting drive drives the active shaft to rotate clockwise, the part of the steel cable above the outer shell is driven downward and clamped to bypass the lower part of the first annular groove, and then upward to bypass the upper part of the second annular groove and transported downward. The downward movement of the steel cable links the lifting rod to move downward, driving the propeller downward. When the lifting drive drives the active shaft to rotate counterclockwise, the upward movement of the steel cable links the lifting rod to move upward, driving the propeller upward, thereby realizing the adjustment of the propeller position. It can be suitable for use with various ships of different heights and sizes. The propulsion equipment has a simple structure, occupies a small space, and has good practicality.

[0190] The propulsion device can help a ship travel or anchor on the water. The propulsion device includes a propeller (or propulsion power unit). When working, the propeller can be located underwater to provide the necessary power for the ship to travel or anchor. When the work stops, the propeller can be lifted out of the water for daily cleaning or maintenance, which helps to extend the service life of the propeller. In some embodiments, the propulsion device also includes a lifting rod, and the propeller is connected to the lower end of the lifting rod. When the propeller is needed to work, the lifting rod can be driven down to extend the propeller underwater. When the work is finished, the lifting rod can be driven up to lift the propeller out of the water.

[0191] In order to efficiently drive the propeller up or down, a lifting power device (also referred to as a lifting device in some embodiments of this specification) is often used to achieve the lifting and lowering of the propeller. In some embodiments, a hydraulic mechanism or a gear transmission mechanism can be used as a lifting power device to provide power for lifting and lowering. However, the hydraulic device requires the installation of a variety of equipment such as a hydraulic cylinder. This type of lifting power device has a complex structure and a large number of components, which not only makes the assembly cost high but also takes up a lot of space. It is difficult to put it into large-scale use in scenarios with limited space such as ships; the gear transmission mechanism requires the installation of multiple gear sets to cooperate with each other, which still leads to a large number of components in the device, making it difficult to reduce the production cost, and the installation process is also relatively cumbersome. Its maintenance is also relatively inconvenient. For example, under the long-term corrosion of seawater, the teeth of the gears are easily damaged, which leads to the device becoming disabled.

[0192] To this end, some embodiments of this specification propose a propulsion device with a lifting function, wherein the traction-type lifting device has a simple structure and can highly reliably drive the propeller to perform lifting movements.

[0193] FIG21 is a schematic diagram of the structure of a propulsion device according to some embodiments of the present disclosure. As shown in FIG21 , the propulsion device 1000 includes a lifting rod 200 , a propeller 300 and a lifting device 100 .

[0194] The propeller 300 operates underwater, generating a force that propels or anchors the vessel by influencing the movement of the water flow. In some embodiments, the propeller 300 may include a propeller and a power unit. The power unit drives the propeller to rotate, thereby influencing the movement of the water flow, causing the water flow to generate a reaction force to propel the vessel forward or enable the vessel to anchor in the water flow. The power unit may be an electric motor or other device that is electrically driven and converts electrical energy into mechanical energy. The propeller 300 is connected to the lower portion of the lifting rod 200. When the lifting rod 200 is lowered, the propeller 300 can be inserted into the water. Specifically, the propeller 300 can be connected to the lifting rod 200 by threaded engagement, screw connection, welding, or clamping. The lifting device 100 is used to drive the lifting rod 200 to rise or fall, thereby driving the propeller 300 to rise and fall.

[0195] FIG22 is a schematic diagram of a lifting device according to another embodiment of the present disclosure. As shown in FIG22 , the lifting device 100 includes a housing 110 , within which is disposed a lifting actuator 120 , a rotating shaft 130 driven by the lifting actuator 14 , and a driven shaft 140 disposed above the rotating shaft 130 .

[0196] The lifting actuator 120 can be a motor. For example, the lifting actuator 120 can be a stepper motor, a reluctance motor, a hysteresis motor, a permanent magnet motor, or the like. The lifting actuator 120 can have a rotating shaft, which can be coaxially fixedly connected to the rotating shaft 130. A coaxial fixed connection means that the rotating axes of two objects are fixed together, so that the two objects can rotate synchronously. For example, the rotating shaft 130 is provided with an assembly hole along its rotation axis. The rotating shaft of the lifting actuator 120 can be fixedly inserted into one end of the assembly hole of the rotating shaft 130 by means of snapping, bonding, welding, etc., so that the rotation axes of the two are colinear and fixed together. When the rotating shaft of the lifting actuator 120 rotates, it can drive the rotating shaft 130 to rotate. In some optional embodiments, a first fixing rod is provided on the side wall of the housing 110, and the other end of the assembly hole of the rotating shaft 130 is sleeved on the first fixing rod to stabilize the rotating shaft 130 and ensure smoother rotation.

[0197] In some embodiments, referring again to FIG. 22 , the driven shaft 140 is disposed above the rotating shaft 130. For example, a second fixing rod may be fixedly mounted on the inner wall of the housing 110, positioned above the first fixing rod, with the driven shaft 140 sleeved on the second fixing rod. In other embodiments, both ends of the driven shaft 140 may be rotatably mounted on the housing 110 via bearings. Similarly, the end of the rotating shaft 130 not connected to the rotating shaft of the lifting actuator 120 may also be rotatably mounted on the housing 110 via a bearing.

[0198] In some embodiments, the lifting device 100 further includes a steel cable 150 for use with the rotating shaft 130 and the driven shaft 140. A first groove is provided around the rotating shaft 130 for winding the steel cable 150, and a second groove is provided around the driven shaft 140 for winding the steel cable 150. One end of the steel cable 150 is connected to the upper end of the lifting rod 200, as shown at point A in FIG21 . The steel cable 150 is wound around at least a portion of the first groove and at least a portion of the second groove. The other end of the steel cable 150 is connected to the lower end of the lifting rod 200, as shown at point B in FIG21 .

[0199] Continuing with FIG22 , in some embodiments, the steel cable 150 can be wound from top to bottom and then upward against the first groove of the rotating shaft 130, and then from bottom to top and then downward against the second groove of the driven shaft 140. By adjusting the tension at both ends of the steel cable 150, the steel cable 150 can be pressed tightly against the rotating shaft 130 and the driven shaft 140. Since the contact surface between the steel cable and the shaft (such as the rotating shaft 130 and the driven shaft 140) is not smooth, effective friction is generated on the contact surface between the steel cable and the shaft, so that there is no relative motion between the steel cable and the shaft, that is, the steel cable is prevented from slipping. When the lifting drive 120 is running, the rotating shaft 130 rotates accordingly, so that the steel cable 150 is pushed up or down in a taut state, and the driven shaft 140 rotates accordingly under the drive of the steel cable 150. More specifically, as viewed from the left side of Figure 22, when the rotating shaft 130 rotates clockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed downward, causing the lifting rod 200 to descend. When the rotating shaft 130 rotates counterclockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed upward, causing the lifting rod 200 to ascend. Ultimately, the lifting actuator 120 achieves the lifting and lowering motion of the propeller 300 by rotating forward or reverse. In some embodiments, the lifting actuator 120 may utilize a motor with a locking function. After the motor has run for a certain period of time, the motor's rotating shaft can be locked and stationary, thereby also locking the rotating shaft 130 and stopping it from rotating. The effective friction between the steel cable and the shaft prevents the steel cable from slipping relative to the shaft, ultimately allowing the lifting rod 200 and propeller 300 to stably stop at a certain lifting height, allowing the propeller 300 to operate stably underwater at a certain depth. In some embodiments, the first groove and the second groove may be staggered in the vertical direction. Referring to Figure 3 or Figure 22, the first groove on the rotating shaft 130 is set on the left, and the second groove on the driven shaft 140 is set on the right. In this way, the first groove and the second groove are staggered with each other in the vertical direction, so that the steel cable 150 will not be entangled and stacked together when pushed up or down by the rotating shaft 130 and the driven shaft 140, preventing the steel cable 150 from getting stuck due to mutual entanglement when moving, making the lifting process smoother.

[0200] As can be seen from the above, the contact surface between the steel cable and the shaft, especially the rotating shaft, requires high friction to ensure that the lifting rod and propeller can be effectively driven up and down and remain in their raised and lowered positions. To further increase the friction between the steel cable and the rotating shaft, in some embodiments, the width of the opening of the first groove on the rotating shaft surface is no greater than the diameter of the steel cable. In some embodiments, the width of the opening of the first groove on the rotating shaft surface can be 60% to 100% of the diameter of the steel cable 150. In some embodiments, the width of the opening of the first groove on the rotating shaft surface can be 70% to 80% of the diameter of the steel cable 150. As an example, the width of the opening of the first groove on the rotating shaft surface can be 62.5%, 70%, 75%, 77.5%, 80%, 85%, or 90% of the diameter of the steel cable 150. A steel cable generally refers to a bundle of steel wires twisted together from multiple strands of steel wire around a fiber or steel core, and has a rough surface and a certain degree of flexibility. During actual use, when the steel cable is wrapped around the first groove of the rotating shaft, part of the steel cable can be squeezed into the first groove under the action of pressure and fully contact the side wall of the first groove, which can increase the contact area between the steel cable and the first groove, thereby increasing the friction, improving the reliability of the lifting device, and preventing the steel cable from slipping.

[0201] However, high friction can also easily wear out the surface of the cable or shaft. For example, long-term use can cause the cable diameter to decrease, the width of the first groove to increase, or both. To ensure the long-term reliability of the lifting device, in some embodiments, the width of the first groove's opening on the shaft surface is greater than the width of its bottom. This ensures that even if the cable or shaft surface wears, the worn cable maintains a large contact area with the first groove, maintaining effective friction between the two surfaces. In some embodiments, the width of the first groove's bottom can be 20% to 50% of the cable's diameter. In some embodiments, the width of the first groove's bottom can be 30% to 40% of the cable's diameter. As examples, the width of the first groove's bottom can be 25%, 37.5%, 40%, or 45% of the cable's diameter. In other embodiments, to ensure the first groove has a wide opening and a narrow bottom, the first groove's cross-section can be specifically V-shaped or trapezoidal. Furthermore, the angle between the side of the cross section of the first groove and the height direction of the cross section (angle α shown in FIG23 ) can be 10° to 45°. As an example, the angle can be 12°, 18°, 25°, 30°, or 35°. In some embodiments, the angle between the side of the cross section of the first groove and the height direction of the cross section (angle α shown in FIG23 ) can be 25° to 35°.

[0202] FIG23 is a cross-sectional view of a rotating shaft according to some embodiments of the present specification. As shown in FIG23 , the cross-section of the first groove 131 is a trapezoid. The width Wup of the upper base of the trapezoid is no greater than the diameter of the steel cable. Taking a steel cable with a diameter of 8 cm as an example, the width Wup of the upper base can be set to 5 to 8 cm, and the specific width Wup can be set to 5.8 cm, 6.2 cm, 6.5 cm, 7 cm, 8 cm, etc. The width Wdown of the lower base of the trapezoid is smaller than the width Wup of the upper base. Continuing with the previous example, the width Wdown of the lower base can be set to 2 to 4 cm, and the specific width Wdown of the lower base can be set to 2.5 cm, 3 cm, 3.5 cm, etc. To more intuitively understand the beneficial effects of setting the first groove in this way, let's assume that the diameter of the steel cable is 8 cm, the width Wup of the upper base is 6.2 cm, and the width Wdown of the lower base is 3 cm. During initial use, although the diameter of the steel cable is larger than the width of the upper opening of the first groove, due to the steel cable's ability to deform, a portion of the steel cable can be squeezed into the first groove under pressure, resulting in a larger contact area between the steel cable and the sidewalls of the first groove, generating greater friction. As use progresses, the steel cable wears and becomes thinner. Due to the wide-upper-and-narrower-bottom cross-section of the first groove, the steel cable does not completely fall into the first groove. At this point, under pressure, only a portion of the steel cable is still squeezed into the first groove and has a larger contact area with the sidewalls of the first groove. This groove structure enables the propulsion device's lifting device to stably drive the propeller up and down or maintain it at a certain height even after a certain period of use, resulting in higher reliability and extending the device's service life. In some embodiments, to prevent the steel cable from eventually falling completely into the first groove due to long-term wear, the depth of the first groove may be equal to or less than the diameter of the steel cable. Specifically, the depth of the first groove can be 50% to 100% of the diameter of the steel cable 150. For example, the depth of the first groove can be 55%, 62.5%, 70%, 75%, 80%, or 90% of the diameter of the steel cable 150. The height D of the cross section of the first groove, as shown in FIG23 , is equal to or less than the diameter of the steel cable. For example, if the diameter of the steel cable is 8 cm, the depth of the first groove can be 5 to 8 cm, specifically 5.5 cm, 6 cm, etc.

[0203] In some embodiments, to further increase friction between the cable and the rotating shaft, the sidewalls of the first groove can be provided with anti-slip patterns. These patterns can be formed on the sidewalls of the first groove by etching, engraving, cladding, or other methods. The anti-slip patterns can be irregular or regular. Referring to Figures 24 and 25 , the sidewalls 133 of the first groove 131 of the rotating shaft can be provided with threads.

[0204] When the propeller is operating, it needs to adjust its orientation according to the direction of the water flow or the direction of travel. Therefore, the propulsion device can also include a rotating device for driving the propeller to rotate. The propulsion device shown in Figure 21 also includes a rotating device 400. The lifting device 100 is fixedly mounted on the rotating device 400. The rotating device 400 can drive the lifting device 100 and the lifting rod 200 to rotate together, thereby driving the propeller 300 to change its orientation.

[0205] Figure 26 is a schematic diagram illustrating the connection between a lifting device and a rotating device according to some embodiments of this specification. As shown in Figure 26, the rotating device 400 includes a connecting portion 410, which is capable of rotating under the control of a rotary actuator of the rotating device 400. Similar to the lifting actuator, the rotary actuator can be a motor, such as a stepper motor or a reluctance motor. The lifting device 100 is fixedly mounted on the connecting portion 410. For example, the two can be fixedly connected by screws, welding, or a clamping connection. The connecting portion 410 further includes a first guide hole 411 with a larger diameter and a second guide hole 412 with a smaller diameter. The lifting rod 200 is inserted into the first guide hole 411, and the lifting device's cable 150 is inserted into the second guide hole 412. Since the lifting rod 200 is connected to the lifting device 100 via the cable 150, when the rotary device 400 drives the lifting device 100 to rotate, the lifting rod 200 can rotate within the first guide hole 411, thereby changing the orientation of the propeller 300.

[0206] Some embodiments of the present specification also provide a traction-type lifting power device (or referred to as a lifting device 100), including a lifting drive, a rotating shaft driven by the lifting drive, and a driven shaft arranged above the rotating shaft. A first groove for winding a steel cable is arranged around the rotating shaft, and a second groove for winding a steel cable is arranged around the driven shaft; wherein the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove. In some embodiments, the cross-section of the first groove is V-shaped or trapezoidal, and anti-slip grooves are provided on the side walls of the first groove. In some embodiments, the width of the aforementioned opening is not greater than the diameter of the steel cable used therewith. For more information about the lifting power device, please refer to the description of the lifting device in the relevant descriptions of Figures 21 to 26, which will not be repeated here.

[0207] The beneficial effects that may be brought about by some embodiments of this specification include but are not limited to: (1) The lifting device provided by some embodiments of this specification has the characteristics of simple structure and high reliability; (2) The first groove structure of the rotating shaft helps to further increase the friction between the first groove and the steel cable, further improving the reliability of the device, and helping to extend the service life of the device. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other possible beneficial effects.

[0208] In some embodiments, to facilitate movement of the lifting rod in different directions, the lifting rod can be inserted into a through-hole of a rotating device. Driven by the rotating device, the lifting rod can simultaneously rotate and ascend or descend within the through-hole. As shown in FIG21 , the lifting rod 200 is inserted into a first guide hole of a rotating device 400. The lifting device 100 is mounted on the rotating device 400. The lifting device 100 and the lifting rod 200 are connected in a transmission connection, capable of driving the lifting rod 200 to ascend or descend. The rotating device 400 and the lifting device 100 are connected in a transmission connection, capable of driving the lifting device 100 to rotate. Since the lifting device 100 and the lifting rod 200 have a direct transmission connection, the rotating device 400 can indirectly drive the lifting rod 200 to rotate. The aforementioned transmission connection can be understood as a transmission between two objects using an intermediate mechanical structure such as a cable, connecting rod, or gear. It can also be understood as a connection between the two objects, such as bonding, welding, or screwing, so that the two objects can be connected in a coordinated manner. In some embodiments, a portion of the rotating device 400 can be fixed on a vessel, for example, can be fixed on a deck at the rear of the vessel, thereby achieving fixed installation of the entire propulsion device.

[0209] Since the lifting rod is inserted into the rotating device, when the lifting rod continues to rise, the propeller at its lower end may collide with the bottom of the rotating device, causing damage to the propulsion equipment.

[0210] To this end, some embodiments of this specification provide a propulsion device with a limit control function. In addition to the aforementioned components, the device further includes a controller and a first limit sensor. The first limit sensor can be located below the rotating device and / or at a location in the lower half of the lifting rod. The output signal of the first limit sensor can reflect the distance between a location in the lower half of the lifting rod and the rotating device. The lower side of the rotating device can be an area on the lower surface of the rotating device, and further can be an area near the opening of the first guide hole on the lower surface of the rotating device. The lower half of the lifting rod can also be referred to as the lower section of the lifting rod. The location in the lower half of the lifting rod can be anywhere in the lower section of the lifting rod, for example, near the lower end of the lifting rod. The controller is signal-connected to both the first limit sensor and the lifting device, and can control whether to brake the lifting device based on the output signal of the first limit sensor. Specifically, the controller controls the lifting device to brake when it determines, based on the output signal of the first limit sensor, that a location in the lower half of the lifting rod is close to the rotating device, thereby effectively preventing the lifting device from continuously driving the lifting rod upward, causing the propeller to collide with the rotating device.

[0211] In some embodiments, the first limit sensor can be a switch sensor, a magnetic induction sensor, an infrared or laser beam sensor, or the like. For example, the switch sensor can be positioned below the rotating device or at a location in the lower half of the lifting rod. Accordingly, a barrier rod or other structural member can be positioned at a location in the lower half of the lifting rod or at the lower side of the rotating device. When the two are in close proximity, the barrier rod or other structural member contacts the switch sensor, causing the switch sensor to output a valid electrical signal to the controller. Upon receiving the valid electrical signal, the controller can determine that a location in the lower half of the lifting rod is relatively close to the rotating device. When the first limit sensor is a magnetic induction sensor, the magnetic induction sensor can be mounted in a similar manner to the switch sensor, except that a magnetic element is positioned at a location in the lower half of the lifting rod or at the lower side of the rotating device. Exemplary magnetic elements can be permanent magnets, silicon steel sheets, soft ferrites, or the like. When the two are in close proximity, the magnetic element approaches the magnetic induction sensor, causing the magnetic induction sensor to output a valid electrical signal to the controller. Upon receiving the valid electrical signal, the controller can determine that a location in the lower half of the lifting rod is relatively close to the rotating device. When the first limit sensor is a through-beam sensor, the sensor's transmitting end can be located at a certain position in the lower half of the lifter or on the underside of the rotating device. Correspondingly, the sensor's receiving end can be located on the underside of the rotating device or at a certain position in the lower half of the lifter, or vice versa. When the two are close together, the receiving end can receive the infrared light or laser emitted by the transmitting end, and the sensor outputs a valid electrical signal to the controller. Upon receiving the valid electrical signal, the controller can determine that a certain position in the lower half of the lifter is close to the rotating device.

[0212] In some embodiments, the controller can establish a signal connection with the first limit sensor via a cable or wireless communication to receive the output signal of the first limit sensor. Similarly, the controller can also establish a signal connection with the lifting device via a cable or wireless communication. In some embodiments, the power units in the lifting device and the rotating device are both controlled by the controller, and the controller can specifically control the start, stop, movement range, operating speed, etc. of the corresponding power units. When the controller receives a valid electrical signal from the first limit sensor, it can output a stop signal to the power unit of the lifting device, causing the lifting device to stop and no longer operate.

[0213] FIG27 is a bottom view of a rotating device according to some embodiments of the present disclosure. FIG27 shows that the lower surface of the rotating device 400 comprises the lower opening of the first guide hole 411 and the lower end surface of the side wall of the first guide hole 411. The lower opening of the second guide hole 412 can also be seen on this lower end surface. In some embodiments, the lower side of the rotating device for mounting the first limit sensor or its related components (such as a magnetic element, a retaining rod, or other structural member) can specifically be the lower end surface of the side wall of the first guide hole 411. As an example, the first magnetic induction sensor 202 is disposed on the lower end surface of the side wall of the first guide hole 411 of the rotating device shown in FIG27.

[0214] Figure 28 is a schematic diagram illustrating the connection between the lower end of the steel cable and the lifting rod according to some embodiments of the present disclosure. As shown in Figure 28 , in some embodiments, the propulsion device may include a second retainer 220, which is mounted and removably secured to the lifting rod 200. For example, the second retainer 220 may be a clamping structure. For example, the second retainer 220 may further include a metal ring with an opening. The lifting rod 200 can be inserted into the metal ring through the aforementioned opening, and the two ends of the metal ring at the opening are then secured together using screws. Appropriately configuring the diameter of the metal ring allows the metal ring to be securely secured to the lifting rod 200. Furthermore, retaining structures such as ridges or grooves may be provided at different heights of the lifting rod 200. The second retainer 220 may be positioned at the ridges or grooves at the corresponding heights to enhance the securement between the second retainer 220 and the lifting rod 200 and prevent the second retainer 220 from sliding up and down. For example, the second retainer 220 is a closed metal ring with a diameter that matches the diameter of the lifting rod 200. The lifting rod 200 can be inserted into the metal ring. The metal ring has threaded holes along its radial direction. Once the metal ring is mounted on the lifting rod 200, screws can be installed in the threaded holes. The screws are rotated to control their advancement, causing the screws to abut against the lifting rod 200, thereby tightening the metal ring. The second retainer 220 has a through hole along the axial direction of the ring or along the length of the lifting rod 200. The other end of the steel cable 150, i.e., the lower end, passes through the through hole in the second retainer 220 from top to bottom. A second stopper 152 is fixed to the lower end of the steel cable 150. When the steel cable 150 is tightened, the second stopper 152 can abut against the second retainer 220, thereby tightening the steel cable 150. Specifically, after the lower end of the steel cable 150 is inserted into the aforementioned through-hole, the second stopper 152 is fixed to the lower end of the steel cable 150, for example, by snapping, threading, bonding, or welding. The cross-sectional diameter or at least one radial dimension of the second stopper 152 is configured to be larger than the through-hole diameter of the second fixture 220, so that when the steel cable 150 is tightened, the second stopper 152 can abut against the second fixture 220 to tighten the steel cable 150. In some embodiments, the second fixture can be provided with a first limit sensor or related components (such as a magnetic element, a stopper rod, or other structural components). For example, FIG28 shows a first magnetic element 201 on the second fixture 220. For a traction-type lifting device, providing a first limit sensor can also prevent the steel cable from being broken when the lifting rod is raised to the limit position.

[0215] In some embodiments, a first limiting structure is provided at a certain position of the lifting rod, and a second limiting structure adapted to the first limiting structure is provided on the upper side of the rotating device, and the second limiting structure can rotate under the drive of the rotating device. The first limiting structure and the second limiting structure are intended to cooperate with each other to limit and lock the lifting rod when it descends to a certain height. The aforementioned certain height may be the height corresponding to the underwater depth that the propeller needs to reach when working. Adaptation can refer to that the two match each other in structural shape and can be locked. With reference to Figures 21 and 29, in some embodiments, the first limiting structure 230 is fastened to the lifting rod 200 in a detachable manner. For example, the lifting rod 200 is provided with screw holes at different heights, and the first limiting structure 230 can be fixed to a certain height on the lifting rod 200 by screws. In other alternative embodiments, the first limiting structure 230 can be fixedly connected to a hoop structure or a closed ring, and the hoop structure or closed ring can be detachably fixed at different heights on the lifting rod 200. Regarding the connection method between the hoop structure or closed ring and the lifting rod 200, please refer to the relevant description of the second fixer and will not be repeated here. In some embodiments, the second limiting structure 240 has a third guide hole. The second limiting structure 240 can be set on the upper side of the rotating device 400, and the first guide hole and the third guide hole correspond to each other. The lifting rod 200 can be inserted into both guide holes at the same time. As an example, the second limiting structure 240 can be installed on the connecting portion 410 of the rotating device 400, and the third guide hole is aligned with the first guide hole 411. A groove is provided on the second limiting structure 240. In order to achieve engagement, the groove on the second limiting structure 240 matches the shape of the first limiting structure. As shown, the first limiting structure 230 can have a V-shaped portion protruding from the surface of the lifting rod 200, and the corresponding groove on the second limiting structure 240 is a V-shaped groove. Taking Figure 29 as an example, the first limiting structure 230 can be fixed at a certain height in the upper half of the lifting rod 200. When the lifting rod 200 descends to a certain height, the first limiting structure 230 engages with the second limiting structure 240. At this point, the lifting rod 200 cannot descend further. When the rotating device stops working, the lifting rod 200 cannot rotate or sway freely in the guide hole. Adjusting the height of the first limiting structure 230 on the lifting rod 200 ensures stable operation of the propeller at an appropriate underwater depth, and its orientation is not arbitrarily changed by human intervention, wind, or water forces. The V-shaped portion and the V-shaped groove cooperate to provide a buffering and automatic alignment effect. Specifically, factors such as the processing accuracy of the device and the friction between components may cause the lifting rod to have a certain offset so that the first limiting structure and the second limiting structure are not completely aligned. When the lifting rod descends and the first limiting structure moves to cooperate with the second limiting structure, the V-shaped cooperation can play a role of buffering and automatic alignment.

[0216] In some embodiments, the propulsion device may further include a second limit sensor. The second limit sensor may be located at the first limit structure and / or the second limit structure. The output signal of the second limit sensor reflects the distance between the first and second limit structures. The second limit sensor is also signal-connected to the controller, enabling the controller to control whether the lifting device should brake based on the output signal of the second limit sensor. This prevents damage to the two limit structures from colliding during the lowering of the lifting rod, and also prevents the steel cable from breaking when the lifting rod reaches its limit position. Similar to the first limit sensor, the second limit sensor may be a switch sensor, a magnetic induction sensor, or a through-beam sensor. The specific installation method of the second limit sensor at the first and second limit structures can be similar to the installation method of the first limit sensor at a certain position on the lower side of the rotating device and in the lower half of the lifting rod. Taking Figure 29 as an example, the second magnetic induction sensor 204 is located in the V-shaped groove of the second limit structure 240, and the second magnetic element 203 is located on the V-shaped portion of the first limit structure. The reverse is also possible.

[0217] In some embodiments, the controller may establish a signal connection with the second limit sensor via a cable or wireless communication to receive an output signal from the second limit sensor. When the controller receives a valid electrical signal from the second limit sensor, it may output a stop signal to the power unit of the lifting device, causing the lifting device to stop operating.

[0218] The beneficial effects that may be brought about by some embodiments of this specification include but are not limited to: (1) a first limit sensor is set at the lower half of the lifting rod and / or the lower side of the rotating device, which can effectively prevent the propeller from colliding with the bottom of the rotating device when the lifting rod is raised; (2) for a traction-type lifting device, the first limit sensor can also prevent the steel cable from being broken when the lifting rod is raised to the limit position; (3) a first limit structure and a second limit structure are set to stop the rotating device from working, that is, when the lifting rod is driven to rotate to the position, the propeller is prevented from rotating and shaking arbitrarily under the action of other interfering external forces and changing its direction; (4) a second limit sensor is set at the first limit structure and / or the second limit structure, which can prevent the two limit structures from being damaged due to mutual collision, and can also prevent the steel cable from being broken when the lifting rod is lowered to the limit position. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other possible beneficial effects.

[0219] Some embodiments of this specification provide a propulsion device with a lifting function, wherein the traction-type lifting device has a simple structure and can highly reliably drive heavy propellers and other components to perform lifting movements.

[0220] FIG30 is a schematic diagram of a lifting device according to another embodiment of the present disclosure. As shown in FIG30 , the lifting device 100 includes a housing 110 , within which is disposed a lifting actuator 120 , a rotating shaft 130 driven by the lifting actuator, and a driven shaft 140 disposed above the rotating shaft 130 .

[0221] The lifting device provided in some embodiments of this specification utilizes a rotating shaft, a driven shaft, and a steel cable to achieve the lifting and lowering of a lifting rod and a propeller. This device can be considered a traction-type lifting device, featuring a simple structure, no hydraulic mechanism, or gears, and easy maintenance. To ensure that the lifting device can more reliably drive the lifting rod and propeller, and that the lifting rod and propeller remain stably at the desired height, sufficient effective friction must be present between the contact surface of the rotating shaft and the steel cable. This friction is positively correlated with the weight of the driven object. If the propeller requires greater thrust, the blades of the propeller must be larger, and the power of the power generator must also be greater. This often increases the weight of the propeller. Consequently, to strengthen the connection between the lifting rod and the propeller, a lifting rod made of a higher material density is required, which in turn increases the weight of the lifting rod. To achieve greater effective friction in a traction-type lifting device, some embodiments of this specification increase the number of grooves on the rotating shaft and the driven shaft, allowing the steel cable to wrap around both shafts more frequently, thereby improving the reliability of the lifting device.

[0222] Specifically, in some embodiments, the rotating shaft is provided with two or more first grooves, and the driven shaft is also provided with two or more second grooves. The steel cable is respectively wound around at least a portion of each first groove and at least a portion of each second groove.

[0223] In some embodiments, two first grooves are provided on the rotating shaft 130, and two second grooves are provided on the driven shaft 140. The steel cable 150 can be wound from top to bottom and then upward against the first first groove of the rotating shaft 130, from bottom to top and then downward against the first second groove of the driven shaft 140, then from top to bottom and then upward against the second first groove of the rotating shaft 130, and from bottom to top and then downward against the second second groove of the driven shaft 140. By adjusting the tension at both ends of the steel cable 150, the steel cable 150 can be pressed tightly against the rotating shaft 130 and the driven shaft 140. Since the contact surface between the steel cable and the shaft (such as the rotating shaft 130 and the driven shaft 140) is non-smooth, effective friction is generated on the contact surface between the steel cable and the shaft, so that there is no relative motion tendency between the steel cable and the shaft, that is, the steel cable is prevented from slipping. Because the number of first grooves and second grooves is greater than one, the non-smooth contact surface between the steel cable and the shaft is multiplied, allowing the lifting device to drive heavier lifting rods and thrusters. When the number of first grooves and second grooves is greater than two, the steel cable can be wound around the subsequent first grooves and second grooves in the same manner as described above until the steel cable is wound around the last second groove of the driven shaft.

[0224] In some embodiments, when the lifting actuator 120 is in operation, the rotating shaft 130 rotates accordingly, causing the steel cable 150 to be pushed up or down while in a taut state, and the driven shaft 140 to rotate accordingly driven by the steel cable 150. More specifically, as viewed from the left side of FIG30 , when the rotating shaft 130 rotates clockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed down, causing the lifting rod 200 to descend. When the rotating shaft 130 rotates counterclockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed up, causing the lifting rod 200 to ascend. Ultimately, the lifting actuator 120 achieves the lifting and lowering motion of the propeller 300 by rotating forward or reverse. In some embodiments, the lifting drive 120 can use a motor with a locking function. After the motor has run for a certain period of time, the motor's shaft can be locked and stopped, so that the rotating shaft 130 is also locked and stops rotating. The effective friction between the steel cable and the shaft can prevent the steel cable from slipping relative to the shaft, and ultimately the lifting rod 200 and the propeller 300 can stop stably at a certain lifting height, and the propeller 300 can work stably underwater at a certain depth.

[0225] In some embodiments, the first groove and the second groove can be staggered in the vertical direction. Taking the example of two first grooves on the rotating shaft 130 and two second grooves on the driven shaft 140, staggering the first groove and the second groove in the vertical direction can mean that any first groove and any second groove are staggered in the vertical direction, such as the first first groove is neither aligned with the first second groove nor with the second second groove in the vertical direction, and the second first groove is neither aligned with the first second groove nor with the second second groove in the vertical direction. As an example, the first second groove on the driven shaft corresponds to the spaced area between the two first grooves on the rotating shaft in the vertical direction; the second first groove on the rotating shaft corresponds to the spaced area between the two second grooves on the driven shaft in the vertical direction (this example can be the case where the first second groove from left to right on the driven shaft 140 in Figure 34 is omitted). Such a setting can prevent the steel cable 150 from being entangled and stacked together when being pushed up or down by the rotating shaft 130 and the driven shaft 140, thereby preventing the steel cable 150 from getting stuck due to mutual entanglement when moving, making the lifting process smoother.

[0226] In some embodiments, the number of second grooves can be different from the number of first grooves. For example, the number of second grooves is one more than the number of first grooves. Figures 31 and 32 are schematic structural diagrams of the rotating shaft and the driven shaft, respectively, shown in some embodiments of this specification. In some embodiments, the rotating shaft 130 in the lifting device is provided with two first grooves, and the driven shaft is provided with three second grooves. The extra grooves on the driven shaft relative to the rotating shaft can be mainly used for making way. Continuing with reference to Figure 30, when the steel cable 150 is wound from top to bottom and then upwards into the first first groove of the rotating shaft 130, the portion of the steel cable 150 located above the first first groove directly rests on the surface of the driven shaft 140. Since the steel cable 150 itself has a certain diameter, such as 0.8 cm, 1 cm, 1.2 cm or thicker, the portion of the steel cable resting on the surface of the driven shaft 140 will occupy a certain amount of additional space in the housing 110, increasing the volume of the lifting device. To this end, in some embodiments, the number of second grooves is set to be one more than the number of first grooves, and the extra second groove can accommodate the steel cable wrapped around the first groove of the rotating shaft, thereby reducing the extra space volume occupied by the steel cable and making the structure of the lifting device more compact.

[0227] Continuing with reference to FIG30 , in some embodiments, the rotating shaft 130 may be provided with two first grooves, and the driven shaft 140 may be provided with three second grooves, with each first groove vertically aligned with a second groove. The vertical alignment of each first groove with a second groove can be illustrated in FIG33 . As viewed from left to right, the first first groove on the rotating shaft 130 vertically corresponds to the first second groove on the driven shaft 140 ; ​​the second first groove on the rotating shaft 130 vertically corresponds to the second second groove on the driven shaft 140 . As shown in Figures 30 and 33 , the steel cable 150 may first be abutted against the first second groove of the driven shaft 140 from top to bottom, then wound from top to bottom and then upward against the first first groove of the rotating shaft 130, then wound from bottom to top and then downward against the second second groove of the driven shaft 140, then wound from top to bottom and then upward against the second first groove of the rotating shaft 130, and then wound from bottom to top and then downward against the third second groove of the driven shaft 140. When the number of first grooves is greater than two and the number of second grooves is greater than three, the steel cable may be wound around the subsequent first and second grooves respectively in the same manner as described above until the steel cable is wound around the last second groove of the driven shaft.

[0228] In some embodiments, the two first grooves and the three second grooves may be staggered in the vertical direction. Referring to FIG. 34 , as viewed from left to right, the first first groove on the rotating shaft 130 vertically corresponds to the space between the first second groove and the second second groove on the driven shaft 140; the second first groove on the rotating shaft 130 vertically corresponds to the space between the second second groove and the third second groove on the driven shaft 140. In this case, the winding method of the steel cable is similar to that of the previous embodiment and will not be further described here.

[0229] In some embodiments, the contact surface between the steel cable and the shaft, especially the rotating shaft, needs to have a large friction force to ensure that the lifting rod and propeller can be effectively driven to rise and fall and stay in the raised and lowered position. To further increase the friction between the steel cable and the rotating shaft, in some embodiments, the width of the opening of the first groove of the rotating shaft on the surface of the rotating shaft is no greater than the diameter of the steel cable. Specifically, the width of the opening of the first groove on the surface of the rotating shaft can be 60% to 100% of the diameter of the steel cable 150. As an example, the width of the opening of the first groove on the surface of the rotating shaft can be 62.5%, 70%, 75%, 77.5%, 80%, 85% or 90% of the diameter of the steel cable 150. A steel cable generally refers to a steel wire bundle made of multiple strands of steel wire rope twisted around a fiber core or a steel wire rope core, which has a rough surface and a certain degree of flexibility. During actual use, when the steel cable is wrapped around the first groove of the rotating shaft, part of the steel cable can be squeezed into the first groove under the action of pressure and fully contact the side wall of the first groove, which can increase the contact area between the steel cable and the first groove, thereby increasing the friction, improving the reliability of the lifting device, and preventing the steel cable from slipping.

[0230] However, on the other hand, the greater friction will make the surface of the steel cable or the rotating shaft more susceptible to wear. For example, long-term use will cause the diameter of the steel cable to become smaller or the width of the first groove to increase, or both. In order to make the lifting device maintain high reliability for a long time, in some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove. In this way, even if the surface of the steel cable or the rotating shaft is worn, it can still ensure that the worn steel cable and the first groove have a larger contact area, maintaining an effective and large friction between the contact surfaces of the two. In some embodiments, the width of the bottom of the first groove can be set to 20% to 50% of the diameter of the steel cable 150. As an example, the width of the bottom of the first groove can be 25%, 37.5%, 40% or 45% of the diameter of the steel cable 150. In some other embodiments, in order to make the first groove have a wide opening and a narrow bottom, the cross-section of the first groove can be specifically set to be V-shaped or trapezoidal. Furthermore, the angle between the side of the cross section of the first groove and the height direction of the cross section (angle α as shown in Figure 35) can be 10° to 45°. As an example, the aforementioned angle can be 12°, 18°, 25°, 30° or 35°, etc.

[0231] FIG35 is a cross-sectional view of a rotating shaft shown in some other embodiments of this specification. As shown in FIG35 , the cross-section of the first groove 131 is a trapezoid. The width Wup of the upper base of the trapezoid is no greater than the diameter of the steel cable. Taking a steel cable with a diameter of 8 cm as an example, the width Wup of the upper base can be set to 5 to 8 cm. Specifically, the upper base Wup can be set to 5.8 cm, 6.2 cm, 6.5 cm, 7 cm, 8 cm, etc. The width Wdown of the lower base of the trapezoid is smaller than the width Wup of the upper base. Continuing with the previous example, the width Wdown of the lower base can be set to 2 to 4 cm. Specifically, the width Wdown of the lower base can be set to 2.5 cm, 3 cm, 3.5 cm, etc. To more intuitively understand the beneficial effects of setting the first groove in this way, let's assume that the diameter of the steel cable is 8 cm, the width Wup of the upper base is 6.2 cm, and the width Wdown of the lower base is 3 cm. During initial use, although the diameter of the steel cable is larger than the width of the upper opening of the first groove, due to the steel cable's ability to deform, a portion of the steel cable can be squeezed into the first groove under pressure, resulting in a larger contact area between the steel cable and the sidewalls of the first groove, generating greater friction. As use progresses, the steel cable wears and becomes thinner. Due to the wide-upper-and-narrower-bottom cross-section of the first groove, the steel cable does not completely fall into the first groove. At this point, under pressure, only a portion of the steel cable is still squeezed into the first groove and has a larger contact area with the sidewalls of the first groove. This groove structure enables the propulsion device's lifting device to stably drive the propeller up and down or maintain it at a certain height even after a certain period of use, resulting in higher reliability and extending the device's service life. In some embodiments, to prevent the steel cable from eventually falling completely into the first groove due to long-term wear, the depth of the first groove may be equal to or less than the diameter of the steel cable. Specifically, the depth of the first groove can be 50% to 100% of the diameter of the steel cable 150. For example, the depth of the first groove can be 55%, 62.5%, 70%, 75%, 80%, or 90% of the diameter of the steel cable 150. The height D of the cross section of the first groove, as shown in FIG35 , is equal to or less than the diameter of the steel cable. For example, if the diameter of the steel cable is 8 cm, the depth of the first groove can be 5 to 8 cm, specifically 5.5 cm, 6 cm, etc.

[0232] In some embodiments, to further increase friction between the cable and the rotating shaft, the sidewalls of the first groove may be provided with anti-slip patterns. These patterns may be formed on the sidewalls of the first groove by etching, engraving, cladding, or other methods, and may be irregular or regular. For example, the sidewalls of the first groove 131 of the rotating shaft may be provided with threads.

[0233] In some embodiments, the force that propels the steel cable up or down primarily comes from the friction between the steel cable and the rotating shaft. In this case, the driven shaft can primarily serve as a guide. To reduce unnecessary wear on the steel cable, the structure of the second groove on the driven shaft can be different from that of the first groove to reduce wear between the second groove and the steel cable. Figure 36 is a cross-sectional view of a driven shaft shown in some embodiments of this specification. As shown in Figure 36, the cross-section of the second groove 141 can be arc-shaped, which can adapt to the cross-section of the steel cable and reduce friction between the contact surface between the second groove and the steel cable. Furthermore, the width of the opening of the second groove on the surface of the driven shaft can be equal to or greater than the diameter of the steel cable. Continuing with Figure 36, the cross-section of the second groove 141 can be semicircular, and its diameter can be equal to the diameter of the steel cable. In some alternative embodiments, the diameter of the second groove 141 can be greater than the diameter of the steel cable to reduce the contact surface between the second groove and the steel cable, thereby reducing friction between the two.

[0234] In some embodiments, the cross-sectional shape and size of the second groove 141 may be the same as those of the first groove 131 , thereby further increasing the friction between the grooves (including the first groove 131 and the second groove 141 ) and the contact surface of the steel cable.

[0235] As previously mentioned, the force that propels the steel cable up or down primarily comes from the friction between the steel cable and the rotating shaft. In some embodiments, to further increase the friction between the steel cable and the rotating shaft, the diameter of the rotating shaft can be set to be larger than the diameter of the driven shaft. Figure 37 is a partial side view of a lifting device according to some embodiments of the present disclosure. As shown in Figure 37, the diameter of the rotating shaft 130 is larger than the diameter of the driven shaft 140. This design enhances the adhesion between the steel cable and the rotating shaft while reducing friction between the steel cable and the driven shaft, thereby reducing wear on the steel cable. In some embodiments, the diameter of the rotating shaft 130 can be 1.2 to 2.5 times the diameter of the driven shaft 140. For example, the diameter of the rotating shaft 130 can be 1.5 times, 1.8 times, or 2 times the diameter of the driven shaft 140. In some embodiments, when the diameter of the rotating shaft 130 is larger than the diameter of the driven shaft 140, the sides of the rotating shaft 130 and the driven shaft 140 that are closest to the lifting rod can be aligned along the length of the lifting rod, thereby facilitating connection of both ends of the steel cable 150 to the lifting rod. In some embodiments, as shown in FIG37 , the right sides of the rotating shaft 130 and the driven shaft 140 can be aligned vertically (i.e., along the length of the lifting rod). In some embodiments, considering the different depths of the steel cable wound in the first groove 131 and the second groove 141, the positions of the rotating shaft 130 and the driven shaft 140 can be set so that after the steel cable is wound around the first groove 131 and the second groove 141, the steel cable is located between the first groove 131 and the second groove 141, and the length of the steel cable near the lifting rod is parallel to the length of the lifting rod.

[0236] When the ends of a steel cable in a lifting device are connected to the lifting rod, the cable must be kept taut to ensure sufficient effective friction is generated at least on the contact surface between the cable and the rotating shaft to balance the weight of the lifting rod and other components (such as the propeller) attached to it. To more conveniently control the tension of the steel cable, some embodiments of this specification provide a method for connecting the steel cable to the lifting rod.

[0237] FIG38 is a schematic diagram illustrating the connection between a steel cable and a lifting rod according to some embodiments of the present specification. As shown in FIG38 , in some embodiments, the propulsion device may further include a first fixture 210 and an elastic member 250. The first fixture 210 is mounted on the lifting rod 200, specifically, at a certain position in the upper half or lower half of the lifting rod 200, and the elastic member 250 is located above the first fixture 210. Specifically, the first fixture 210 is detachably secured to the lifting rod 200. For example, the first fixture 210 may be a clamping structure. As an example, the first fixture 210 further includes a metal ring with an opening. The lifting rod 200 can be inserted into the metal ring through the aforementioned opening, and the two ends of the metal ring opening are then fixed together by screws. Properly configuring the diameter of the metal ring allows the metal ring to be secured to the lifting rod 200. Furthermore, limiting structures such as ridges or grooves can be provided at different height positions of the lifting rod 200, and the first retainer 210 can be provided at the ridges or grooves at the corresponding height positions, thereby increasing the tightness between the first retainer 210 and the lifting rod 200 and preventing the first retainer 210 from sliding up and down. For another example, the first retainer 210 is a closed metal ring whose diameter matches the diameter of the lifting rod 200. The lifting rod 200 can be inserted into the metal ring, and the metal ring has screw holes along its radial direction. After the metal ring is mounted on the lifting rod 200, screws can be installed in the aforementioned screw holes. The screws can be rotated to control their advancement, thereby causing the screws to rest against the lifting rod 200, thereby tightening the metal ring. In some embodiments, holes can be provided in the lifting rod 200, and screws can be sequentially inserted through the radial screw holes in the metal ring and the holes in the lifting rod 200 to further secure the metal ring to the lifting rod 200. The aforementioned holes can be opened at different heights of the lifting rod 200, so that the height of the first fixture 210 on the lifting rod 200 can be adjusted according to the required tension of the steel cable.

[0238] In some embodiments, the first retainer 210 further includes a through-hole along the axial direction of the ring or along the length of the lifting rod 200. Continuing with FIG38 , one end of the steel cable 150, such as the upper end, passes sequentially from bottom to top through the through-hole in the first retainer 210 and the elastic member 250. A first stopper is fixed to the upper end of the steel cable 150. For example, after the upper end of the steel cable 150 passes through the aforementioned through-hole and elastic member 250, the first stopper is fixed to the upper end of the steel cable 150. When the steel cable 150 is tightened, the first stopper can abut against the elastic member 250 to secure the steel cable 150. By way of example only, the first stopper can be fixed to the upper end of the steel cable 150 by means of snap-fitting, threading, bonding, or welding. In some embodiments, the elastic member 250 may have a longitudinal through-hole (aligned with the length of the lifting rod 200). The elastic member 250 may be positioned or abutted against the through-hole of the first fixture 210. The cross-sectional diameter or at least one radial dimension (e.g., length) of the elastic member 250 may be greater than the diameter of the through-hole in the first fixture 210. The cross-sectional diameter or at least one radial dimension (e.g., length) of the first stopper may be set to be greater than the diameter of the through-hole of the elastic member 250, allowing the first stopper to abut against the elastic member 250. The elastic member 250 has longitudinal elastic deformation capability. When the steel cable 150 is stretched and tightened, the first stopper abuts against the upper end of the elastic member 250 and compresses the elastic member 250 downward. The elastic member 250 can further exert an upward rebound force, further stretching and tightening the steel cable 150, thereby increasing the friction between the steel cable and the rotating shaft. In some embodiments, the elastic member 250 may specifically be a spring, a spring, or the like. In some embodiments, the elastic member 250 can be provided to keep the steel cable 150 in a taut state at all times.

[0239] As shown in FIG38 , in some embodiments, the propulsion device may further include a second fixture 220 that is mounted and removably secured to the lifting rod 200, specifically, the lower region or a certain position of the lower section of the lifting rod 200. The manner in which the second fixture 220 is secured to the lifting rod 200 is similar to that of the first fixture 210, and reference may be made to the description above, which will not be repeated here. A through hole is formed in the second fixture 220 along the axial direction of the ring or along the length of the lifting rod 200. The other end of the steel cable 150, i.e., the lower end, passes through the through hole in the second fixture 220 from top to bottom. A second stopper is fixedly provided at the lower end of the steel cable 150. When the steel cable 150 is tightened, the second stopper can abut against the second fixture 220 to secure the steel cable 150. Specifically, after the lower end of the steel cable 150 is inserted into the aforementioned through-hole, a second stopper is fixed to the lower end of the steel cable 150. Similar to the first stopper, the second stopper can be fixed to the lower end of the steel cable 150 by means of snap-fitting, threading, bonding, or welding. The diameter of the cross section of the second stopper, or at least one radial dimension thereof, is configured to be larger than the diameter of the through-hole of the second retainer 220, so that when the steel cable 150 is tightened, the second stopper can abut against the second retainer 220 to secure the steel cable 150. In some embodiments, an elastic member may also be provided between the second stopper and the second retainer 220.

[0240] In some embodiments of this specification, the connection between the steel cable and the lifting rod can achieve varying degrees of tension in the steel cable by adjusting the height of the fixing ring on the lifting rod. For example, by adjusting the first fixing device 210 shown in FIG. 38 upward or the second fixing device 220 downward, or both simultaneously, the steel cable 150 can be tightened to a greater extent. Furthermore, the elastic member above the first fixing device has longitudinal elastic deformation capability, which, to a certain extent, achieves adaptive adjustment of the tension of the steel cable.

[0241] When the propeller is operating, it needs to adjust its orientation based on the direction of the water flow or travel. Therefore, the propulsion device also includes a rotating device for driving the propeller to rotate. As shown in Figure 21, the propulsion device also includes a rotating device 400. The lifting device 100 is fixedly mounted on the rotating device 400. The rotating device 400 can drive the lifting device 100 and the lifting rod 200 to rotate together, thereby driving the propeller 300 to change its orientation.

[0242] FIG39 is a schematic diagram illustrating the connection between a lifting device and a rotating device according to yet another embodiment of the present disclosure. As shown in FIG39 , the rotating device 400 includes a connecting portion 410 , which is capable of rotating under the action of a rotary actuator (or second power unit) of the rotating device 400 . Similar to the lifting actuator, the rotary actuator can be a motor, such as a stepper motor or a reluctance motor. The lifting device 100 is fixedly mounted on the connecting portion 410 . For example, the two can be fixedly connected by screws, welding, or a clamping connection. The connecting portion 410 further includes a first guide hole 411 with a larger diameter and a second guide hole 412 with a smaller diameter. The lifting rod 200 is inserted into the first guide hole 411, and the lifting device's cable 150 is inserted into the second guide hole 412. Because the lifting rod 200 is connected to the lifting device 100 via the cable 150 , when the rotating device 400 drives the lifting device 100 to rotate, the lifting rod 200 can rotate within the first guide hole 411, thereby changing the orientation of the propeller 300.

[0243] Some embodiments of the present specification also provide a traction-type lifting power device, including a lifting drive, a rotating shaft driven by the lifting drive, and a driven shaft arranged above the rotating shaft. Two or more first grooves for winding the steel cable are arranged around the rotating shaft, and two or more second grooves for winding the steel cable are arranged around the driven shaft. In some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the cross-section of the first groove is V-shaped or trapezoidal. In some embodiments, the cross-section of the second groove is arc-shaped. In some other embodiments, the width of the opening of the first groove on the surface of the rotating shaft is not greater than the diameter of the steel cable, and the width of the opening of the second groove on the surface of the driven shaft is not less than the diameter of the steel cable. For more information about the lifting power device, please refer to the description of the lifting device in Figure 21 and the relevant instructions of Figures 30 to 37, which will not be repeated here.

[0244] The beneficial effects that may be brought about by some embodiments of this specification include but are not limited to: (1) providing two or more grooves on the rotating shaft and the driven shaft respectively, which can increase the number of turns of the steel cable on the shaft, effectively increasing the friction of the contact surface between the steel cable and the shaft, so that the lifting device can drive a heavier propeller; (2) providing a second groove for making way on the driven shaft, which helps to reduce the volume of the lifting device; (3) the first groove structure of the rotating shaft helps to further increase the friction between the first groove and the steel cable, further improve the reliability of the device, and help to extend the service life of the device; (4) the second groove structure of the driven shaft further helps to extend the service life of the device by reducing the wear on the steel cable; (5) the diameter of the rotating shaft is larger than the diameter of the driven shaft, which improves the reliability of the device and helps to reduce the wear between the steel cable and the shaft; (6) the connection method between the steel cable and the lifting rod can easily adjust the tension of the steel cable while ensuring the reliable connection between the steel cable and the lifting rod, further improving the reliability of the device. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other possible beneficial effects.

[0245] In some embodiments, when the propeller is operating, the lifting rod generally needs to remain perpendicular to the water surface or the deck of the vessel. In some embodiments, the propulsion device may include a base and a motion control mechanism. The base may include a bottom plate and two parallel side plates disposed on the bottom plate, the bottom plate having an open slot (or notch) extending along the direction in which the side plates are disposed. At least a portion of the motion control mechanism may be supported on the bottom plate and located between the two side plates; the lifting rod is disposed within the motion control mechanism and the open slot of the bottom plate. The motion control mechanism may be used to drive the lifting rod to rise and fall, and / or rotate to change the direction of the propeller.

[0246] In some embodiments, the motion control mechanism may include a lifting device that can efficiently drive the lifting rod and the propeller to rise or fall. In some embodiments, a hydraulic mechanism or a gear transmission mechanism can be used as a lifting device to provide power for lifting and lowering. In other embodiments, a traction-type lifting power device or mechanism can be used as a lifting device. In some embodiments, at least a portion of the motion control mechanism carried on the bottom plate and located between the two side plates can be a lifting device. When the propeller is working, it is necessary to adjust the direction according to the direction of the water flow or the direction of travel. Therefore, in some embodiments, the motion control mechanism may also include a rotating device for driving the propeller to rotate. Specifically, the rotating device can drive the lifting rod to rotate, thereby driving the propeller to rotate. In some embodiments, at least a portion of the motion control mechanism carried on the bottom plate and located between the two side plates can be a lifting device or a rotating device.

[0247] To facilitate cleaning or maintenance of the lifting mast or propeller, after the lifting mast and the propeller thereon are lifted out of the water, they are generally laid down (i.e., kept in a non-perpendicular, for example, parallel, position relative to the water surface or the vessel's deck). This requires that the motion control mechanism and the lifting mast be able to rotate about a first direction between the two side panels so that the lifting mast and the propeller thereon can be laid down. The first direction refers to a direction perpendicular to the two side panels. In actual applications, when the propeller is in operation, if the rotation of the motion control mechanism and the lifting mast about the first direction between the two side panels is not restricted, the lifting mast and the propeller thereon may wobble about the first direction, resulting in the propeller being unable to stably provide the required power for the vessel to move or anchor in a certain direction, which in turn may cause the vessel to pitch and pose a greater safety risk.

[0248] Figure 40 is a schematic diagram of the structure of a propulsion device according to some embodiments of the present disclosure. As shown in Figures 21 and 40 , the propulsion device may include a base (or bracket), a motion control mechanism 1100 , a lifting rod 200 , and a propeller 300 .

[0249] The propeller 300 is connected to the lower portion of the lifting rod 200. When the lifting rod 200 is raised or lowered, the propeller 300 is lifted out of or into the water. When the lifting rod 200 is rotated (e.g., around its vertical axis), the orientation of the propeller 300 can be adjusted. Specifically, the propeller 300 can be connected to the lifting rod 200 through threaded engagement, screw connection, welding, or clamping. The motion control mechanism 1100 can be used to control the raising and lowering of the lifting rod 200 and / or its rotation to change the orientation of the propeller 300.

[0250] In some embodiments, in the propulsion device shown in FIG40 , the motion control mechanism 1100 may include a lifting device (not shown in FIG40 ) for controlling the lifting and lowering of the lifting rod 200 and / or a rotating device (not shown in FIG40 ) for controlling the rotation of the lifting rod 200 to change the orientation of the propeller 300. For more description of the lifting device and / or rotating device, please refer to the description of the lifting device 100 and / or rotating device 400 in the propulsion device shown in FIG21 , and will not be described in detail here.

[0251] In some embodiments, as shown in FIG21 , the motion control mechanism 1100 may include a lifting device 100, which may be used to drive the lifting rod 200 to rise or fall, thereby driving the propeller 300 to rise or fall. In some embodiments, as shown in FIG21 , the motion control mechanism 1100 may also include a rotating device 400, which may be used to drive the lifting rod 200 to rotate, thereby adjusting the direction of the propeller 300.

[0252] In some embodiments, the propulsion device can be secured to the vessel via the base 500 in the motion control mechanism 1100. For example, the base plate 510 in the base 500 can be fixedly mounted on the deck at the rear of the vessel, thereby securing the propulsion device to the vessel. As an example, as shown in FIG21 , the base plate 510 has a plurality of mounting holes, and the vessel deck has a plurality of threaded holes corresponding to the plurality of mounting holes. By passing a plurality of bolts through the plurality of mounting holes and installing them into the corresponding threaded holes, the base plate 510 and the entire base can be secured to the vessel deck, thereby securing the rotating device 400 to the vessel deck and, in turn, securing the propulsion device to the vessel.

[0253] Figure 41 is a schematic diagram of the assembly of the base and the operating assembly in the propulsion device shown in Figure 40. Figure 42 is a schematic diagram of the assembly of the base and the rotating device in the propulsion device shown in Figure 21.

[0254] As shown in Figures 41 and 42 , the base may include a bottom plate 510 and two parallel side plates 520 disposed on the bottom plate 510. The bottom plate 510 has an open slot 530 extending along the direction in which the side plates 520 are disposed. The lifting rod 200 may be inserted into the motion control mechanism and the open slot 530 of the bottom plate 510.

[0255] As shown in conjunction with Figures 40 and 41, and / or Figures 21 and 42, at least a portion of the motion control mechanism 1100 can be carried on the base plate 510 and located between the two side plates 520. For example, in the propulsion device shown in Figure 40, at least the portion of the motion control mechanism 1100 carried on the base plate 510 and located between the two side plates 520 can be a lifting device or a rotating device. For another example, in the propulsion device shown in Figure 21, the rotating device 400 in the motion control mechanism 1100 can be carried on the base plate 510 and located between the two side plates 520.

[0256] In actual use, in order to facilitate cleaning or maintenance of the lifting rod or propeller, after lifting the lifting rod and its propeller out of the water, they are generally laid down (i.e., kept in a non-perpendicular (e.g., parallel) position to the water surface or the deck of the vessel). This requires that the motion control mechanism and the lifting rod be able to rotate about a first direction between the two side plates so that the lifting rod and its propeller can be laid down. The first direction refers to a direction perpendicular to the two side plates. Therefore, by inserting the lifting rod 200 into the motion control mechanism and the opening slot 530 of the bottom plate 510, the opening slot 530 can provide a rotation space for the lifting rod 200 when the lifting rod 200 rotates about the first direction, thereby preventing interference when the lifting rod 200 rotates about the first direction.

[0257] When the propeller is working, if the motion control mechanism and the lifting rod are not restricted from rotating about the first direction between the two side plates, the lifting rod and the propeller thereon may shake about the first direction, causing the propeller to be unable to stably provide the required power for the ship to move or anchor in a certain direction, thereby causing the ship to shake and posing a greater safety risk.

[0258] To this end, some embodiments of the present specification propose a propulsion device, which, in addition to the above-mentioned propeller, lifting rod, base and motion control mechanism, may also include a locking mechanism. The locking mechanism may include an operating component, a limit rod and a limit slot; the operating component is connected to the limit rod; one of the limit rod and the limit slot is arranged on the base, and the other is arranged on the motion control mechanism, at least part of the limit rod is stuck in the limit slot to limit the rotation of the motion control mechanism and the lifting rod around the first direction between the two side plates, and the operating component is used to drive at least part of the limit rod to disengage from the limit slot to release the rotation restriction of the motion control mechanism and the lifting rod around the first direction between the two side plates. Specifically, by at least partially engaging the limit rod in the limit groove to limit the rotation of the motion control mechanism and the lifting rod around the first direction between the two side plates, the motion control mechanism and the lifting rod can be prevented from rotating around the first direction between the two side plates when the propeller is working, thereby preventing the lifting rod and the propeller thereon from shaking, thereby ensuring that the vessel can travel or anchor smoothly and safely; at the same time, when the propeller is not working, the staff can conveniently use the operating component to drive at least a portion of the limit rod out of the limit groove to release the rotation restriction of the motion control mechanism and the lifting rod between the two side plates around the first direction, and then lay the lifting rod and the propeller thereon down for cleaning or maintenance.

[0259] In some embodiments, the operating assembly may include an operating lever, a support rod, and a rotating lever, wherein the operating lever is transmission-connected to the rotating lever via the support rod, and the rotating lever is transmission-connected to the limiting lever. Furthermore, a worker may drive the operating lever to rotate about the central axis of the rotating lever to cause at least a portion of the limiting lever to disengage from the limiting slot, thereby releasing the rotation restriction of the motion control mechanism and the lifting lever about the first direction between the two side plates.

[0260] In order to facilitate the staff to easily and safely rotate the motion control mechanism around the first direction after the restriction on the motion control mechanism and the lifting rod rotating around the first direction between the two side plates is released, the motion control mechanism is carried on the base plate and at least the part located between the two side plates can be rotatably installed between the two side plates. In some embodiments, a rotating shaft is installed vertically for rotation between the two side plates, and the motion control mechanism is carried on the base plate and at least the part located between the two side plates can be fixedly connected to the rotating shaft. When the restriction on the motion control mechanism rotating around the first direction between the two side plates is released, the motion control mechanism can rotate around the central axis of the rotating shaft.

[0261] In some embodiments, the locking mechanism in the propulsion device provided in some embodiments of this specification can be a first locking mechanism, which can include a first operating assembly, a first limiting rod, and a first limiting slot. In some embodiments, the first limiting slot can be provided on the motion control mechanism, and the first operating assembly can be provided on the base.

[0262] In some embodiments, the first limiting groove can be provided on a side surface of the motion control mechanism parallel to the side plate, and a notch channel is provided on the side surface, one end of the notch channel is connected to the first limiting groove, and the other end of the notch channel is connected to one of the planes of the motion control mechanism parallel to the bottom plate. By providing the notch channel on the side surface of the motion control mechanism parallel to the side plate and connecting it to the first limiting groove, the first limiting rod can pass through the notch channel without interfering with the movement of the motion control mechanism during the rotation of the motion control mechanism and the lifting rod between the two side plates about the first direction. To ensure that the first limiting rod can smoothly pass through the notch channel without interfering with the movement of the motion control mechanism during the rotation of the motion control mechanism and the lifting rod between the two side plates about the first direction, in some embodiments, the extension path of the opening of the notch channel on the side surface of the motion control mechanism parallel to the side plate is an arc, and the center of the arc is located on the rotation axis of the motion control mechanism when it rotates about the first direction.

[0263] In some embodiments, the first limiting groove may be provided on a side surface of the motion control mechanism that is parallel to the side plate, and the first limiting groove is connected to one surface of the motion control mechanism that is perpendicular to both the bottom plate and the side plate.

[0264] In some embodiments, the first limiting groove may penetrate the motion control mechanism along the first direction. In some embodiments, the first limiting groove may also have a certain depth along the first direction without penetrating the motion control mechanism, that is, the depth of the first limiting groove along the first direction is less than the size of the motion control mechanism in the first direction.

[0265] The first operating assembly may include a first operating rod, a first rotating rod, a first support rod, and at least one connecting rod assembly; the first rotating rod is vertically rotatably connected between the two side panels; the first operating rod is transmission-connected to the first rotating rod via the first support rod; a connecting rod assembly is mounted on the side panel, with one end of the connecting rod assembly transmission-connected to the first rotating rod and the other end rotationally connected to the corresponding side panel; a first limiting rod is fixedly connected to the connecting rod assembly parallel to the first direction, with at least a portion of the first limiting rod being engaged in a first limiting groove. When it is necessary to release the restriction on the rotation of the motion control mechanism and the lifting rod between the two side panels about the first direction, the operator can drive the operating rod to rotate about the central axis of the first rotating rod to drive the two connecting rod assemblies to move synchronously, thereby driving the first limiting rod to move out of the first limiting groove, thereby releasing the restriction on the rotation of the motion control mechanism and the lifting rod between the two side panels about the first direction. It is understood that the transmission connection referred to in some embodiments of this specification can be understood as a transmission between two objects using an intermediate mechanical structure such as a cable, connecting rod, gear, etc., or it can be understood as a fixation between the two objects by bonding, welding, screw connection, etc., so that the two objects can be linked.

[0266] At least a portion of the motion control mechanism (e.g., a lifting device or a rotating device) can be supported on the base plate and located between the two side plates. As shown in FIG40 , the first locking mechanism (not labeled in the figure) can include a first operating assembly (not labeled in the figure), a first limiting rod 507, and a first limiting slot 102.

[0267] It can be understood that when describing the mechanisms or components that include at least one element in some embodiments of this specification (for example, the base, motion control mechanism, locking mechanism, operating component, connecting rod assembly, etc. in some embodiments of this specification) in conjunction with the drawings, although these mechanisms or components are not marked in the drawings, since at least one element in these mechanisms or components has been marked in the drawings, the fact that these mechanisms or components are not marked in the drawings does not affect the understanding of the embodiments.

[0268] The first operating assembly can be disposed on the base. Furthermore, as shown in Figures 40 and 41 , the first operating assembly can include a first operating rod 501, a first rotating rod 502, a first support rod 503, and at least one connecting rod assembly (not labeled in the figures); the first rotating rod 502 is vertically rotatably connected between the two side plates 520; the first operating rod 501 is transmission-connected to the first rotating rod 502 via the first support rod 503. For example, in Figure 40 , there can be two first support rods 503, with the first operating rod 501 and the first rotating rod 502 vertically fixedly connected between the two first support rods 503; one end of the connecting rod assembly is transmission-connected to the first rotating rod 502, and the other end is rotationally connected to the corresponding side plate 520. For example, in Figure 40 , one end of each connecting rod assembly can be transmission-connected to both ends of the first rotating rod 502, and the other end of each of the two connecting rod assemblies is rotationally connected to the two side plates 520; at least a portion of the first limiting rod 507 is engaged in the first limiting groove 102.

[0269] In some embodiments, the first operating assembly may include two connecting rod assemblies, which are respectively mounted on the two side plates 520. Specifically, one end of each of the two connecting rod assemblies is respectively transmission-connected to the two ends of the first rotating rod 502, and the other end of each of the two connecting rod assemblies is respectively rotationally connected to the two side plates 520. The first limiting rod 507 is parallel to the first direction and vertically fixedly connected between the two connecting rod assemblies, and the middle of the first limiting rod 507 is at least partially inserted into the first limiting groove 102. The first limiting groove 102 can penetrate the motion control mechanism 1100 along the first direction, that is, the first limiting rod 507 passes through the motion control mechanism 1100 through the first limiting groove 102. In some embodiments, when the first operating component includes two connecting rod assemblies, the first limiting groove 102 may not pass through the motion control mechanism 1100 along the first direction. As an example, the two side surfaces of the motion control mechanism parallel to the side panel are provided with first limiting grooves 102 along the first direction but not passing through the motion control mechanism 1100. The two connecting rod assemblies are fixedly connected with first limiting rods 507 parallel to the first direction, and at least parts of the two first limiting rods 507 are respectively inserted into the corresponding first limiting grooves 102.

[0270] In some embodiments, the first operating assembly may also include only one connecting rod assembly, which may be mounted on one of the side panels 520. The first limiting groove 102 is correspondingly defined on the surface of the motion control mechanism 1100 facing the side panel 520 on which the connecting rod assembly is mounted. Specifically, one end of the first limiting rod 507 is fixedly mounted on the connecting rod assembly, and at least the remaining portion of the first limiting rod 507, excluding the end fixed to the connecting rod assembly, is engaged in the first limiting groove 102. The first limiting groove 102 may extend through the motion control mechanism 1100 in the first direction, or may extend in the first direction but not extend through the motion control mechanism 1100.

[0271] As shown in Figures 40 and 41 , the connecting rod assembly may include a first connecting rod 504, a second connecting rod 505, and a third connecting rod 506, which are rotatably connected in sequence. The end of the first connecting rod 504 away from the second connecting rod 505 is in transmission connection with the first rotating rod 502. For example, in Figure 40 , the end of the first connecting rod 504 away from the second connecting rod 505 is directly fixedly connected to the first rotating rod 502. The end of the third connecting rod 506 away from the second connecting rod 505 is rotatably mounted on the corresponding side plate 520. The first limiting rod 507 is fixedly connected to the second connecting rod 505 parallel to the first direction. As an example, when the first operating assembly includes two connecting rod assemblies and the first limiting slot extends through the motion control mechanism 1100 in the first direction, the first limiting rod 507 may be fixedly connected vertically between the second connecting rods 505 of the two connecting rod assemblies. In some embodiments, the first limiting rod can also be fixedly connected to the first connecting rod or the third connecting rod in parallel with the first direction. In this case, the extension direction of the opening of the first limiting groove on the side surface 101 can be set according to the motion trajectory of the first connecting rod or the third connecting rod when the connecting rod assembly moves. As an example, the motion trajectory of the first connecting rod is an arc formed by rotating around the central axis of the rotating rod, and the motion trajectory of the third connecting rod is an arc formed by rotating relative to the side plate. Then, the extension direction of the opening of the first limiting groove on the side surface 101 is an arc that is the same as part or all of the motion trajectory of the first connecting rod or the third connecting rod. It should be noted that the connecting rod assembly shown in Figure 40 is not intended to limit the scope of the embodiments described in this specification. When a connecting rod mechanism with other structures is used as the connecting rod assembly, it is also within the scope of the embodiments described in this specification.

[0272] FIG43 is a schematic diagram of a motion control mechanism according to some embodiments of the present disclosure. As shown in FIG40 and FIG43 , a first limiting groove 102 can be provided on a side surface 101 of the motion control mechanism 1100 that is parallel to the side plate 520. A notched channel 103 is provided on the side surface 101. One end of the notched channel 103 communicates with the first limiting groove 102, and the other end communicates with one of the surfaces of the motion control mechanism 1100 that is parallel to the base plate 510. For example, in FIG40 , when the motion control mechanism 1100 and the lifting rod 200 are tilted clockwise about a first direction, the other end of the notched channel 103 can communicate with the lower surface of the motion control mechanism, i.e., the notched channel 103 has an opening on the lower surface of the motion control mechanism 1100. In some embodiments, when the motion control mechanism 1100 and the lifting rod 200 are tilted counterclockwise about the first direction in FIG40 , the other end of the notched channel 103 can communicate with the upper surface of the motion control mechanism. It can be understood that if the first limiting groove 102 penetrates the motion control mechanism 1100 along the first direction, the notch channel 103 also penetrates the motion control mechanism 1100 along the first direction; if the first limiting groove 102 is along the first direction but does not penetrate the motion control mechanism 1100, the depth of the notch channel 103 along the first direction is not less than the depth of the first limiting groove 102 along the first direction.

[0273] Figure 44 is a schematic diagram of the structure of the propulsion device shown in Figure 40 after the restriction on the motion control mechanism and the lifting rod rotating in the first direction between the two side plates is released. Figure 45 is a schematic diagram of the structure of the propulsion device shown in Figure 40 during the process of rotating the motion control mechanism in the first direction between the two side plates.

[0274] As an example, in combination with Figures 40 and 44, when the staff rotates the first operating rod 501 from the position in Figure 40 to the position in Figure 44, it will drive the various links in the connecting rod assembly to move. At this time, the first limiting rod 507 can be driven by the second link 505 to disengage from the first limiting groove 102 along the movement trajectory of the second link 505 and enter the notch channel 103. In this way, the restriction on the rotation of the motion control mechanism 1100 around the first direction between the two side panels 520 can be released. As shown in Figure 45, the staff can rotate the motion control mechanism 1100 together with the lifting rod 200 and the propeller 300 around the first direction to lay it down. Among them, since the first limit groove 102 is opened inside the motion control mechanism 1100, at least part of the first limit rod 507 is stuck in the first limit groove 102, which can be regarded as the first limit rod 507 passing through or inserted into the motion control mechanism 1100 through the first limit groove 102. By setting the notch channel 103, during the process of rotating the motion control mechanism 1100 around the first direction, the first limit rod 507 can be able to leave the motion control mechanism 1100 through the notch channel 103 relative to the motion control mechanism 1100 without interfering with the movement of the motion control mechanism 10.

[0275] In order to ensure that the first limiting rod 507 can smoothly pass through the notch channel 103 without interfering with the movement of the motion control mechanism 1100 during the rotation of the motion control mechanism 1100 around the first direction, in some embodiments, the extension path of the opening of the notch channel 103 on the side 101 is an arc, and the center of the arc is located on the rotation axis when the motion control mechanism 1100 rotates around the first direction.

[0276] FIG46 is a schematic diagram of a motion control mechanism according to other embodiments of the present disclosure. In some embodiments, as shown in FIG46 , a first limiting groove 102 can be provided on a side surface 101 of the motion control mechanism 1100 that is parallel to the side panels 520, and the first limiting groove 102 can be connected to one of the surfaces of the motion control mechanism 1100 that is perpendicular to both the base panel 510 and the side panels 520. For example, in FIG46 , the first limiting groove 102 is connected to the rear surface of the motion control mechanism 1100, i.e., the first limiting groove 102 has an opening on the rear surface of the motion control mechanism 1100. Furthermore, driven by the second connecting rod, the first limiting rod 507 can move through the opening of the first limiting groove 102 on the rear surface of the motion control mechanism 1100 and disengage from the first limiting groove, thereby releasing the restriction on the rotation of the motion control mechanism 1100 between the two side panels 520 about the first direction.

[0277] As shown in FIG40 , a rotating shaft 540 is vertically mounted between the two side panels 520. The rotating shaft 540 passes through the motion control mechanism and is fixedly connected to the motion control mechanism 1100. When the restriction on the motion control mechanism 1100 rotating in the first direction is released, the motion control mechanism 1100 can rotate about the central axis of the rotating shaft 540. In some embodiments, the extension path from the opening of the notched channel 103 on the side surface 101 to the first limiting groove 102 is an arc, and the center of the arc is located on the central axis of the rotating shaft 540.

[0278] In some embodiments, the first locking mechanism may further include an elastic mechanism, one end of which may be connected to the base, for example, fixedly connected to the bottom plate, and the other end of which rotates with the first rotating rod. When at least a portion of the first limiting rod is engaged with the first limiting groove, the elastic mechanism may provide a pre-tightening force to maintain the first limiting rod in the first limiting groove. Specifically, during operation of the propeller, if the first rotating rod rotates due to an unexpected external force, causing the first limiting rod to disengage from the first limiting groove, the elastic mechanism may generate an elastic force under the action of the external force as a pre-tightening force to restrict the rotation of the first rotating rod, thereby reducing the risk of the first limiting rod accidentally disengaging from the first limiting groove during operation of the propeller, thereby accidentally releasing the restriction on the rotation of the motion control mechanism around the first direction. When the propeller is not in operation, the operator applies an external force to the first operating lever to rotate the first rotating lever, thereby disengaging the first limiting lever from the first limiting slot to release the restriction on the motion control mechanism's rotation about the first direction. The elastic mechanism can generate an elastic force under the action of the external force. After the motion control mechanism is rotated about the first direction and laid down, the first operating lever can be reset under the action of the elastic force. In some embodiments, the elastic mechanism can include a coil spring, a torsion spring, or a tension spring.

[0279] In some embodiments, in the propulsion device shown in FIG40 , when the motion control mechanism 1100 includes a lifting device similar to the lifting device 100 shown in FIG21 , and / or a rotating device similar to the rotating device 400 shown in FIG21 , at least the portion of the motion control mechanism 1100 supported on the base plate and located between the two side plates can specifically be the lifting device or the rotating device. Furthermore, a first locking mechanism can be used to restrict the lifting device or the rotating device from rotating in a first direction between the two side plates and to release the restriction on the lifting device or the rotating device from rotating in the first direction between the two side plates, wherein a retaining groove of the locking mechanism is provided on the lifting device or the rotating device. For a description of how the first locking mechanism restricts the lifting device or the rotating device from rotating in the first direction between the two side plates and releases the restriction on the lifting device or the rotating device from rotating in the first direction between the two side plates, reference can be made to the above description of how the first locking mechanism restricts the motion control structure 100 from rotating in the first direction between the two side plates and releases the restriction on the motion control mechanism from rotating in the first direction between the two side plates, and will not be repeated here.

[0280] In some embodiments, the locking mechanism in the propulsion device provided in some embodiments of this specification may be a second locking mechanism, and the second locking mechanism may include a second operating assembly, a second limiting rod, and a slot.

[0281] In some embodiments, the card slot can be provided on the base, and the second operating component can be provided on the motion control mechanism. Furthermore, the card slot can be provided on the two side panels; the motion control mechanism is provided with two mounting plates parallel to the side panels. The second operating component can include a second operating rod, a second rotating rod, and a second support rod; the second operating rod, the second rotating rod, and the second limiting rod are parallel to each other and fixedly connected to the second support rod in turn; the second rotating rod is vertically rotated and connected between the two mounting plates, and the two ends of the second limiting rod are respectively engaged in the card slot. As an example, when it is necessary to release the restriction on the rotation of the motion control mechanism and the lifting rod around the first direction between the two side panels, the staff can drive the second operating rod to rotate around the central axis of the second rotating rod to drive the second limiting rod to move, and then drive the second limiting rod to move out of the card slot. At this time, the restriction on the rotation of the motion control mechanism and the lifting rod around the first direction between the two side panels has been released.

[0282] The rotating device of the motion control mechanism can be supported on the bottom plate and located between the two side plates. Furthermore, the second operating assembly can be provided on the rotating device. As shown in FIG21 and FIG42 , the second locking mechanism (not labeled in the drawings) includes a second operating assembly (not labeled in the drawings), a second limiting rod 704, and a slot 521. The slot 521 can be provided on the two side plates 520. The rotating device 400 is provided with two mounting plates 420 parallel to the side plates. The second operating assembly can include a second operating rod 701, a second rotating rod 702, and a second support rod 703. The second operating rod 701, the second rotating rod 702, and the second limiting rod 704 are parallel to each other and fixedly connected to the second support rod 703 in sequence. The second rotating rod 702 is vertically connected to rotate between the two mounting plates 420. The two ends of the second limiting rod 704 are respectively inserted into the slot 521 to limit the rotating device 400 from rotating in the first direction between the two side plates 520.

[0283] In some embodiments, as shown in conjunction with Figures 21 and 42 , a slot 521 can be defined on the surface of the side panel 520 facing the motion control mechanism, and the slot 521 can communicate with one of the surfaces of the side panel 520 that is perpendicular to the mounting plate 420 and non-parallel to the base plate 510. For example, when the second operating assembly is located on the front side of the rotating device 400 in Figure 26 , the slot 521 communicates with the front surface of the side panel 520 that is perpendicular to the mounting plate 420 and non-parallel to the base plate 510. In some embodiments, the slot 521 can extend through the side panel 520 in the first direction, or it can have a certain depth in the first direction but not extend through the side panel 520. In some embodiments, when the second operating assembly is located on the rear side of the rotating device in Figure 26 , the opening can also be located on the rear surface of the side panel 520. In some embodiments, as shown in Figures 21 and 26 , the opening can extend through the side panel 520 in the first direction. In some embodiments, when the slot 521 is opened on the inner surface of the two side panels 520 (i.e., the surface of the side panels close to the rotating device), the slot 521 has an opening on one of the surfaces of the side panels 520 that is perpendicular to the mounting plate 420 and not parallel to the base plate 510, and the opening may not pass through the side panels 520 along the first direction.

[0284] Figure 47 is a schematic diagram of the assembly of the rotating device and the base after the restriction on the rotating device rotating in the first direction between the two side plates in the propulsion device shown in Figure 21 is released. Figure 48 is a schematic diagram of the structure of the rotating device in the propulsion device shown in Figure 21 during the process of rotating in the first direction between the two side plates.

[0285] As an example, referring to Figures 21, 42, and 47, when a worker rotates the second operating lever 701 from the position shown in Figure 42 to the position shown in Figure 47, the second limiting lever 704 is driven to disengage from the retaining slot 521, thereby releasing the restriction on the rotation of the rotating device 400 in the first direction between the two side plates 520. As shown in Figure 48, the worker can rotate the rotating device 400, along with the lifting rod 200 and the propeller 300, in the first direction to lower the rotating device 400.

[0286] To ensure that the mounting plate can clear the ends of the second limiting rod and allow them to fit into the slots, in some embodiments, through-holes 421 are defined in the mounting plate 420, allowing the ends of the second limiting rod 704 to pass through the through-holes 421 on the two mounting plates 420 and fit into the slots 521. The dimension of the through-holes 421 along the direction of movement of the second limiting rod 704 is greater than the dimension of the slots 521 along the direction of movement of the second limiting rod 704. To achieve this goal of clearing the ends of the second limiting rod, in other embodiments, notches are defined on the mounting plate at positions opposite the slots, allowing the ends of the second limiting rod to fit into the slots through the notches on the two mounting plates. In yet other embodiments, the distance between the lower surface of the mounting plate and the base plate is greater than the distance between the upper inner surface of the slot and the base plate, allowing the ends of the second limiting rod to pass through from below the two mounting plates and fit into the slots.

[0287] In some embodiments, the force required to rotate the second operating lever 701 can be adjusted by setting the ratio between the distance between the second operating lever 701 and the second rotation lever 702 and the distance between the second limiting lever 704 and the second rotation lever 702. In some embodiments, the smaller the ratio between the distance between the second operating lever 701 and the second rotation lever 702 and the distance between the second limiting lever 704 and the second rotation lever 702, the greater the force required to rotate the second operating lever 701. In some embodiments, the ratio between the distance between the second operating lever 701 and the second rotation lever 702 and the distance between the second limiting lever 704 and the second rotation lever 702 can be between 1.5:1 and 4:1.

[0288] Figure 49 is a schematic assembly diagram of the base and rotating device in the propulsion device shown in Figure 21 from another perspective.

[0289] In some embodiments, as shown in FIG49 , the second locking mechanism may further include an elastic mechanism 705. One end of the elastic mechanism 705 may be connected to the motion control mechanism 1100, for example, fixedly connected to the rotating device 400, and the other end may rotate with the second rotating rod 702. For example, the other end may be fixedly connected to one of the second operating rod 701, the second rotating rod 702, the second support rod 703, and the second limiting rod 704, and rotate with the second rotating rod 702. When at least a portion of the second limiting rod 704 is engaged with the slot 521, the elastic mechanism 705 may provide a pre-tightening force to maintain the second limiting rod in the slot. Specifically, during the operation of the propeller, if the second rotating rod rotates due to an unexpected external force, causing the second limiting rod to disengage from the slot, the elastic mechanism 705 can generate an elastic force as a preload force under the action of the external force to limit the rotation of the second rotating rod, thereby reducing the risk of the second limiting rod accidentally disengaging from the slot during the operation of the propeller, causing the restriction on the rotation of the motion control mechanism around the second direction to be accidentally released; at the same time, when the propeller is not working, when the operator applies an external force to the second operating rod to drive the second rotating rod to rotate and then drive the second limiting rod to disengage from the slot to release the restriction on the rotation of the motion control mechanism around the second direction, the elastic mechanism 705 can generate an elastic force under the action of the external force, and after the motion control mechanism is rotated around the second direction and laid down, the second operating rod can be reset under the action of the elastic force. In some embodiments, the elastic mechanism may include a coil spring, a torsion spring, or a tension spring.

[0290] In some embodiments, when the lifting device of the motion control mechanism is supported on the base plate and positioned between the two side plates, a locking mechanism identical to or similar to the second locking mechanism may be employed to restrict the lifting device from rotating in a first direction between the two side plates and to release the restriction on the lifting device from rotating in the first direction between the two side plates, wherein the operating assembly of the locking mechanism is disposed on the lifting device. For a description of the use of a locking mechanism identical to or similar to the second locking mechanism to restrict the lifting device from rotating in the first direction between the two side plates and to release the restriction on the lifting device from rotating in the first direction between the two side plates, reference may be made to the description of the second locking mechanism restricting the rotation of the rotating device in the first direction between the two side plates and to release the restriction on the rotation of the rotating device in the first direction between the two side plates, and such description will not be repeated here.

[0291] In some embodiments, in the propulsion device shown in FIG21 , a locking mechanism identical or similar to the first locking mechanism may be used to restrict the lifting device or rotating device from rotating in the first direction between the two side plates and to release the restriction on the lifting device or rotating device rotating in the first direction between the two side plates. For more descriptions on the use of the same or similar locking mechanism to restrict the lifting device or rotating device from rotating in the first direction between the two side plates and to release the restriction on the lifting device or rotating device rotating in the first direction between the two side plates, please refer to the description of the use of the first locking mechanism to restrict the motion control mechanism from rotating in the first direction between the two side plates and to release the restriction on the motion control mechanism rotating in the first direction between the two side plates in the propulsion device shown in FIG40 . No further details will be given here.

[0292] In some embodiments, in the propulsion device shown in FIG40 , a locking mechanism identical or similar to the second locking mechanism may also be used to restrict the motion control mechanism from rotating in the first direction between the two side panels and to release the restriction on the lifting device or rotating device from rotating in the first direction between the two side panels. For more descriptions on the use of a locking mechanism identical or similar to the second locking mechanism to restrict the motion control mechanism from rotating in the first direction between the two side panels and to release the restriction on the lifting device or rotating device from rotating in the first direction between the two side panels, reference may be made to the description of the effect of the use of the second locking mechanism to restrict the lifting device or rotating device from rotating in the first direction between the two side panels and to release the restriction on the lifting device or rotating device from rotating in the first direction between the two side panels in the propulsion device shown in FIG21 , which will not be repeated here.

[0293] The beneficial effects that may be brought about by some embodiments of this specification include but are not limited to: (1) The locking mechanism in the propulsion device provided in some embodiments of this specification can prevent the motion control mechanism and the lifting rod from rotating around the first direction between the two side plates when the propeller is working, thereby preventing the lifting rod and the propeller thereon from shaking to ensure that the ship can travel or anchor smoothly and safely; at the same time, when the propeller is not working, the staff can easily release the rotation restriction of the motion control mechanism and the lifting rod between the two side plates around the first direction, and then lay the lifting rod and the propeller thereon down for cleaning or maintenance; (2) The locking mechanism in the propulsion device provided in some embodiments of this specification has an elastic mechanism, which can reduce the risk of the lifting rod and the propeller thereon shaking or being laid down due to the accidental release of the restriction on the rotation of the motion control mechanism and the lifting rod between the two side plates when the propeller is working, and at the same time, it can automatically reset the operating lever after the motion control mechanism and the lifting rod are laid down. It should be noted that the beneficial effects that may be produced by different embodiments are different. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0294] In some embodiments, in actual application scenarios, if the lifting drive encounters an abnormality (for example, the output shaft of the lifting drive is abnormally locked and cannot be unlocked, the power supply of the lifting drive fails, etc.) and is unable to output rotation to drive the rotating shaft, the lifting rod and the propeller thereon will be locked and unable to continue to lift. To this end, some embodiments of the present specification provide a propulsion device, wherein the lifting device also includes a clutch mechanism. When the clutch mechanism is in a first state, it can drive the lifting drive and the rotating shaft to connect; when the clutch mechanism is in a second state, it can release the transmission connection between the lifting drive and the rotating shaft so that the rotating shaft can be driven by a driving force provided by a force other than the lifting drive. As an example, when the lifting drive is able to operate normally, it can provide a driving force to the rotating shaft to rotate and drive the lifting rod and the propeller thereon to lift. When the lifting drive encounters an abnormality and cannot drive the rotating shaft to rotate, thereby causing the lifting rod and the propeller thereon to be unable to lift, the clutch mechanism can be switched from the first state to the second state, so that the rotating shaft can be driven by a driving force provided by a force other than the lifting drive (for example, manually), thereby driving the lifting rod and the propeller thereon to continue to lift.

[0295] Figure 50 is a schematic cross-sectional view of a lifting device in a first state of a clutch mechanism according to some embodiments of the present invention. Figure 51 is a schematic cross-sectional view of a lifting device in a second state of a clutch mechanism according to some embodiments of the present invention.

[0296] 50 and 51 , the lifting device 100 includes a lifting drive 120 , a rotating shaft 130 , and a clutch mechanism.

[0297] The lifting actuator 120 includes a hollow shaft 121. The hollow shaft 121 has a hollow structure and serves as the output shaft of the lifting actuator 120, outputting torque during normal operation of the lifting actuator 120. For example, the hollow shaft 121 may be axially extending through the lifting actuator 120. Furthermore, when the clutch mechanism connects the lifting actuator 120 to the rotating shaft 130 in a first state, the lifting actuator 120 can output torque to the rotating shaft 130 via the hollow shaft 121, thereby driving the rotating shaft 130 to rotate. The rotating shaft 130 includes an axially extending mounting hole 132. The clutch mechanism may include a connecting shaft 160 and a connecting sleeve 122. The connecting sleeve 122 is non-rotatably mounted within the hollow shaft 121. At least a portion of the connecting shaft 160 is slidably positioned within the connecting sleeve 122. When the connecting shaft 160 is slid to change its axial relative position with the connecting sleeve 122, the clutch mechanism can be respectively placed in the first and second states.

[0298] In some embodiments, the connecting shaft 160 includes a first shaft segment 161, a second shaft segment 162, a third shaft segment 163 and a fourth shaft segment 164 in sequence along its axial direction; at least a portion of the first shaft segment 161 is slidably and non-rotatably located in the assembly hole 132, and at least a portion of the fourth shaft segment 164 is located outside the hollow shaft 121.

[0299] In some embodiments, the connecting sleeve 122 can be non-rotatably mounted within the hollow shaft 121 via a key connection. For example, a connecting key can be detachably or non-detachably provided on the outer circumferential surface of the connecting sleeve 122, and a keyway that matches the connecting groove is provided on the inner circumferential surface of the hollow shaft 121. When the connecting sleeve 122 is installed within the hollow shaft 121, the connection groove and the keyway cooperate to limit the rotation of the connecting sleeve 122 within the hollow shaft 121. In some embodiments, the connecting sleeve 122 is non-rotatably mounted within the hollow shaft 121 in a manner that is not easily slidable (or even non-slidable). By ensuring that the connecting sleeve 122 is not easily slidable or even non-slidable within the hollow shaft 121, when the connecting shaft 160 is slid to change its axial relative position with the connecting sleeve 122, the connecting shaft 160 can be prevented from causing the connecting sleeve 122 to slide relative to the hollow shaft 121, thereby preventing the clutch mechanism from successfully switching between the first and second states. In some embodiments, the friction between the outer surface of the connecting sleeve 122 and the inner surface of the hollow shaft 121 can be increased (for example, the roughness of the outer surface of the connecting sleeve 122 and the inner surface of the hollow shaft 121 is increased) to prevent the connecting sleeve 122 from sliding inside the hollow shaft 121, or the outer surface of the connecting sleeve 122 and the inner surface of the hollow shaft 121 can be directly fixedly connected (for example, by bonding) to prevent the connecting sleeve 122 from sliding inside the hollow shaft 121.

[0300] To ensure that at least a portion of the first shaft segment is slidably but non-rotatably located within the assembly hole 132, in some embodiments, the radial cross-sectional shape of the first shaft segment 161 can be adapted to the radial cross-sectional shape of the assembly hole 132. For example, the radial cross-sectional shape of the first shaft segment 161 and the radial cross-sectional shape of the assembly hole 132 can have the same size and shape. In some embodiments, to restrict at least a portion of the first shaft segment 161 from rotating within the assembly hole 132, the radial cross-sectional shape of the first shaft segment 161 can be a regular hexagon, a regular octagon, a regular dodecagon, etc.

[0301] As shown in Figure 50, when the clutch mechanism is in the first state, the clutch mechanism transmits and connects the lifting drive 120 and the rotating shaft 130. At this time, the rotating shaft 130 can rotate under the drive of the lifting drive 120, thereby driving the lifting rod and the propeller thereon to perform lifting and lowering movements.

[0302] Furthermore, when the clutch mechanism is in the first state, at least a portion of the third shaft segment 163 is located in the connecting sleeve 122 so that the connecting shaft 160 can rotate synchronously with the hollow shaft 121. Since at least a portion of the first shaft segment 161 is slidably and non-rotatably located in the assembly hole 132, the connecting shaft 160 and the rotating shaft 130 can rotate synchronously. Therefore, the hollow shaft 121 can rotate synchronously with the rotating shaft 130 through the connecting shaft 160, thereby realizing a transmission connection between the hollow shaft 121 (lifting drive 120) and the rotating shaft 130.

[0303] When at least a portion of the third shaft segment 163 is located within the connecting sleeve 122, in order to enable the connecting shaft 160 to rotate synchronously with the hollow shaft 121, at least the portion of the third shaft segment 163 located within the connecting sleeve 122 can also rotate synchronously with the connecting sleeve 122. In order to enable at least the portion of the third shaft segment 163 located within the connecting sleeve 122 to rotate synchronously with the connecting sleeve 122 while not restricting the sliding of the connecting shaft 160 relative to the connecting sleeve 122, in some embodiments, the radial cross-sectional shape of the third shaft segment 163 can be adapted to the radial cross-sectional shape of the inner cavity of the connecting sleeve 122. For example, the radial cross-sectional shape of the third shaft segment 163 and the radial cross-sectional shape of the inner cavity of the connecting sleeve 122 can have the same size and shape. Among them, the radial cross-sectional shape of the third shaft segment 163 can be a regular hexagon, a regular octagon, a regular dodecagon, etc., so that at least a portion of the third shaft segment 163 can be limited to rotate in the assembly hole 132. At the same time, the setting of the regular hexagon, regular octagon or regular dodecagon can quickly rotate the connecting shaft 160 when the clutch mechanism switches from the second state to the first state so that the projections of the third shaft segment 163 and the inner cavity of the connecting sleeve 122 on the surface perpendicular to the axis of the connecting shaft 160 can overlap, so that the third shaft segment 163 can quickly enter the connecting sleeve 122. It can be understood that as long as part of the third shaft segment 163 is located in the connecting sleeve 122, the connecting shaft 160 can be restricted from rotating relative to the hollow shaft 121 so that the connecting shaft 160 can rotate synchronously with the hollow shaft 121. Therefore, when the clutch mechanism is in the first state, the part of the connecting shaft 160 located in the connecting sleeve 122 may be only part or all of the third shaft segment 163, or it may include part or all of the third shaft segment 163 and parts of the remaining shaft segments (for example, the second shaft segment 162 or the fourth shaft segment 164).

[0304] As shown in Figure 51, when the clutch mechanism is in the second state, the clutch mechanism releases the transmission connection between the lifting drive 120 and the rotating shaft 130. At this time, the rotating shaft 130 can be driven not by the lifting drive 120, but can be rotated under other drives (for example, manual drive), thereby driving the lifting rod and the propeller thereon to perform lifting and lowering movements.

[0305] Furthermore, when the clutch mechanism is in the second state, only at least a portion of the second shaft segment 162 is located in the connecting sleeve 122 so that the connecting shaft 160 can rotate relative to the hollow shaft 121. Since at least a portion of the first shaft segment 161 is slidably and non-rotatably located in the assembly hole 132, the connecting shaft 160 and the rotating shaft 130 can rotate synchronously. Therefore, the rotating shaft 130 can rotate relative to the hollow shaft 121, that is, the transmission connection between the hollow shaft 121 (lifting drive 120) and the rotating shaft 130 is released.

[0306] When only at least a portion of the second shaft segment 162 is located within the connecting sleeve 122, to enable relative rotation between the connecting shaft 160 and the hollow shaft 121, at least the portion of the second shaft segment 162 located within the connecting sleeve 122 is also able to rotate relative to the connecting sleeve 122. To enable relative rotation between the connecting shaft 160 and the hollow shaft 121, in some embodiments, the diameter of the circumscribed circle of the radial cross-section of the second shaft segment 162 is no greater than the diameter of the inscribed circle of the radial cross-section of the inner cavity of the connecting sleeve 122. It is understood that only when the third shaft segment 163 is completely outside the connecting sleeve 122 and only a portion or all of the second shaft segment 162 is located within the connecting sleeve 122 can the connecting shaft 160 rotate relative to the hollow shaft 121. Therefore, when the clutch mechanism is in the second state, the portion of the connecting shaft 160 located within the connecting sleeve 122 is only part or all of the second shaft segment 162, and no third shaft segment 163 is present. To ensure that the portion of the connecting shaft 160 located within the connecting sleeve 122 is only part or all of the second shaft segment 162 , in some embodiments, the axial length of the second shaft segment 162 is not less than the axial length of the connecting sleeve 122 .

[0307] It is understood that the transmission connection involved in some embodiments of this specification can be understood as an intermediate mechanical structure such as a cable, connecting rod, gear, etc. between two objects for transmission, and can also be understood as the two objects being fixed by bonding, welding, screw connection, etc., so that the two can be linked. Furthermore, the two objects involved in some embodiments of this specification that can rotate synchronously can refer to a transmission connection between the two objects, and the rotation of one object will drive the rotation of the other object; and the two objects involved in some embodiments of this specification that can rotate relative to each other can refer to the lack of a transmission connection between the two objects, and the rotation of one object will not drive the rotation of the other object.

[0308] In some embodiments, when the lifting drive 120 is able to operate normally, the clutch mechanism can be maintained in the first state, that is, at least a portion of the third shaft segment 163 is located in the connecting sleeve 122 so that the connecting shaft 160 and the hollow shaft 121 can rotate coaxially to maintain the transmission connection between the rotating shaft 130 and the lifting drive 120, so that the rotating shaft 130 can be rotated under the drive of the lifting drive 120 to drive the lifting rod and the propeller thereon to perform lifting and lowering movements; and when the lifting drive 120 is abnormal and cannot output rotation to drive the rotating shaft 130 to rotate, the clutch mechanism can be switched from the first state to the second state, so that the rotating shaft 130 can be driven to rotate by a driving force provided outside the lifting drive 120, so as to drive the lifting rod and the propeller thereon to continue to perform lifting and lowering movements. As an example, the connecting shaft 160 can be made to slide relative to the connecting sleeve 122 so that the third shaft segment 163 completely leaves the connecting sleeve 122, and instead, part or all of the second shaft segment 162 enters the connecting sleeve 122, so that only the second shaft segment 162 is present in the connecting sleeve 122, thereby realizing the switching of the clutch mechanism from the first state to the second state.

[0309] In order to facilitate the sliding of the connecting shaft 160 relative to the connecting sleeve 122, at least a portion of the fourth shaft segment 164 can be located outside the hollow shaft 121, so that it is convenient to apply external force to at least the portion of the fourth shaft segment 164 located outside the hollow shaft 121 to drive the connecting shaft 160 to move along its axial direction. As an example, in combination with Figures 50 and 51, by applying external force to at least the portion of the fourth shaft segment 164 located outside the hollow shaft 121 so that the connecting shaft 160 moves from right to left, the clutch mechanism can be switched from the first state to the second state, or from left to right to switch the clutch mechanism from the second state to the first state. At the same time, when the clutch mechanism is in the second state, the connecting shaft 160 can be driven to rotate by applying an external force to at least the portion of the fourth shaft segment 164 located outside the hollow shaft 121. For example, the connecting shaft 160 can be driven to rotate by manually rotating at least the portion of the fourth shaft segment 164 located outside the hollow shaft 121, thereby driving the rotating shaft 130 (relative to the hollow shaft 121) to rotate, and then driving the lifting rod and the propeller thereon to perform lifting and lowering movements.

[0310] Continuing with reference to Figure 50, in some embodiments, at least a portion of the rotating shaft 130 can be located within the hollow shaft 121, wherein the radial dimension of the first shaft segment 161 is greater than the radial dimension of the inner cavity of the connecting sleeve 122, and the minimum axial spacing between the rotating shaft 130 and the connecting sleeve 122 (i.e., the axial spacing between one end of the rotating shaft 130 close to the connecting sleeve 122 and the end of the connecting sleeve 122 close to the rotating shaft 130 in the first shaft segment 161) is less than the length of the first shaft segment 161. With such a configuration, when the clutch mechanism switches from the first state to the second state, the first shaft segment 161 can be blocked by the connecting sleeve 122 and cannot completely disengage from the assembly hole 132, thereby maintaining the transmission connection between the connecting shaft 160 and the rotating shaft 130.

[0311] Figure 52 is a schematic cross-sectional view of the lifting device when the clutch mechanism is in the first state according to other embodiments of this specification.

[0312] As shown in Figure 52, in some embodiments, the rotating shaft 130 can be located outside the hollow shaft 121, wherein the radial dimension of the first shaft segment 161 is larger than the radial dimension of the inner cavity of the connecting sleeve 122, and the minimum axial spacing between the rotating shaft 130 and the hollow shaft 121 (that is, the axial spacing between the end of the rotating shaft 130 close to the hollow shaft 121 and the end of the hollow shaft 121 close to the rotating shaft 130 in the first shaft segment 161) is smaller than the length of the first shaft segment 161. With such a configuration, when the clutch mechanism switches from the first state to the second state, the first shaft segment 161 can be blocked by the hollow shaft 121 and cannot be completely disengaged from the assembly hole 132, thereby maintaining the transmission connection between the connecting shaft 160 and the rotating shaft 130.

[0313] Continuing with FIG. 50 , FIG. 51 , or FIG. 52 , the lifting device 100 may further include a housing 110, with the lifting actuator 120 and the rotating shaft 130 disposed within the housing 110. The housing 110 includes a back plate 113, which is located on a side of the lifting actuator 120 away from the rotating shaft 130. One end of the connecting shaft 160 extends through the back plate 113. The housing 110 isolates the lifting actuator 120 and the rotating shaft 130 from the external environment, thereby preventing the lifting actuator 120 and the rotating shaft 130 from being affected by the external environment (for example, preventing water or other substances from the external environment from entering the housing 110 and causing corrosion, wear, etc. on the lifting actuator 120 and the rotating shaft 130), thereby reducing their service life or even damaging them.

[0314] In actual application scenarios, the clutch mechanism can be switched between the first state and the second state by applying an external force to the end of the connecting shaft 160 passing through the back plate 113 to cause the connecting shaft 160 to move along its axial direction relative to the connecting sleeve 122. At the same time, when the clutch mechanism is in the second state, the connecting shaft 160 can be driven to rotate by applying an external force to the end of the connecting shaft 160 passing through the back plate 113, thereby driving the rotation shaft 130 to rotate. As an example, an operator can manually (for example, directly by hand or using a corresponding tool or tool) push and pull the end of the connecting shaft 160 passing through the back plate 113 to cause the connecting shaft 160 to move along its axial direction, thereby switching the clutch mechanism between the first state and the second state. When the clutch mechanism is in the second state, the connecting shaft 160 can be manually rotated at the end of the connecting shaft 160 passing through the back plate 113 to rotate the connecting shaft 160, thereby driving the rotation shaft 130 to rotate, thereby driving the lifting rod and the propeller thereon to perform lifting and lowering movements.

[0315] In some embodiments, one end of the connecting shaft 160 extending from the back plate 113 is the end of the fourth shaft segment 164 away from the third shaft segment 163. In some embodiments, the clutch mechanism may further include a positioning sleeve 123, which may be sleeved on the connecting shaft 160. For example, the positioning sleeve 123 may be sleeved on a portion of the fourth shaft segment 164 and / or a portion of the third shaft segment 163. The two ends of the positioning sleeve 123 may respectively abut against the connecting sleeve 122 (the end of the connecting sleeve 122 away from the rotating shaft 130) and the inner surface of the back plate 113 (the surface of the back plate 113 close to the lifting drive). Such an arrangement can prevent the connecting sleeve 122 from moving along with the connecting shaft 160 when the connecting shaft 160 moves along its axial direction, thereby preventing the clutch mechanism from successfully completing the switching between the first state and the second state. In some embodiments, the port diameter of the locating sleeve 123 at one end close to the back plate 113 is smaller than the radial dimension of the third shaft segment 163. With such a configuration, when the connecting shaft 160 slides from right to left to switch the clutch mechanism from the first state to the second state, the third shaft segment 163 can be blocked by the locating sleeve 123, so that the first shaft segment 161 cannot be completely disengaged from the assembly hole 132, thereby maintaining the transmission connection between the connecting shaft 160 and the rotating shaft 130.

[0316] In some embodiments, a first through-hole is defined in the back plate 113, into which a first bearing 114 is mounted. At least a portion of the fourth shaft segment 164 is slidably and non-rotatably mounted within the inner race of the first bearing 114. The provision of the first bearing 114 ensures that when the clutch mechanism is in the first or second state, the connecting shaft 160 can rotate smoothly and steadily under corresponding drive, thereby driving the rotation shaft 130 to rotate.

[0317] In some embodiments, a sealing assembly 115 may be fixedly connected to the outer surface of the back plate 113. The sealing assembly 115 may include a sealing cover 116 and an oil seal 117. The sealing cover 116 is fixedly connected to the outer surface of the back plate 113. The sealing cover 116 has an oil seal mounting groove defined on the surface facing the back plate 113. The oil seal 117 is disposed within the sealing mounting groove and engages with the end surface of the first bearing 114 facing away from the lift actuator 120. The provision of the sealing assembly 115 can seal gaps created when the connecting shaft 160 passes through the back plate 113 (e.g., the gap between the first through hole and the first bearing 114, the gap within the first bearing 114 itself, the gap between the connecting shaft 160 and the inner ring of the first bearing 114, etc.), thereby preventing foreign matter (e.g., water) from entering the housing 1101 through the gaps in the back plate 113 and damaging components such as the lift actuator 120 and the rotating shaft 130. The oil seal 117 can be used to prevent the lubricating oil in the first bearing 114 from flowing out of the first bearing 114, thereby reducing the lubricity of the first bearing 114. In some embodiments, the sealing assembly 115 can further include a sealing ring disposed on the surface of the sealing cover 116 facing the back plate 113. The sealing ring can enhance the sealing between the sealing cover 116 and the back plate 113, thereby achieving a sealed connection between the sealing cover 116 and the back plate 113.

[0318] In order to facilitate the switching of the clutch mechanism between the first state and the second state, and to facilitate the application of external force to the connecting shaft 160 when the clutch mechanism is in the second state to drive the connecting shaft 160 to rotate, thereby driving the rotating shaft 130 to rotate and thereby driving the lifting rod and the propeller thereon to perform lifting and lowering movements, the end of the fourth shaft segment 164 away from the third shaft segment 163 can continue to pass through the oil seal 117 and the sealing cover 116 after passing through the back plate 113 and protrude from the surface of the sealing cover 116 away from the back plate 113.

[0319] Figure 22 is a schematic diagram of the structure of a lifting device according to some embodiments of this specification. As shown in Figure 22, the rotating shaft 130 can be connected to the lifting rod 200 through a cable traction mechanism. Specifically, the lifting device 100 may further include a cable traction mechanism, which may include a driven shaft 140 and a cable 150 that cooperates with the rotating shaft 130 and the driven shaft 140. The driven shaft 140, along with the lifting drive 120 and the rotating shaft 130, are disposed within the housing 110.

[0320] In some embodiments, a first fixing rod is provided on the side wall of the housing 110 (for example, the side wall opposite to the back panel 113), and the end of the rotating shaft 130 away from the lifting drive 120 is mounted on the first fixing rod, which serves to stabilize the rotating shaft 130 and make its rotation process smoother.

[0321] In some embodiments, the driven shaft 140 is disposed above the rotating shaft 130. For example, a second fixing rod may be fixedly mounted on the inner wall of the housing 110, positioned above the first fixing rod, with the driven shaft 140 sleeved on the second fixing rod. In other embodiments, both ends of the driven shaft 140 may be rotatably mounted on the housing 110 via bearings. Similarly, the end of the rotating shaft 130 not connected to the rotating shaft of the lifting drive 120 may also be rotatably mounted on the housing 110 via a bearing.

[0322] A first groove is formed around the rotating shaft 130, around which a steel cable 150 is wound, and a second groove is formed around the driven shaft 140, around which the steel cable 150 is wound. One end of the steel cable 150 is connected to the upper end of the lifting rod 200. As an example, in Figure 21, one end of the steel cable 150 is fixed at point A. The steel cable 150 is wound around at least a portion of the first groove and at least a portion of the second groove. The other end of the steel cable 150 is connected to the lower end of the lifting rod 200, as shown in Figure 21.

[0323] In some embodiments, as shown in FIG22 , the steel cable 150 can be wound from top to bottom and then upward against the first groove of the rotating shaft 130, and then from bottom to top and then downward against the second groove of the driven shaft 140. By adjusting the tension at both ends of the steel cable 150, the steel cable 150 can be pressed tightly against the rotating shaft 130 and the driven shaft 140. Since the contact surface between the steel cable and the shaft (such as the rotating shaft 130 and the driven shaft 140) is not smooth, effective friction is generated on the contact surface between the steel cable and the shaft, so that there is no relative motion between the steel cable and the shaft, that is, the steel cable is prevented from slipping. When the lifting drive 120 is running, the rotating shaft 130 rotates accordingly, so that the steel cable 150 is pushed up or down in a taut state, and the driven shaft 140 rotates accordingly under the drive of the steel cable 150. More specifically, as viewed from the left side of Figure 22, when the rotating shaft 130 rotates clockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed downward, causing the lifting rod 200 to descend. When the rotating shaft 130 rotates counterclockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed upward, causing the lifting rod 200 to ascend. Ultimately, the lifting actuator 120 achieves the lifting and lowering motion of the propeller 300 by rotating forward or reverse. In some embodiments, the lifting actuator 120 may utilize a motor with a locking function. After the motor has run for a certain period of time, the motor's drive shaft can be locked and stationary, thereby also locking the rotating shaft 130 and stopping it from rotating. The effective friction between the steel cable and the shaft prevents the steel cable from slipping relative to the shaft, ultimately allowing the lifting rod 200 and propeller 300 to stably stop at a certain lifting height, allowing the propeller 300 to operate stably underwater at a certain depth. In some embodiments, the first groove and the second groove may be staggered in the vertical direction. In some embodiments, the first groove on the rotating shaft 130 is set on the left, and the second groove on the driven shaft 140 is set on the right. In this way, the first groove and the second groove are staggered with each other in the vertical direction, so that the steel cable 150 will not be entangled and stacked together when pushed up or down by the rotating shaft 130 and the driven shaft 140, preventing the steel cable 150 from getting stuck due to mutual entanglement when moving, making the lifting process smoother.

[0324] The beneficial effects that may be brought about by some embodiments of this specification include but are not limited to: (1) The propulsion device provided in some embodiments of this specification has a clutch mechanism. When the lifting drive is abnormal and cannot output rotation to drive the rotating shaft to rotate, thereby causing the lifting rod and the propeller thereon to be unable to perform lifting and lowering movements, by switching the clutch mechanism from the first state to the second state, the rotating shaft can be driven by a driving force provided by a force other than the lifting drive (for example, manually), thereby driving the lifting rod and the propeller thereon to continue to perform lifting and lowering movements; (2) The clutch mechanism has the characteristics of simple structure and reliability, and its switching between the first state and the second state is simple and easy to operate, and it is also convenient to use other methods to drive the rotating shaft to rotate when the clutch mechanism is in the second state; (3) By setting the two ends of the positioning sleeve to abut against the inner surface of the connecting sleeve and the back plate respectively, when the connecting shaft moves along its axial direction, the connecting sleeve can be prevented from moving with the connecting shaft, causing the clutch mechanism to be unable to smoothly complete the switching between the first state and the second state. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0325] In some embodiments, the lifting rod 200 can be made of metal. However, a lifting rod made of a single metal material (such as stainless steel) is prone to bending. Some embodiments of this specification also provide a lifting rod made of a composite material.

[0326] Figure 53 is a schematic diagram of the internal structure of the lifting rod according to some embodiments of the present specification. Figure 54 is a schematic diagram of the component structure of the lifting rod according to some embodiments of the present specification. In some embodiments, as shown in Figures 53-54, the lifting rod may include a metal outer rod 270 and a carbon fiber inner rod 280, wherein the carbon fiber inner rod 280 is fixed inside the metal outer rod 270. In some embodiments, the carbon fiber inner rod 280 can be fixed inside the metal outer rod 270 by gluing. By arranging the carbon fiber inner rod inside the metal outer rod, the bending strength of the lifting rod 200 can be effectively improved. In some embodiments, the metal outer rod is a stainless steel outer rod or a titanium alloy outer rod. Both stainless steel and titanium alloy have good corrosion resistance and can maintain good performance in humid environments and chemical media. In addition, titanium alloy is also lightweight. The combination of the titanium alloy outer rod and the carbon fiber inner rod can effectively reduce the weight of the lifting rod.

[0327] In some embodiments, the length of the carbon fiber inner rod 280 is shorter than that of the metal outer rod 270. Since the ends of the lifting rod are generally not subject to significant bending forces, the length of the carbon fiber inner rod can be set to be shorter than that of the metal outer rod, thereby saving costs and reducing the weight of the lifting rod while ensuring the bending strength of the lifting rod. In some embodiments, the length of the carbon fiber inner rod 280 is shorter than that of the metal outer rod 270; one end of the carbon fiber inner rod is separated from one end of the metal outer rod by a first distance; and when the lifting rod is lowered to its lowest position, the length of the lifting rod within and above the motion control mechanism is greater than or equal to the first distance. When the lifting rod is lowered to its lowest position, the fulcrum for the bending force generated by the thruster on the lifting rod is generally near the lower end of the motion control mechanism. Therefore, the lifting rod within and above the motion control mechanism is not subject to significant bending forces. By leaving the first distance free of carbon fiber in the upper portion of the lifting rod, costs and weight can be saved while maintaining the overall strength of the lifting rod.

[0328] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are taught in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A traction type lifting device, characterized in that: It includes a lifting drive, a rotating shaft and a driven shaft; The lifting drive is in driving connection with the rotating shaft, and the rotating shaft and the driven shaft are arranged in parallel with each other; The rotating shaft is surrounded by a first groove for winding the steel cable, and the driven shaft is surrounded by a second groove for winding the steel cable.

2. The traction type lifting device according to claim 1, characterized in that: It also includes a shell, in which the lifting drive is arranged, the rotating shaft is connected to one side of the lifting drive, the driven shaft is arranged above the rotating shaft, a lifting rod capable of moving up and down along the shell is arranged on one side of the rotating shaft and the driven shaft, and both ends of the steel cable are connected to the lifting rod; the first groove and the second groove are staggered.

3. The traction type lifting device according to claim 2, characterized in that: An adjusting mechanism for adjusting the tightness of the steel cable is arranged on the lifting rod.

4. The traction type lifting device according to claim 3, characterized in that: The adjusting mechanism comprises a first fixture arranged at the front end of the lifting rod and a second fixture arranged at the end of the lifting rod, the front end of the steel cable is connected to the first fixture, and the end of the steel cable is connected to the second fixture.

5. The traction type lifting device according to claim 2, characterized in that: An isolation cavity is arranged in the shell, the rotating shaft and the driven shaft are arranged in the isolation cavity, and the lifting drive is arranged in the shell and connected with the rotating shaft.

6. The traction type lifting device according to claim 2, characterized in that: Heat dissipation holes are provided on the shell, and the shell is made of aluminum alloy material.

7. The traction type lifting device according to claim 1, characterized in that: The driven shaft is arranged above the rotating shaft; the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove.

8. The traction type lifting device according to claim 1, characterized in that: The rotating shaft is provided with more than two first grooves for the steel cable to be wound around, and the driven shaft is provided with more than two second grooves for the steel cable to be wound around.

9. The traction type lifting device according to claim 8, characterized in that: The width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove. The cross section of the first groove is V-shaped or trapezoidal; the cross section of the second groove is arc-shaped.

10. The traction type lifting device according to claim 9, characterized in that: The width of the opening of the first groove on the surface of the rotating shaft is not greater than the diameter of the steel cable, and the width of the opening of the second groove on the surface of the driven shaft is not less than the diameter of the steel cable.

11. A propulsion device, characterized in that: The invention comprises the lifting device according to any one of claims 1 to 10.

12. The propulsion device according to claim 1, characterized in that The propulsion device includes a motion control mechanism, a lifting rod is passed through the motion control mechanism, a top shell is arranged at the top end of the lifting rod, a propeller is arranged at the end of the lifting rod, and the lifting device is arranged on one side of the lifting rod on the motion control mechanism. The lifting device includes a lifting drive, the rotating shaft driven by the lifting drive, the driven shaft perpendicular to the rotating shaft, and a steel cable connected to the lifting rod, and the first groove on the rotating shaft and the second groove on the driven shaft are staggered.

13. The propulsion device according to claim 12, characterized in that The motion control mechanism comprises a rotating device which is sleeved on the lifting rod and can drive the lifting rod to rotate, and the lifting device is arranged above the rotating device.

14. The propulsion device according to claim 11, characterized in that The propulsion device includes a base plate for fixing the propulsion device and a rotating device arranged on the base plate; wherein, side plates are fixedly provided on both sides of the base plate, one end of the side plate is provided with a slot for locking the rotating device, and the rotating device is provided with a lever mechanism engaged in the slot, and the rotating device can be unlocked or locked on the side plate by moving the lever mechanism; wherein, the base plate is also provided with an open slot for inverting the propulsion device.

15. The propulsion device according to claim 14, characterized in that The lever mechanism includes a locking rod engaged with the slot, a connecting rod connected to the rotating device, a hand lever for pushing and pulling, and a connecting plate rotatably connected to the connecting rod near the center side. The locking rod is located at one end of the connecting plate, and the hand lever is located at the other end of the connecting plate, so that pushing and pulling the hand lever can drive the locking rod to slide in the slot.

16. The propulsion device according to claim 14, characterized in that A locking mechanism is also provided on the other side of the propulsion device relative to the lever mechanism, and the locking mechanism includes a hinged rod rotatably arranged on the other side of the rotating device, a circular groove with an opening is provided on the side panel, and also includes a positioning part with an opening rotatably embedded in the groove; wherein both ends of the hinged rod are placed in the openings of the positioning part, and the hinged rod is rotatably connected to the positioning part.

17. The propulsion device according to claim 16, characterized in that A positioning hook with the same opening as the positioning part is fixedly arranged on the outer side of the positioning part, and a handle is arranged on the positioning hook; a positioning groove is arranged on the outer periphery of the positioning part; positioning holes are arranged on both sides of the groove on the side plate, and fixing pins can be inserted into the positioning holes.

18. The propulsion device according to claim 11, characterized in that The propulsion equipment includes: a mounting seat, a lifting rod that rotates with the mounting seat and can move up and down, a top shell installed on the top of the lifting rod and a propeller installed at the bottom of the lifting rod. The lifting device is installed on the mounting seat, and the lifting device includes an outer shell, a lifting drive and a steel cable. A driving shaft and a driven shaft are rotatably matched in the outer shell. The driving shaft is provided with a first groove with a V-shaped cross-section or a trapezoidal structure with a wide upper part and a narrow lower part. The driven shaft is arranged above the driving shaft and is provided with a second groove staggered with the first groove. The steel cable is wound around and clamped with the lower side wall of the first groove, and is wound around and matched with the upper part of the second groove. The upper and lower ends of the steel cable are correspondingly connected to the upper and lower ends of the lifting rod. The lifting drive is drivingly connected to one end of the driving shaft, and is used to drive the driving shaft to rotate and link the lifting rod to rise and fall.

19. The propulsion device according to claim 18, characterized in that A rotating device is installed on the mounting seat, and the rotating device is drivingly connected to the lifting rod to drive the lifting rod to rotate.

20. A propulsion device according to claim 18 or 19, characterized in that Anti-slip protrusions are provided on both side walls of the first groove.

21. The propulsion device of claim 19, wherein: The lifting drive is a lifting drive motor or a crank, the lifting drive motor is installed in the shell, the driving shaft of the lifting drive motor is connected to the driving shaft through a coupling, the crank is arranged outside the shell, one end of the crank extends into the shell and is connected to the driving shaft.

22. A propulsion device according to claim 21, characterized in that The rotating device includes a rotating driver arranged in the mounting seat, a driving gear connected to the output shaft of the rotating driver, a driven gear connected to the driving gear, a sleeve rotatably matched with a through hole on the mounting seat, a first limiting structure and a second limiting structure, wherein the driven gear is fixedly sleeved on the outside of the sleeve, the outer shell is fixedly connected to the top of the sleeve, the second limiting structure is fixedly connected to one side of the outer shell, the first limiting structure is fixedly connected to the upper end of the lifting rod so as to be adjustable up and down, a plug-in portion is provided on one of the second limiting structure and the first limiting structure, and a plug-in groove matched with the plug-in portion is provided on the other, when the plug-in portion is matched with the plug-in groove, the second limiting structure is driven to rotate and can link the lifting rod to rotate.

23. A propulsion device according to claim 22, characterized in that The first limiting structure includes a ring with a ring gap, a plug-in portion arranged outside the ring gap and fixed to the ring, and an abutment plate arranged in the ring gap, the abutment plate is provided with a connecting column matched with a through hole on the plug-in portion, the plug-in portion is provided with a threaded through hole corresponding to the abutment plate, and the threaded through hole is matched with a locking screw for pressing and fixing the abutment plate on the lifting rod.

24. The propulsion device of claim 22, wherein: A nylon sleeve is fixedly connected inside the sleeve, and a through hole is provided on the nylon sleeve for the steel cable to pass through. The lifting rod rotates with the through hole on the nylon sleeve and can flexibly cooperate with each other up and down.

25. The propulsion device of claim 18, wherein: An adjustment component for adjusting the tightness of the steel cable is installed at the upper end of the lifting rod, and the adjustment component includes a first fixer, an elastic member and a first stopper. The first fixer is provided with a through hole for the steel cable to pass through. The first fixer is fixed to the lifting rod adjustably up and down, the first stopper is locked to the upper end of the steel cable, the elastic member is sleeved on the steel cable, and the upper end of the elastic member abuts against the steel wire lock buckle, and the lower end of the elastic member abuts against the first fixer.

26. The propulsion device of claim 21, wherein: The lifting drive motor is a servo motor or a stepper motor with a locking function, the steering drive is a servo motor or a stepper motor, a GPS signal receiver is arranged in the top shell, a magnetic induction switch is installed at the bottom of the mounting seat, a magnetic block is connected to the lower end of the lifting rod, and the lifting drive motor, the steering drive, the thruster, the GPS signal receiver and the magnetic induction switch are all electrically connected to the electronic control component.

27. The propulsion device of claim 18, wherein: The left end of the mounting seat is hingedly connected to the base through a hinge rod, and the right side of the mounting seat is provided with a strip through hole with a transverse structure and a hinged lever mechanism, and the two ends of the locking rod at the lower end of the lever mechanism pass through the two strip through holes and movably cooperate with the strip through holes, and a card slot is provided on the right side of the base, and pulling the upper end of the lever mechanism can make the two ends of the locking rod correspondingly engaged in the two bayonet holes.

28. The propulsion device of claim 11, wherein: The propulsion equipment includes a lifting rod, a propeller and the lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft and a steel cable; a first groove for the steel cable to be wound around the rotating shaft is arranged around the first groove for the steel cable to be wound around the driven shaft; one end of the steel cable is connected to the upper end of the lifting rod, the steel cable is wound around at least a part of the first groove and at least a part of the second groove, and the other end of the steel cable is connected to the lower end of the lifting rod; wherein, the width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the width of the opening is not greater than the diameter of the steel cable.

29. A propulsion device as claimed in claim 28, characterized in that The cross section of the first groove is V-shaped or trapezoidal.

30. The propulsion device of claim 29, wherein: The included angle between the side of the cross section of the first groove and the height direction of the cross section is 10° to 45°.

31. The propulsion device of claim 28, wherein: The width of the opening of the first groove on the surface of the rotating shaft is 60% to 100% of the diameter of the steel cable; the width of the bottom of the first groove is 20% to 50% of the diameter of the steel cable.

32. The propulsion device of claim 28, wherein: Anti-slip patterns are arranged on the side walls of the first groove.

33. The propulsion device of claim 28, wherein: The depth of the first groove is no greater than the diameter of the steel cable.

34. A propulsion device as claimed in claim 33, characterized in that The depth of the first groove is 50% to 100% of the diameter of the steel cable.

35. The propulsion device of claim 28, wherein: The first groove and the second groove are staggered in the vertical direction; the steel cable is wound from top to bottom and then upward against the first groove of the rotating shaft, and then wound from bottom to top and then downward against the second groove of the driven shaft.

36. The propulsion device of claim 28, wherein: It also includes a rotating device; the lifting device is fixedly arranged on the rotating device, and the rotating device is used to drive the lifting device and the lifting rod to rotate together, thereby driving the propeller to change its direction.

37. The propulsion device of claim 11, wherein: The propulsion device includes a controller, a first limit sensor, a lifting rod, a propeller, a lifting device and a rotating device; the lifting rod is inserted into the first guide hole of the rotating device, and the lower end of the lifting rod is connected to the propeller; the lifting device is arranged on the rotating device and has a transmission connection with the lifting rod, so as to drive the lifting rod to rise or fall; the rotating device is used to drive the lifting device to rotate, thereby driving the lifting rod to rotate; the first limit sensor is arranged on the lower side of the rotating device and / or at a certain position in the lower half of the lifting rod, and the output signal of the first limit sensor reflects the distance information between a certain position in the lower half of the lifting rod and the rotating device, and the first limit sensor is signal-connected to the controller; the controller is also signal-connected to the lifting device, so as to control whether the lifting device is braked based on the output signal of the first limit sensor.

38. A propulsion device as claimed in claim 37, characterized in that The lower side of the rotating device includes a lower end surface of the side wall of the first guide hole.

39. The propulsion device of claim 37, wherein: The lifting rod is provided with a first limiting structure, and the upper side of the rotating device is provided with a second limiting structure adapted to the first limiting structure.

40. A propulsion device as claimed in claim 39, characterized in that The first limiting structure is detachably fastened to the lifting rod; the second limiting structure has a third guide hole, the second limiting structure is arranged on the upper side of the rotating device and its third guide hole corresponds to the first guide hole, the second limiting structure can rotate under the drive of the rotating device, and the lifting rod is simultaneously inserted into the first guide hole and the third guide hole; wherein, the second limiting structure is provided with a groove that matches the shape of the first limiting structure.

41. A propulsion device as claimed in claim 40, characterized in that The first limiting structure includes a V-shaped portion protruding from the surface of the lifting rod, and the groove is a V-shaped groove.

42. The propulsion device of claim 40, wherein: The first limiting structure is fixedly connected to the hoop structure or the closed ring, and the hoop structure or the closed ring is detachably fixed to the lifting rod.

43. The propulsion device of claim 39, wherein: It also includes a second limit sensor; the second limit sensor is arranged at the first limit structure and / or the second limit structure, the output signal of the second limit sensor reflects the distance information between the first limit structure and the second limit structure, and the second limit sensor is signal-connected to the controller; the controller is also used to control whether the lifting device is braked based on the output signal of the second limit sensor.

44. A propulsion device as claimed in claim 43, characterized in that The second limit sensor includes a magnetic induction sensor; when the second limit sensor is arranged at the first limit structure, a magnetic element is arranged at the second limit structure; when the second limit sensor is arranged at the second limit structure, a magnetic element is arranged at the first limit structure.

45. The propulsion device of claim 37, wherein: The lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft, and a steel cable; a first groove for the steel cable to be wound around the rotating shaft is arranged around the rotating shaft, and a second groove for the steel cable to be wound around the driven shaft is arranged around the driven shaft; one end of the steel cable is connected to a certain position of the upper half of the lifting rod, the steel cable is wound around at least a part of the first groove and at least a part of the second groove, and the other end of the steel cable is connected to a certain position of the lower half of the lifting rod.

46. ​​A propulsion device as claimed in claim 45, characterized in that It also includes a second fixing ring; the second fixing ring is sleeved and detachably fastened to a certain position in the lower half of the lifting rod; the lower end of the steel cable passes through the through hole on the second fixing ring from top to bottom, and the other end of the steel cable is fixedly provided with a second stopper so that when the steel cable is tightened, the second stopper can lean against the second fixing ring to fasten the steel cable; the first limit sensor includes a magnetic induction sensor; when the first limit sensor is arranged on the lower side of the rotating device, a magnetic element is arranged on the first fixing ring; when the first limit sensor is arranged on the second fixing ring, a magnetic element is arranged on the lower side of the rotating device.

47. The propulsion device of claim 11, wherein: It includes a lifting rod, a propeller and a lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device includes a lifting drive, a rotating shaft driven by the lifting drive, a driven shaft arranged above the rotating shaft and a steel cable; the rotating shaft is surrounded by two or more first grooves for the steel cable to be wound around, and the driven shaft is surrounded by two or more second grooves for the steel cable to be wound around; one end of the steel cable is connected to the upper end of the lifting rod, the steel cable is wound around at least a portion of each first groove and at least a portion of each second groove, and the other end of the steel cable is connected to the lower end of the lifting rod.

48. A propulsion device as claimed in claim 47, characterized in that The width of the opening of the first groove on the surface of the rotating shaft is greater than the width of the bottom of the first groove, and the cross-section of the first groove is V-shaped or trapezoidal; the cross-section of the second groove is arc-shaped; the width of the opening of the first groove on the surface of the rotating shaft is not greater than the diameter of the steel cable, and the width of the opening of the second groove on the surface of the driven shaft is not less than the diameter of the steel cable.

49. A propulsion device as claimed in claim 48, characterized in that The side wall of the first groove is provided with anti-slip grooves; the depth of the first groove is not greater than the diameter of the steel cable.

50. The propulsion device of claim 47, wherein: The number of the second grooves is one greater than the number of the first grooves.

51. A propulsion device as claimed in claim 50, characterized in that Each first groove is aligned with a second groove in the vertical direction, or the first groove and the second groove are staggered in the vertical direction; the steel cable rests against the first second groove of the driven shaft from top to bottom, and is wrapped around the first first groove of the rotating shaft from top to bottom and then upward, and is wrapped around the second second groove of the driven shaft from bottom to top and then downward, and then is wrapped around the second first groove of the rotating shaft from top to bottom and then upward, and is wrapped around the second second groove of the driven shaft from bottom to top and then downward, and so on, until the steel cable is wrapped around the last second groove of the driven wheel.

52. The propulsion device of claim 47, wherein: The diameter of the rotating shaft is greater than the diameter of the driven shaft.

53. The propulsion device of claim 47, wherein: It also includes an elastic member and a first fixing ring, wherein the elastic member has elastic deformation capability in a direction consistent with the length direction of the lifting rod; the first fixing ring is sleeved and detachably fastened to the upper half of the lifting rod, and the elastic member is located above the first fixing ring; one end of the steel cable passes through the through hole on the first fixing ring and the elastic member in sequence from bottom to top, and a first stopper is fixedly provided at one end of the steel cable so that the first stopper can abut against the elastic member to fasten the steel cable when the steel cable is tightened.

54. The propulsion device of claim 47, wherein: It also includes a second fixture; the second fixture is mounted on and detachably fastened to the lower half of the lifting rod; the other end of the steel cable passes through the through hole on the second fixture from top to bottom, and the other end of the steel cable is fixedly provided with a second stopper so that when the steel cable is tightened, the second stopper can be pressed against the second fixture to fasten the steel cable.

55. The propulsion device of claim 47, wherein: It also includes a rotating device; the lifting device is fixedly arranged on the rotating device, and the rotating device is used to drive the lifting device and the lifting rod to rotate together, thereby driving the propeller to change its direction.

56. The propulsion device of claim 11, wherein: The propulsion device comprises a base, a motion control mechanism, a lifting rod, a propeller and a locking mechanism; the lower end of the lifting rod is connected to the propeller; the base comprises a bottom plate and two side plates arranged on the bottom plate and parallel to each other, the bottom plate has an open groove extending along the setting direction of the side plates; at least part of the motion control mechanism is supported on the bottom plate and located between the two side plates; the lifting rod is inserted into the motion control mechanism and the opening groove of the bottom plate, and the motion control mechanism is used to drive the lifting rod to rise and fall, and / or drive the lifting rod to rotate to change the thrust of the propeller direction; the locking mechanism includes an operating component, a limit rod and a limit slot; the operating component is connected to the limit rod; one of the limit rod and the limit slot is arranged on the base, and the other is arranged on the motion control mechanism; at least part of the limit rod is inserted into the limit slot to limit the rotation of the motion control mechanism and the lifting rod between the two side plates around the first direction, and the operating component is used to drive at least part of the limit rod to disengage from the limit slot to release the rotation restriction of the motion control mechanism and the lifting rod between the two side plates around the first direction.

57. A propulsion device as claimed in claim 56, characterized in that The limiting groove is arranged on the side surface of the motion control mechanism parallel to the side plate, and a notch channel is arranged on the side surface, one end of the notch channel is connected to the limiting groove, and the other end of the notch channel is connected to one of the surfaces of the motion control mechanism parallel to the bottom plate; the operating assembly is arranged on the base; the operating assembly comprises an operating rod, a rotating rod, a support rod and at least one connecting rod assembly; the rotating rod is vertically rotatably connected between the two side plates; the operating rod is transmission-connected to the rotating rod through the support rod; the connecting rod assembly is mounted on the side plate, and one end of the connecting rod assembly is transmission-connected to the rotating rod, and the other end thereof is rotationally connected to the side plate; the limiting rod is fixedly connected to the connecting rod assembly parallel to the first direction, and at least a portion of the limiting rod is stuck in the limiting groove.

58. A propulsion device as claimed in claim 57, characterized in that The extension path of the opening of the notch channel on the side surface is an arc, and the center of the arc is located on the rotation axis of the motion control mechanism when the motion control mechanism rotates around the first direction.

59. The propulsion device of claim 56, wherein: The limit groove is arranged on the side surface of the motion control mechanism parallel to the side plate, and the limit groove is connected to one of the surfaces of the motion control mechanism perpendicular to both the bottom plate and the side plate; the operating assembly is arranged on the base; the operating assembly comprises an operating rod, a rotating rod, a support rod and at least one connecting rod assembly; the rotating rod is vertically connected to the two side plates; the operating rod is transmission-connected to the rotating rod through the support rod; the connecting rod assembly is mounted on the side plate, and one end of the connecting rod assembly is transmission-connected to the rotating rod, and the other end thereof is rotationally connected to the side plate; the limit rod is connected to the connecting rod assembly parallel to the first direction, and at least a portion of the limit rod is stuck in the limit groove.

60. A propulsion device as claimed in claim 57 or 59, characterized in that The connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod which are rotatably connected in sequence; wherein, one end of the first connecting rod away from the second connecting rod is fixedly connected to the rotating rod, and one end of the third connecting rod away from the second connecting rod is rotatably mounted on the corresponding side plate; wherein, the limiting rod is fixedly connected to the second connecting rod parallel to the first direction.

61. The propulsion device of claim 56, wherein: The limiting grooves are provided on the two side panels; the operating assembly is arranged on the motion control mechanism; the motion control mechanism is relatively provided with two mounting plates parallel to the side panels; the operating assembly comprises an operating rod, a rotating rod and a support rod; the operating rod, the rotating rod and the limiting rod are parallel to each other and are fixedly connected to the support rod in sequence; the rotating rod is vertically rotatably connected between the two mounting plates, and the two ends of the limiting rod are respectively inserted into the limiting grooves.

62. A propulsion device as claimed in claim 61, characterized in that The limiting groove is formed on the surface of the side plate facing the motion control mechanism, and the limiting groove is connected to one of the surfaces of the side plate which is perpendicular to the mounting plate and not parallel to the bottom plate.

63. A propulsion device as claimed in claim 61, characterized in that A through hole is provided on the mounting plate, and the two ends of the limit rod are respectively inserted into the limit groove through the through holes on the two mounting plates; wherein the size of the through hole along the movement direction of the limit rod is larger than the size of the limit groove along the movement direction of the limit rod.

64. The propulsion device of claim 61, wherein: The locking mechanism also includes an elastic mechanism, one end of which is connected to the motion control mechanism, and the other end rotates with the rotating rod; when at least part of the limit rod is stuck in the limit groove, the elastic mechanism provides a pre-tightening force to keep the limit rod in the limit groove.

65. A propulsion device as claimed in claim 57 or 59, characterized in that The locking mechanism also includes an elastic mechanism, one end of which is connected to the base and the other end rotates with the rotating rod; when at least part of the limiting rod is inserted into the limiting groove, the elastic mechanism provides a pre-tightening force to keep the limiting rod in the limiting groove.

66. The propulsion device of claim 11, wherein: The invention comprises a lifting rod, a propeller and a lifting device; the lower end of the lifting rod is connected to the propeller; the lifting device is in transmission connection with the lifting rod and is used to drive the lifting rod to rise or fall; wherein the lifting device comprises a lifting drive, a rotating shaft and a clutch mechanism; when the clutch mechanism is in a first state, the lifting drive and the rotating shaft can be transmission-connected; when the clutch mechanism is in a second state, the transmission connection between the lifting drive and the rotating shaft can be released so that the rotating shaft can be driven by a driving force other than the lifting drive.

67. A propulsion device as claimed in claim 66, characterized in that The lifting device also includes a steel cable and a driven shaft arranged above the rotating shaft; a first groove for the steel cable to be wound around the rotating shaft, and a second groove for the steel cable to be wound around the driven shaft; one end of the steel cable is connected to a certain position in the upper half of the lifting rod, the steel cable is wound around at least a portion of the first groove and at least a portion of the second groove, and the other end of the steel cable is connected to a certain position in the lower half of the lifting rod.

68. A propulsion device as claimed in claim 66 or 67, characterized in that The lifting drive has a hollow shaft; the rotating shaft is provided with an assembly hole along its axial direction; the clutch mechanism includes a connecting shaft and a connecting sleeve; the connecting sleeve is non-rotatably installed in the hollow shaft, and at least part of the connecting shaft is slidably located in the connecting sleeve; when the connecting shaft is slid to change its axial relative position with the connecting sleeve, the clutch mechanism can be placed in the first state and the second state respectively.

69. A propulsion device as claimed in claim 68, characterized in that The connecting shaft includes a first shaft segment, a second shaft segment, a third shaft segment and a fourth shaft segment in sequence along its axial direction; at least a portion of the first shaft segment is slidably and non-rotatably located in the assembly hole, and at least a portion of the fourth shaft segment is located outside the hollow shaft; wherein, when the clutch mechanism is in the second state, only at least a portion of the second shaft segment is located in the connecting sleeve so that the connecting shaft can rotate relative to the hollow shaft; when the clutch mechanism is in the first state, at least a portion of the third shaft segment is located in the connecting sleeve so that the connecting shaft can rotate synchronously with the hollow shaft.

70. The propulsion device of claim 69, wherein: The lifting device also includes a shell, and the lifting drive and the rotating shaft are arranged in the shell; the shell has a back plate, and the back plate is located on the side of the lifting drive away from the rotating shaft, and one end of the fourth shaft section away from the third shaft section passes through the back plate; the clutch mechanism also includes a positioning sleeve, and the positioning sleeve is arranged on the connecting shaft, and its two ends are respectively abutted against the inner surfaces of the connecting sleeve and the back plate.

71. The propulsion device of claim 69, wherein: The radial cross-sectional shape of the first shaft segment is adapted to the radial cross-sectional shape of the assembly hole, and / or the radial cross-sectional shape of the third shaft segment is adapted to the radial cross-sectional shape of the inner cavity of the connecting sleeve; wherein, the radial cross-sectional shape of the first shaft segment and / or the third shaft segment is a regular hexagon or a regular octagon.

72. The propulsion device of claim 69, wherein: The diameter of the circumscribed circle of the radial cross-sectional shape of the second shaft segment is not greater than the diameter of the inscribed circle of the radial cross-sectional shape of the inner cavity of the connecting sleeve.

73. The propulsion device of claim 69, wherein: At least part of the rotating shaft is located inside the hollow shaft, wherein the radial dimension of the first shaft segment is larger than the radial dimension of the inner cavity of the connecting sleeve, and the minimum axial spacing between the rotating shaft and the connecting sleeve is smaller than the axial length of the first shaft segment; or, the rotating shaft is located outside the hollow shaft, the radial dimension of the first shaft segment is larger than the radial dimension of the inner cavity of the hollow shaft, and the minimum axial spacing between the rotating shaft and the hollow shaft is smaller than the axial length of the first shaft segment.

74. The propulsion device of claim 70, wherein: The back plate is provided with a first through hole, a bearing is installed in the first through hole, and at least a portion of the fourth shaft segment is slidably and non-rotatably installed in the inner ring of the bearing.

75. A propulsion device as claimed in claim 74, characterized in that A sealing assembly is fixedly connected to the outer surface of the back plate, and the sealing assembly includes a sealing cover and an oil seal; the sealing cover is fixedly connected to the outer surface of the back plate, and an oil seal installation groove is provided on the surface of the sealing cover facing the back plate, and the oil seal is arranged in the sealing installation groove and fits with the end surface of the bearing away from the lifting drive; an end of the fourth shaft segment away from the third shaft segment passes through the oil seal and the sealing cover and protrudes from the surface of the sealing cover away from the back plate.

76. The propulsion device of claim 11, wherein: The propulsion device includes a lifting rod, a propeller and a lifting device. The lower end of the lifting rod is connected to the propeller, and the lifting device is used to drive the lifting rod to rise and fall. The lifting rod includes a metal outer rod and a carbon fiber inner rod, and the carbon fiber inner rod is fixed inside the metal outer rod.

77. A propulsion device as claimed in claim 76, characterized in that The metal outer rod is a stainless steel outer rod or a titanium alloy outer rod.

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