Towed lifting device and propulsion apparatus

Abstract

A kind of towed lifting device and propelling equipment.The towed lifting device (100) includes lifting driver (120), rotating shaft (130) and driven shaft (140);Lifting driver (120) is drivingly connected with rotating shaft (130), rotating shaft (130) is spaced apart and parallel with driven shaft (140);Rotating shaft (130) is provided with the first groove (131) for the winding of steel cable (150) around, and the second groove (141) for the winding of steel cable (150) around is provided with on driven shaft (140).The towed lifting device structure is simple, and it occupies small space, it is suitable for a variety of different scenes, due to the further reduction of parts, it can reduce production cost, reduce the difficulty of installation and maintenance.

Description

[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.). Summary of the Invention

[0006] One or more embodiments of the present specification provide a traction lifting device, comprising a lifting driver, a rotating shaft and a driven shaft; the lifting driver is in transmission connection with the rotating shaft, the rotating shaft is arranged in parallel with the driven shaft; 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.

[0007] In some embodiments, the traction lifting device further comprises a housing, the lifting driver is arranged in the housing, the rotating shaft is connected to one side of the lifting driver, the driven shaft is arranged above the rotating shaft, a lifting rod capable of moving up and down along the housing is arranged on one side of the rotating shaft and the driven shaft, and two ends of the steel cable are connected to the lifting rod; the first groove and the second groove are arranged staggered.

[0008] In some embodiments, an adjusting mechanism for adjusting the tightness of the steel cable is arranged on the lifting rod.

[0009] In some embodiments, the adjusting mechanism comprises a first fixer arranged at the front end of the lifting rod and a second fixer arranged at the end of the lifting rod, the front end of the steel cable is connected to the first fixer, and the end of the steel cable is connected to the second fixer.

[0010] In some embodiments, an isolation cavity is arranged in the housing, the rotating shaft and the driven shaft are arranged in the isolation cavity, and the lifting driver is arranged in the housing and connected to the rotating shaft.

[0011] In some embodiments, a heat dissipation hole is formed on the housing, and the housing is made of aluminum alloy.

[0012] In some embodiments, 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.

[0013] In some embodiments, more than two first grooves for winding the steel cable are arranged around the rotating shaft, and more than two second grooves for winding the steel cable are arranged around the driven shaft.

[0014] 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 circular arc-shaped.

[0015] In some 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.

[0016] One or more embodiments of the present specification provide a propulsion device comprising the towing lifting device described in any embodiment of the present specification.

[0017] In some embodiments, the propulsion device comprises a motion control mechanism, a lifting rod is arranged on the motion control mechanism, a top shell is arranged at the top end of the lifting rod, and a propeller is arranged at the end of the lifting rod. The lifting device is arranged on one side of the motion control mechanism. The lifting device comprises a lifting driver, a rotating shaft driven by the lifting driver, a driven shaft perpendicular to the rotating shaft, and a steel cable connected to the lifting rod. A first groove on the rotating shaft and a second groove on the driven shaft are arranged staggered.

[0018] In some embodiments, the motion control mechanism comprises a rotating device sleeved on the lifting rod and capable of driving the rotation of the lifting rod. The lifting device is arranged above the rotating device.

[0019] In some embodiments, the propulsion device comprises a base plate for fixing the propulsion device and a rotating device arranged on the base plate. The base plate is fixed with side plates on both sides. The side plates are provided with clamping grooves at one end for locking the rotating device. The rotating device is provided with a lever mechanism clamped in the clamping grooves. The lever mechanism can be unlocked or locked on the side plates by pushing the lever mechanism. The base plate is also provided with an opening slot for inverting the propulsion device.

[0020] In some embodiments, the lever mechanism comprises a locking rod clamped and connected with the clamping groove, a connecting rod connected with the rotating device, a hand lever for pushing and pulling, and a connecting piece rotationally connected with the connecting rod near the center side. The locking rod is located at one end of the connecting piece, and the hand lever is located at the other end of the connecting piece. Pushing and pulling the hand lever can drive the locking rod to slide in the clamping groove.

[0021] In some embodiments, the propulsion device is further provided with a locking mechanism on the other side opposite to the lever mechanism. The locking mechanism comprises a hinged rod rotationally arranged on the other side of the rotating device. The side plate is provided with a circular groove with an opening. The locking mechanism further comprises a positioning part with an opening embedded in the groove. The hinged rod is placed in the opening of the positioning part at both ends, and the hinged rod is rotationally connected with the positioning part.

[0022] In some embodiments, a positioning hook with the same opening as the positioning part is fixed outside the positioning part. The positioning hook is provided with a handle. The positioning part is provided with a positioning groove around the periphery. The side plate is provided with a positioning hole on both sides of the groove. A fixing pin can be inserted into the positioning hole.

[0023] In some embodiments, the propelling device comprises a mounting base, a lifting rod rotatably and up-and-down movably connected with the mounting base, a top shell mounted on the top of the lifting rod, and a propeller mounted on the bottom of the lifting rod, the mounting base is provided with the lifting device, the lifting device comprises a shell, a lifting driver, and a steel cable, the shell is rotatably connected with a driving shaft and a driven shaft, the driving shaft is provided with a first groove with a V-shaped cross section or a trapezoidal shape 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 the lower sidewall of the first groove and is clamped and connected with the first groove, and is wound around the upper part of the second groove and is clamped and connected with the second groove, the upper and lower ends of the steel cable are connected with the upper and lower ends of the lifting rod, and the lifting driver is drivingly connected with one end of the driving shaft to drive the driving shaft to rotate and drive the lifting rod to move up and down.

[0024] In some embodiments, the mounting base is provided with a rotating device drivingly connected with the lifting rod to drive the lifting rod to rotate.

[0025] In some embodiments, the two sidewalls of the first groove are provided with anti-skid protrusions.

[0026] In some embodiments, the lifting driver is a lifting driving motor or a crank handle, the lifting driving motor is mounted in the shell, a driving shaft of the lifting driving motor is connected with the driving shaft through a shaft coupling, and the crank handle is arranged outside the shell, one end of the crank handle extends into the shell and is connected with the driving shaft.

[0027] In some embodiments, the rotating device comprises a rotating driver arranged in the mounting base, a driving gear connected with an output shaft of the rotating driver, a driven gear connected with the driving gear, a sleeve rotatably connected with a through hole of the mounting base, a first limiting structure, and a second limiting structure, the driven gear is fixedly sleeved outside the sleeve, the shell is fixedly connected with the top of the sleeve, the second limiting structure is fixedly connected with one side of the shell, the first limiting structure is fixedly connected with 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 an insertion part, and the other is provided with an insertion groove matched with the insertion part, when the insertion part is matched with the insertion groove, the second limiting structure is driven to rotate and can drive the lifting rod to rotate.

[0028] In some embodiments, the first limiting structure comprises a collar provided with a collar gap, a plug part provided outside the collar gap and fixedly connected with the collar, and an abutting plate provided inside the collar gap, the abutting plate being provided with a connecting column matched with a through hole on the plug part, the plug part being provided with a threaded through hole corresponding to the abutting plate, and the threaded through hole being matched with a locking screw for abutting and fixing the abutting plate on the lifting rod.

[0029] In some embodiments, a nylon sleeve is fixedly connected inside the sleeve, the nylon sleeve being provided with a through hole for the steel cable to pass through, and the lifting rod being rotatable and up-and-down movable matched with the through hole on the nylon sleeve.

[0030] In some embodiments, an adjusting assembly for adjusting the tightness of the steel cable is mounted on the upper end of the lifting rod, the adjusting assembly comprising a first fixator, an elastic member, and a first stopper, the first fixator being provided with a through hole for the steel cable to pass through, the first fixator being adjustably fixed on the lifting rod, the first stopper being locked on the upper end of the steel cable, the elastic member being sleeved on the steel cable, the upper end of the elastic member being abutted against the steel cable, and the lower end of the elastic member being abutted against the first fixator.

[0031] In some embodiments, the lifting drive motor is a servo motor or a stepping motor with a locking function, the steering driver is a servo motor or a stepping motor, the top shell is provided with a GPS signal receiver, the bottom of the mounting seat is provided with a magnetic induction switch, the lower end of the lifting rod is connected with a magnetic block, and the lifting drive motor, the steering driver, the propeller, the GPS signal receiver, and the magnetic induction switch are electrically connected with the electric control assembly.

[0032] In some embodiments, the left end of the mounting seat is hingedly matched with the base through a hinge rod, the right side of the mounting seat is provided with a strip-shaped through hole of a transverse structure and a pull rod mechanism hingedly connected, the two ends of a locking rod at the lower end of the pull rod mechanism are correspondingly passed through two strip-shaped through holes and movably matched with the strip-shaped through holes, the right side of the base is provided with a clamping groove, and pulling the upper end of the pull rod mechanism can make the two ends of the locking rod correspondingly clamped in two clamping grooves.

[0033] In some embodiments, the propulsion device comprises a lifting rod, a propeller, and the lifting device; the lower end of the lifting rod is connected with the propeller; the lifting device comprises a lifting driver, a rotating shaft driven by the lifting driver, a driven shaft arranged above the rotating shaft, and a steel cable; the rotating shaft is provided with a first groove for winding the steel cable therearound, and the driven shaft is provided with a second groove for winding the steel cable therearound; one end of the steel cable is connected with the upper end of the lifting rod, the steel cable is wound against at least part of the first groove and at least part of the second groove, and the other end of the steel cable is connected with 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.

[0034] In some embodiments, the cross section of the first groove is V-shaped or trapezoidal.

[0035] In some embodiments, the included angle between the side of the cross section of the first groove and the height direction of the cross section is 10°-45°.

[0036] In some embodiments, the width of the opening of the first groove on the surface of the rotating shaft is 60%-100% of the diameter of the steel cable; and the width of the bottom of the first groove is 20%-50% of the diameter of the steel cable.

[0037] In some embodiments, the side wall of the first groove is provided with anti-skid lines.

[0038] In some embodiments, the depth of the first groove is not greater than the diameter of the steel cable.

[0039] In some embodiments, the depth of the first groove is 50%-100% of the diameter of the steel cable.

[0040] In some embodiments, the first groove and the second groove are arranged staggered in the vertical direction; the steel cable is wound against the first groove of the rotating shaft from top to bottom and then upward, and then wound against the second groove of the driven shaft from bottom to top and then downward.

[0041] In some embodiments, the propulsion device further comprises 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 orientation.

[0042] In some embodiments, the propelling device comprises a controller, a first limit sensor, a lifting rod, a propeller, a lifting device and a rotating device; the lifting rod is arranged in a first guide hole of the rotating device, and a lower end of the lifting rod is connected with the propeller; the lifting device is arranged on the rotating device and has a transmission connection with the lifting rod, and is used to drive the lifting rod to ascend or descend; 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 a lower side of the rotating device and / or at a position of a lower half region of the lifting rod, an output signal of the first limit sensor reflects distance information between the position of the lower half region 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, and is used to control whether the lifting device is stopped based on the output signal of the first limit sensor.

[0043] In some embodiments, the lower side of the rotating device comprises a lower end surface of a side wall of the first guide hole.

[0044] In some embodiments, the lifting rod is provided with a first limit structure, and an upper side of the rotating device is provided with a second limit structure matched with the first limit structure.

[0045] In some embodiments, the first limit structure is detachably fastened on the lifting rod; the second limit structure has a third guide hole, the second limit structure is arranged on the upper side of the rotating device and the third guide hole thereof corresponds to the first guide hole, the second limit structure can rotate under the drive of the rotating device, and the lifting rod is arranged in the first guide hole and the third guide hole at the same time; wherein, the second limit structure is provided with a groove matched in shape with the first limit structure.

[0046] In some embodiments, the first limit structure comprises a V-shaped part protruding from a surface of the lifting rod, and the groove is a V-shaped groove.

[0047] In some embodiments, the first limit structure is fixed on a hoop structure or a closed ring, and the hoop structure or the closed ring is detachably fixed on the lifting rod.

[0048] In some embodiments, the propelling device further comprises a second limit sensor; the second limit sensor is arranged at the first limit structure and / or the second limit structure, an output signal of the second limit sensor reflects 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 stopped based on the output signal of the second limit sensor.

[0049] In some embodiments, the second limit sensor comprises a magnetic induction sensor; when the second limit sensor is arranged at the first limit structure, a magnetic element is arranged at the first limit structure; when the second limit sensor is arranged at the second limit structure, a magnetic element is arranged at the first limit structure.

[0050] In some embodiments, the lifting device comprises a lifting driver, a rotating shaft driven by the lifting driver, a driven shaft arranged above the rotating shaft, and a steel cable; the rotating shaft is arranged with a first groove for winding the steel cable, the driven shaft is arranged with a second groove for winding the steel cable; one end of the steel cable is connected to a position of the upper half region of the lifting rod, the steel cable is wound against at least part of the first groove and at least part of the second groove, the other end of the steel cable is connected to a position of the lower half region of the lifting rod.

[0051] In some embodiments, the propulsion device further comprises a second fixing ring; the second fixing ring is arranged around and detachably fastened to a position of the lower half region of the lifting rod; the lower end of the steel cable passes through a through hole on the second fixing ring from top to bottom, the other end of the steel cable is fixedly provided with a second stopper which can abut against the second fixing ring to fasten the steel cable when the steel cable is tightened; the first limit sensor comprises 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.

[0052] In some embodiments, the propulsion device comprises a lifting rod, a propeller, and a lifting device; the lower end of the lifting rod is connected with the propeller; the lifting device comprises a lifting driver, a rotating shaft driven by the lifting driver, a driven shaft arranged above the rotating shaft, and a steel cable; the rotating shaft is arranged with two or more first grooves for winding the steel cable, the driven shaft is arranged with two or more second grooves for winding the steel cable; one end of the steel cable is connected with the upper end of the lifting rod, the steel cable is wound against at least part of each first groove and at least part of each second groove, the other end of the steel cable is connected with the lower end of the lifting rod.

[0053] In some embodiments, the first groove has a V-shaped or trapezoidal cross-section, the opening of the first groove on the surface of the rotating shaft has a width greater than the width of the bottom of the first groove, and the cross-section of the second groove is circular 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.

[0054] In some embodiments, the first groove has a V-shaped or trapezoidal cross-section, the opening of the first groove on the surface of the rotating shaft has a width greater than the width of the bottom of the first groove, and the cross-section of the second groove is circular 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, the number of the second grooves is one more than the number of the first grooves.

[0056] In some embodiments, each of the first grooves is vertically aligned with one of the second grooves, or the first grooves and the second grooves are vertically staggered; the steel cable is abutted at a first second groove of the driven shaft from top to bottom, is abutted at a first first groove of the rotating shaft from top to bottom to upward, is abutted at a second second groove of the driven shaft from bottom to top to downward, is abutted at a second first groove of the rotating shaft from top to bottom to upward, is abutted at a second second groove of the driven shaft from bottom to top to downward, and so on, until the steel cable is abutted at a last second groove of the driven shaft.

[0057] In some embodiments, the diameter of the rotating shaft is greater than the diameter of the driven shaft.

[0058] In some embodiments, the propulsion device further comprises an elastic member and a first fixing ring, the elastic member has an elastic deformation capacity in a direction consistent with the length direction of the lifting rod, and the first fixing ring is sleeved and detachably fastened to the upper half region of the lifting rod, the elastic member being located above the first fixing ring; one end of the steel cable sequentially passes through a through hole on the first fixing ring and the elastic member from bottom to top, and the one end of the steel cable is fixedly provided with a first stopper to abut against the elastic member when the steel cable is tightened, thereby playing a role of fastening the steel cable.

[0059] In some embodiments, the propulsion device further comprises a second fixing ring, the second fixing ring is sleeved and detachably fastened to the lower half region of the lifting rod, and the other end of the steel cable passes through a 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 to abut against the second fixing ring when the steel cable is tightened, thereby playing a role of fastening the steel cable.

[0060] In some embodiments, the propulsion device further comprises a rotating device; the lifting device is fixedly arranged on the rotating device, and the rotating device is configured to drive the lifting device and the lifting rod to rotate together, thereby driving the propeller to change its orientation.

[0061] In some embodiments, 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 with the propeller; the base comprises a bottom plate and two side plates arranged on the bottom plate in parallel to each other, the bottom plate has an open slot extending along the arrangement direction of the side plates; at least part of the motion control mechanism is borne on the bottom plate and located between the two side plates; the lifting rod is arranged through the motion control mechanism and the open slot of the bottom plate; the motion control mechanism is configured to drive the lifting rod to lift and / or drive the lifting rod to rotate to change the orientation of the propeller; the locking mechanism comprises an operating assembly, a limiting rod, and a limiting slot; the operating assembly is connected with the limiting rod; one of the limiting rod and the limiting slot is arranged on the base, and the other is arranged on the motion control mechanism; at least part of the limiting rod is clamped into the limiting slot to limit the rotation of the motion control mechanism and the lifting rod around the first direction between the two side plates; the operating assembly is configured to drive the at least part of the limiting rod to disengage from the limiting slot to release the rotation limitation of the motion control mechanism and the lifting rod around the first direction between the two side plates.

[0062] In some embodiments, the limiting slot is arranged on the side surface of the motion control mechanism parallel to the side plates, and a notch channel is arranged on the side surface; one end of the notch channel is in communication with the limiting slot, and the other end of the notch channel is in communication with 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 linkage assembly; the rotating rod is connected perpendicularly and rotatably between the two side plates; the operating rod is in transmission connection with the rotating rod through the support rod; the linkage assembly is installed on the side plate, and one end of the linkage assembly is in transmission connection with the rotating rod, and the other end of the linkage assembly is rotatably connected to the side plate; the limiting rod is fixedly connected to the linkage assembly in parallel to the first direction, and at least part of the limiting rod is clamped into the limiting slot.

[0063] In some embodiments, 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 rotating around the first direction.

[0064] In some embodiments, the limiting slot is formed on a side surface of the side plate parallel to the motion control mechanism, and the limiting slot is communicated to one of the surfaces of the side plate perpendicular to the bottom plate and the side plate; the operation assembly is arranged on the base; the operation assembly comprises an operation rod, a rotating rod, a supporting rod and at least one connecting rod assembly; the rotating rod is vertically connected between the two side plates; the operation rod is drivingly connected with the rotating rod through the supporting rod; the connecting rod assembly is installed on the side plate, and one end of the connecting rod assembly is drivingly connected with the rotating rod, and the other end is rotatably connected with the side plate; the limiting rod is parallel to the first direction and connected with the connecting rod assembly, and at least part of the limiting rod is clamped into the limiting slot.

[0065] In some embodiments, the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod connected in sequence; one end of the first connecting rod away from the second connecting rod is fixedly connected with the rotating rod, and one end of the third connecting rod away from the second connecting rod is rotatably installed on the corresponding side plate; and the limiting rod is fixedly connected with the second connecting rod in parallel to the first direction.

[0066] In some embodiments, the limiting slot is formed on the two side plates; the operation assembly is arranged on the motion control mechanism; the motion control mechanism is oppositely provided with two mounting plates parallel to the side plates; the operation assembly comprises an operation rod, a rotating rod and a supporting rod; the operation rod, the rotating rod and the limiting rod are parallel to each other and sequentially fixedly connected with the supporting rod; the rotating rod is vertically connected between the two mounting plates, and both ends of the limiting rod are clamped into the limiting slot.

[0067] In some embodiments, the limiting slot is formed on the surface of the side plate facing the motion control mechanism, and the limiting slot is communicated to one of the surfaces of the side plate perpendicular to the mounting plate and not parallel to the bottom plate.

[0068] In some embodiments, a through hole is formed on the mounting plate, and both ends of the limiting rod are clamped into the limiting slot through the through holes on the two mounting plates; the size of the through hole along the movement direction of the limiting rod is greater than the size of the limiting slot along the movement direction of the limiting rod.

[0069] In some embodiments, the locking mechanism further comprises an elastic mechanism, one end of the elastic mechanism is connected to the motion control mechanism, and the other end rotates with the rotating rod; when at least part of the limiting rod is clamped into the limiting slot, the elastic mechanism provides a pre-tightening force for keeping the limiting rod in the limiting slot.

[0070] In some embodiments, the locking mechanism further comprises 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 clamped into the limiting slot, the elastic mechanism provides a pre-tightening force for keeping the limiting rod in the limiting slot.

[0071] In some embodiments, the propelling device comprises a lifting rod, a propeller and a lifting device; the lower end of the lifting rod is connected with the propeller; the lifting device has a transmission connection with the lifting rod for driving the lifting rod to ascend or descend; wherein the lifting device comprises a lifting driver, a rotating shaft and a clutch mechanism; the clutch mechanism can transmit the lifting driver and the rotating shaft in the first state; the clutch mechanism can remove the transmission connection between the lifting driver and the rotating shaft in the second state, so that the rotating shaft can be driven by the driving force provided by the outside of the lifting driver.

[0072] In some embodiments, the lifting device further comprises a steel cable and a driven shaft arranged above the rotating shaft; the rotating shaft is arranged with a first groove around the rotating shaft for winding the steel cable, and the driven shaft is arranged with a second groove around the driven shaft for winding the steel cable; one end of the steel cable is connected to a position in the upper half region of the lifting rod, the steel cable is wound against at least part of the first groove and at least part of the second groove, and the other end of the steel cable is connected to a position in the lower half region of the lifting rod.

[0073] In some embodiments, the lifting driver has a hollow shaft; the rotating shaft is provided with a fitting hole along its axial direction; the clutch mechanism comprises 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 in the first state and the second state respectively.

[0074] In some embodiments, the connecting shaft sequentially comprises a first shaft section, a second shaft section, a third shaft section and a fourth shaft section along its axial direction; at least part of the first shaft section is slidably and non-rotatably located in the fitting hole, and at least part of the fourth shaft section is located outside the hollow shaft; wherein when the clutch mechanism is in the second state, only at least part of the second shaft section is located in the connecting sleeve to enable the connecting shaft to rotate relative to the hollow shaft; when the clutch mechanism is in the first state, at least part of the third shaft section is located in the connecting sleeve to enable the connecting shaft to rotate synchronously with the hollow shaft.

[0075] In some embodiments, the lifting device further comprises a housing, the lifting driver and the rotating shaft are arranged in the housing; the housing has a back plate, the back plate is located on the side of the lifting driver away from the rotating shaft, and the fourth shaft segment passes out of the back plate from the end away from the third shaft segment; the clutching mechanism further comprises a positioning sleeve, the positioning sleeve is sleeved on the connecting shaft, and the two ends of the positioning sleeve respectively abut against the inner surfaces of the connecting sleeve and the back plate.

[0076] 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.

[0077] In some embodiments, 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.

[0078] In some embodiments, at least part of the rotating shaft is located in the hollow shaft, wherein the radial dimension of the first shaft segment is greater than the radial dimension of the inner cavity of the connecting sleeve, and the minimum axial distance between the rotating shaft and the connecting sleeve is less 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 greater than the radial dimension of the inner cavity of the hollow shaft, and the minimum axial distance between the rotating shaft and the hollow shaft is less than the axial length of the first shaft segment.

[0079] In some embodiments, a first through hole is formed in the back plate, a bearing is mounted in the first through hole, and at least part of the fourth shaft segment is slidably and non-rotatably mounted in the inner ring of the bearing.

[0080] In some embodiments, a sealing assembly is fixedly connected to the outer surface of the back plate, the sealing assembly comprises a sealing cover and an oil seal, the sealing cover is fixedly connected to the outer surface of the back plate, an oil seal mounting groove is formed in the surface of the sealing cover facing the back plate, the oil seal is arranged in the oil seal mounting groove and abuts against the end surface of the bearing away from the lifting driver, and 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.

[0081] In some embodiments, the propulsion device comprises a lifting rod, a propeller, and a lifting device, the lower end of the lifting rod is connected with the propeller, and the lifting device is used to drive the lifting rod to lift; the lifting rod comprises a metal outer rod and a carbon fiber inner rod, and the carbon fiber inner rod is fixedly arranged inside the metal outer rod.

[0082] In some embodiments, the metal outer rod is a stainless steel outer rod or a titanium alloy outer rod. BRIEF DESCRIPTION OF DRAWINGS

[0083] The present specification will be further clarified by a consideration of the following examples, which are intended to be purely exemplary of the inventive principles described herein.

[0084] Figure 1 is a structural schematic diagram of a lifting device according to some embodiments of the present specification.

[0085] Figure 2 is a side structural schematic diagram of a lifting device according to some embodiments of the present specification.

[0086] Figure 3 is an internal structural schematic diagram of a lifting device according to some embodiments of the present specification.

[0087] Figure 4 is a structural schematic diagram of a steel cable mounting structure of a lifting device according to some embodiments of the present specification.

[0088] Figure 5 is a structural schematic diagram of a propulsion device according to some embodiments of the present specification.

[0089] Figure 6 is a side structural schematic diagram of a propulsion device according to some embodiments of the present specification.

[0090] Figure 7 is a partial structural exploded schematic diagram of a propulsion device according to some embodiments of the present specification.

[0091] Figure 8 is a partial structural exploded schematic diagram of a propulsion device according to some embodiments of the present specification.

[0092] Figure 9 is a structural schematic diagram of a propulsion device according to some embodiments of the present specification.

[0093] Figure 10 is a partial structural cross-sectional schematic diagram of a propulsion device according to some embodiments of the present specification.

[0094] Figure 11 is a mounting structural schematic diagram of a lifting device according to some embodiments of the present specification.

[0095] Figure 12 is a structural schematic diagram of a propulsion device according to some embodiments of the present specification.

[0096] Figure 13is a structural schematic diagram of a propulsion device according to some embodiments of the present specification.

[0097] Figure 14 is a schematic diagram of a propulsion device according to some embodiments of the present specification in a flipped state.

[0098] Figure 15 is a structural schematic diagram of a mounting seat, a lifting device and a base of a propulsion device according to some embodiments of the present specification.

[0099] Figure 16 is a structural schematic diagram of a mounting seat, a lifting device and a base of a propulsion device according to some embodiments of the present specification from another perspective.

[0100] Figure 17 is a structural schematic diagram of a mounting seat, a lifting device and a base of a propulsion device according to some embodiments of the present specification in a disassembled state.

[0101] Figure 18 is a structural schematic diagram of a mounting seat and a lifting device of a propulsion device according to some embodiments of the present specification.

[0102] Figure 19 is a structural schematic diagram of a mounting seat, a lifting device and a base of a propulsion device according to some embodiments of the present specification in a cross-sectional view.

[0103] Figure 20 is a structural schematic diagram of a first limiting structure according to some embodiments of the present specification in a disassembled state.

[0104] Figure 21 is a structural schematic diagram of a propulsion device according to some other embodiments of the present specification.

[0105] Figure 22 is a structural schematic diagram of a lifting device according to some other embodiments of the present specification.

[0106] Figure 23 is a cross-sectional view of a rotating shaft according to some embodiments of the present specification.

[0107] Figure 24 is a structural schematic diagram of a rotating shaft according to some embodiments of the present specification.

[0108] Figure 25 is a schematic diagram of a side wall of a first groove of a rotating shaft according to some embodiments of the present specification.

[0109] Figure 26 is a schematic diagram of a connection between a lifting device and a rotating device according to some embodiments of the present specification.

[0110] Figure 27is a bottom view of a rotating device according to some embodiments of the present specification.

[0111] Figure 28 is a schematic diagram of the connection relationship between the lower end of a steel cable and a lifting rod according to some embodiments of the present specification.

[0112] Figure 29 is a schematic diagram of the cooperation relationship between the first limiting structure and the second limiting structure according to some embodiments of the present specification.

[0113] Figure 30 is a schematic diagram of the structure of a lifting device according to yet some embodiments of the present specification.

[0114] Figure 31 is a schematic diagram of the structure of a rotating shaft according to yet some embodiments of the present specification.

[0115] Figure 32 is a schematic diagram of the structure of a driven shaft according to yet some embodiments of the present specification.

[0116] Figure 33 is a schematic diagram of the relative position relationship between the first groove and the second groove according to some embodiments of the present specification.

[0117] Figure 34 is a schematic diagram of the relative position relationship between the first groove and the second groove according to yet some embodiments of the present specification.

[0118] Figure 35 is a sectional view of a rotating shaft according to yet some embodiments of the present specification.

[0119] Figure 36 is a sectional view of a driven shaft according to some embodiments of the present specification.

[0120] Figure 37 is a partial side view of a lifting device according to some embodiments of the present specification.

[0121] Figure 38 is a schematic diagram of the connection between a steel cable and a lifting rod according to some embodiments of the present specification.

[0122] Figure 39 is a schematic diagram of the connection between a lifting device and a rotating device according to yet some embodiments of the present specification.

[0123] Figure 40 is a schematic diagram of the structure of a propulsion device according to still some embodiments of the present specification.

[0124] Figure 41 is a schematic diagram of the assembly of a base and an operating assembly according to some embodiments of the present specification.

[0125] Figure 42 It is a schematic diagram of the assembly of the base and the rotating device according to some embodiments of this specification.

[0126] Figure 43 is a schematic diagram of a motion control mechanism according to some embodiments of this specification.

[0127] Figure 44 yes Figure 40 Schematic diagram of the propulsion device shown in FIG after the restriction on rotation about the first direction is released.

[0128] Figure 45 yes Figure 40 Schematic diagram of the propulsion device shown in the figure during rotation around the first direction.

[0129] Figure 46 It is a schematic diagram of a motion control mechanism according to other embodiments of this specification.

[0130] Figure 47 This 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.

[0131] Figure 48 It is a schematic diagram of the process of a rotating device in a propulsion device rotating around a first direction according to some embodiments of this specification.

[0132] Figure 49 This is a schematic diagram of the assembly of the base and the rotating device from another perspective according to some embodiments of this specification.

[0133] Figure 50 It is a schematic cross-sectional structural diagram of a lifting device when the clutch mechanism shown in some embodiments of this specification is in a first state.

[0134] Figure 51 It is a schematic cross-sectional structural diagram of a lifting device when the clutch mechanism shown in some embodiments of this specification is in the second state.

[0135] Figure 52 It is a schematic cross-sectional structural diagram of a lifting device when the clutch mechanism shown in other embodiments of this specification is in the first state.

[0136] Figure 53 It is a schematic diagram of the internal structure of the lifting rod shown in some embodiments of this specification.

[0137] Figure 54 It is a schematic diagram of the structure of the lifting rod according to some embodiments of this specification.

[0138] Marked in the figure: 100 lifting device, 101 side, 102 first limit groove, 103 gap channel, 110 shell, 111 isolation chamber, 112 heat dissipation hole, 113 back plate, 114 first bearing, 115 sealing assembly, 116 sealing cover, 117 oil seal, 118 lower bottom plate, 120 lifting driver, 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 stop head, 152 second stop head, 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 fixator, 220 second fixator, 230 first limiting structure, 231 plug-in part, 232 threaded through hole, 233 thimble, 234 thimble gap, 235 abutment plate, 236 connecting column, 240 second limiting structure, 241 plug-in slot, 250 elastic piece, 260 adjusting assembly, 270 metal outer rod, 280 carbon fiber inner rod, 300 pusher, 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 clamping groove, 522 groove, 523 positioning hole, 524 fixing pin, 530 open slot, 540 rotating shaft, 600 top shell, 700 lever mechanism, 701 second operating rod, 702 second rotating rod, 703 second supporting rod, 704 second limiting rod, 705 elastic mechanism, 710 locking rod, 720 connecting rod, 730 hand lever, 740 connecting sheet, 800 locking mechanism, 810 hinged rod, 820 positioning part, 830 positioning hook, 840 handle, 850 positioning slot, 900 mounting seat, 1000 pushing device, 1100 motion control mechanism. DETAILED DESCRIPTION

[0139] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the embodiments will be described in detail below with reference to the drawings. Obviously, the following description is some examples or embodiments of the present specification, and those skilled in the art can also apply the technical solutions or means disclosed in the present specification to other scenarios without creative labor.

[0140] It should be understood that the use of the terms "system," "device," "apparatus," "unit" and / or "means" in the present description are merely different ways of denoting different components, elements, means, parts or assemblies of different levels of generality. However, other expressions can be used instead of these terms, as long as the same objectives are achieved.

[0141] In the present description, technical terms describing components, elements, etc. are not intended to refer to a single item, but can also include a plurality of items, unless otherwise specified. In general, the terms "comprising," "including," and the like are intended to mean that the steps, elements, or components explicitly identified are included, but not to the exclusion of other steps or components. The term "consisting essentially of does not exclude the presence of additional steps or components, which do not materially affect the basic and novel characteristics of the method or device.

[0142] In the description of the present description, it should be understood that the description of the position, such as the position or location relationship indicated by the upper, lower, front, rear, left, right and the like is based on the position or location relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular position, be constructed and operated in a particular position, and therefore cannot be understood as a limitation on the present application. In the description of the present description, unless otherwise expressly limited, the words such as arrangement, installation, connection and the like should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present description in combination with the specific content of the technical solution.

[0143] One or more embodiments of the present description provide a traction lifting device. In some embodiments, the traction lifting device can include 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 a distance; 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. In some embodiments, the rotating shaft and the driven shaft arranged in parallel at a distance can mean that the rotating shaft and the driven shaft are spaced apart at a distance, and the rotating shaft and the driven shaft are arranged in parallel with each other.

[0144] In some embodiments, as Figures 1-4As shown, the traction lifting device 100 can include a housing 110, a lifting driver 120 (such as a motor) arranged in the housing 110, a rotating shaft 130 connected to one side of the lifting driver 120 and driven to rotate by the lifting driver 120, a freely rotating driven shaft 140 arranged above the rotating shaft 130, a lifting rod 200 arranged to move up and down along the housing 110 at one side of the rotating shaft 130 and the driven shaft 140, a steel cable 150 connected to the lifting rod 200, a first groove 131 arranged around the rotating shaft 130 for the steel cable 150 to wind around, a second groove 141 arranged around the driven shaft 140 for the steel cable 150 to wind around, and the first groove 131 and the second groove 141 being arranged staggered. In some embodiments, when the steel cable 150 is installed, the front end thereof is first connected to the front end of the lifting rod 200, the other end thereof is first wound around the bottom of the first groove 131 and extends upward, then is wound around the upper part of the second groove 141 and extends downward, and finally is connected to the end of the lifting rod 200. Since the first groove 131 and the second groove 141 are arranged staggered, the steel cable 150 will not be wound and stacked together when the rotating shaft 130 and the driven shaft 140 rotate, preventing the steel cable 150 from being jammed and excessively tight due to mutual winding when rotating, and making the lifting process smoother. In some embodiments, the lifting driver 120 is a servo motor with changeable rotating direction, the output shaft of which is connected to the rotating shaft 130, and the rotating shaft 130 can be controlled to rotate in the clockwise or counterclockwise direction, and the steel cable 150 wound around the rotating shaft 130 also winds around the driven shaft 140, so that when the rotating shaft 130 rotates, the driven shaft 140 also rotates together with the rotating shaft 130. In some embodiments, a bracket, an article or other equipment that needs to be lifted can be connected to the front end or the end of the lifting rod 200.

[0145] In some embodiments, when the lifting device 100 is used, if the article connected to the end of the lifting rod 200 needs to be lowered, the rotating shaft 130 can be driven to rotate clockwise by the lifting driver 120, the steel cable 150 is pulled up and pushed up on the first groove 131, the driven shaft 140 is driven to rotate clockwise and move downward by the steel cable 150 passing through the second groove 141, at this time, the lifting rod 200 connected to the steel cable 150 also descends together, and finally the article is lowered to the desired position. Conversely, if the article needs to be lifted, the rotating shaft 130 can be driven to rotate counterclockwise by the lifting driver 120, 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 article connected to the lifting rod 200 can be lifted to the desired position.

[0146] The traction type lifting device provided by the embodiments of the present specification can drive the rotating shaft 130 through the lifting driver 120, make the rotating shaft 130 and the driven shaft 140 cooperate with the steel cable 150, drive the lifting rod 200 to perform lifting operation, and thus make the lifting rod 200 reach the required position. The traction type lifting device has simple structure, small space occupation, and is suitable for various different scenes and can liberate more limited activity space. In addition, the further reduction of parts can greatly reduce the production cost and reduce the difficulty of installation and maintenance.

[0147] In some embodiments, in order to facilitate operation during installation and maintenance, an adjusting mechanism for adjusting the tightness of the steel cable 150 is arranged on the lifting rod 200. Specifically, the adjusting mechanism includes a first fixer 210 (or a positioner) arranged at the front end of the lifting rod 200 and a second fixer 220 (or a positioning ring) arranged at the end of the lifting rod 200. The front end of the steel cable 150 is connected with the first fixer 210, and the end thereof is connected with the second fixer 220. In some embodiments, only the second fixer 220 needs to be loosened, and the up and down position of the second fixer 220 on the lifting rod 200 is adjusted, so that the steel cable 150 can be tightened or loosened. Finally, the second fixer 220 is fixed, and the adjustment is fast and convenient. The fixing mode of the second fixer 220 and the lifting rod 200 can be clamping, screwing or various modes.

[0148] In some embodiments, in order to protect the lifting driver 120 from being in contact with rainwater when used in outdoor environment, an isolation cavity 111 is arranged in the shell 110, the rotating shaft 130 and the driven shaft 140 are arranged in the isolation cavity 111, and the lifting driver 120 is arranged in the shell 110 and connected with the rotating shaft 130. Thus, the lifting driver 120 is relatively isolated from the rotating shaft 130 and the driven shaft 140, and the risk of short circuit and damage caused by contact with water is avoided.

[0149] In some embodiments, the shell 110 can be provided with a heat dissipation hole 112 for discharging hot air in the shell 110.

[0150] In some embodiments, in order to further reduce the weight of the shell 110 and improve the corrosion resistance of the shell 110, the shell 110 can be made of aluminum alloy material.

[0151] The traction type lifting device provided by some embodiments of the present specification can drive the rotating shaft through the motor, make the rotating shaft and the driven shaft cooperate with the steel cable, drive the lifting rod to perform lifting operation, and thus make the lifting rod reach the required position. The traction type lifting device has simple structure, small space occupation, and is suitable for various different scenes and can liberate more limited activity space. In addition, the further reduction of parts can greatly reduce the production cost and reduce the difficulty of installation and maintenance.

[0152] One or more embodiments of the present specification provide a propulsion device, which can include the towed lifting device of any embodiment of the present specification.

[0153] In some embodiments, as shown in Figures 3-6 The propulsion device 1000 (or called top flow machine with lifting device) can include a motion control mechanism 1100 (or called direction device) made of aluminum alloy material for carrying main components, and a lifting rod 200 movably penetrating through the motion control mechanism 1100 and capable of moving up and down on the motion control mechanism 1100. A top shell 600 with a control button is arranged at the top end of the lifting rod 200, and a propeller 300 is arranged at the end of the lifting rod 200. A lifting device for driving the lifting rod 200 to move up or down is arranged on one side of the motion control mechanism 1100. The lifting device includes a lifting driver 120 (such as a motor), a rotating shaft 130 connected with the lifting driver 120 and driven to rotate by the lifting driver 120, a driven shaft 140 vertically and freely rotatable above the rotating shaft 130, and a steel cable 150 vertically 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. The first groove 131 and the second groove 141 are arranged staggered. In some embodiments, when the steel cable 150 is installed, the front end thereof is first connected to the front end of the lifting rod 200, the other end thereof is first abutted to the bottom of the first groove 131 and wound upward, then abutted and wound to the upper part of the second groove 141 and then downwardly penetrates through the motion control mechanism 1100, and finally connected to the end of the lifting rod 200. In some embodiments, the top shell 600 is electrically connected with the motion control mechanism 1100, the propeller 300 and the lifting device respectively. The lifting driver 120 is a servo motor with changeable rotating direction, the output shaft of which is connected with the rotating shaft, so that the rotating shaft 130 can be controlled to rotate in clockwise or counterclockwise direction. Since the steel cable 150 wound on the rotating shaft 130 is also wound on the driven shaft 140, when the rotating shaft 130 rotates, the steel cable 150 also drives the driven shaft 140 to rotate together with the rotating shaft 130.

[0154] In some embodiments, when the propelling device 1000 needs to lower the propeller 300 into the water, the control button on the top shell 600 sends an electrical signal to the lifting device, the lifting driver 120 drives the rotating shaft 130 to rotate clockwise, the steel cable 150 is pulled up and pushed through the first groove 131, the second groove 141 drives the driven shaft 140 to rotate clockwise and downward, at this time, the lifting rod 200 connected with the steel cable 150 also descends together to the required depth. Conversely, when the propeller 300 needs to be adjusted in depth or directly lifted out of the water, the control button sends an electrical signal to the lifting device, the lifting driver 120 drives the rotating shaft 130 to rotate counterclockwise, at this time, the steel cable 150 drives the lifting rod 200 to rise to the required height.

[0155] The propelling device 1000 provided by the embodiments of the present application drives the rotating shaft 130 by the lifting driver 120, and the rotating shaft 130 and the driven shaft 140 cooperate with the steel cable 150 to drive the lifting rod 200 to operate in lifting, so as to adjust the draft of the propeller 300 or lift the propeller 300 out of the water. The propelling device 1000 has simple structure, small space occupation, liberates more limited activity space, and is suitable for various types of ships. In addition, the further reduction of parts greatly reduces the production cost and reduces the difficulty of installation and maintenance.

[0156] In some embodiments, the propelling device 1000 further comprises a shell 110 (or a protective shell) arranged on the motion control mechanism 1100, and the lifting device can be partially arranged in the shell 110, so as to prevent the parts from being eroded by sun and rain. Further, when operating, the steel cable 150 inevitably brings water into the lifting device. In order to better protect the lifting driver 120, an isolation chamber 111 can be arranged in the shell 110, the lifting driver 120 is arranged in the shell 110, the rotating shaft 130 and the driven shaft 140 are arranged in the isolation chamber 111, and the lifting of the steel cable 150 is performed in the isolation chamber 111, so that the lifting driver 120 is isolated from the brought water, and the risk of short circuit damage is prevented.

[0157] In some embodiments, the motion control mechanism 1100 comprises a rotating device 400 (or a steering mechanism) sleeved on the lifting rod 200 and capable of driving the lifting rod 200 to rotate, and the lifting device is arranged above the rotating device 400. In some embodiments, only the control button on the top shell 600 needs to be pressed, and the rotating device 400 arranged on the motion control mechanism 1100 drives the lifting rod 200 and the lifting device to rotate together, so that the propeller changes the running direction, and the ship also changes the sailing direction, and the whole operation is simple and convenient.

[0158] One or more embodiments of the present application provide a top flow machine that can be quickly disassembled. In some embodiments, as shown inFigures 7-9 The quick detachable top flow machine shown can include a propelling device 1000 (or referred to as a top flow machine body), which includes a bottom plate 510 for fixing the propelling device 1000 and a rotating device 400 placed on the bottom plate 510.

[0159] In some embodiments, the bottom plate 510 is provided with side plates 520 on both sides, and each side plate 520 is provided with a clamping groove 521 for locking the rotating device 400. The rotating device 400 is provided with a lever mechanism 700 clamped in the clamping groove 521. The lever mechanism 700 can be unlocked or locked on the side plate 520 by pushing or pulling the lever mechanism 700. In some embodiments, the bottom plate 510 is further provided with an opening slot 530 for inverting the propelling device 1000.

[0160] In some embodiments, the propelling device 1000 is provided with the lever mechanism 700 on the rotating device 400. The lever mechanism 700 is clamped and connected with the clamping groove 521. When the lever mechanism is pushed or pulled, the lever mechanism and the side plate 520 can be clamped or unlocked. When the lever mechanism abuts against the innermost end of the clamping groove, the rotating device is fixed on the bottom plate, i.e., the propelling device 1000 is fixed on the bottom plate. The lever is pushed towards the lifting rod of the propelling device, so that the lever mechanism gradually moves away from the clamping groove. When the lever mechanism is separated from the clamping groove, i.e., the rotating device is separated from the bottom plate, the opening slot on the bottom plate can provide a position for the propelling device after it is separated from the bottom plate. The propelling device is inverted, which is beneficial for later maintenance, convenient operation, and convenient fixing of the propelling device on the bottom plate after maintenance. In some embodiments, the side plate can prevent the rotating device from shaking left and right when the propelling device is working, and plays a clamping and fixing role.

[0161] In some embodiments, the lever mechanism 700 can include a locking rod 710 clamped and connected with the clamping groove 521, a connecting rod 720 connected with the rotating device 400, and a hand lever 730 for pushing and pulling. The lever mechanism 700 further includes a connecting piece 740 rotatably connected with the connecting rod 720 near the center side. The locking rod 710 is located at one end of the connecting piece 740, and the hand lever 730 is located at the other end of the connecting piece 740, so that the hand lever 730 can drive the locking rod 710 to slide in the clamping groove 521.

[0162] In some embodiments, when the propelling device 1000 is fixed on a ship, the hand lever is pushed, the connecting piece drives the locking rod to gradually move out of the clamping groove, and the propelling device can be inverted on the ship without disassembling the bottom plate, which is convenient for maintenance and repair of the propelling device. After the maintenance and repair of the propelling device are completed, the propelling device is lifted and placed on the bottom plate, and then the hand lever is pulled, so that the locking rod slides into the clamping groove on the side plate. When the locking rod abuts against the inner part of the clamping groove, the propelling device is fixed on the bottom plate. The whole process is convenient, fast, time-saving and labor-saving.

[0163] In some embodiments, the other side of the pushing device 1000 opposite the lever mechanism 700 is also provided with a locking mechanism 800. The pushing device is provided with a lever mechanism on one side and a locking mechanism on the other side. The lever mechanism and the locking mechanism cooperate to further mount and fix the pushing device on the base plate, preventing the body of the pushing device from tilting to one side.

[0164] In some embodiments, the locking mechanism 800 can include a hinged rod 810 rotatably arranged on the other side of the rotating device 400, and the side plate 520 is provided with a circular groove 522 with an opening. The locking mechanism 800 further includes a positioning part 820 rotatably embedded in the groove 522 and having an opening. The hinged rod 810 is placed in the opening of the positioning part 820, and the hinged rod 810 is rotatably connected to the positioning part 820.

[0165] In some embodiments, the positioning part 820 is embedded in the circular groove with an opening, and the positioning part can rotate 360° in the groove. The opening of the positioning part is rotated to be consistent with the opening direction of the groove, the hinged rod is placed in the opening of the positioning part, and then the positioning part is rotated so that the opening faces downward, and the hinged rod is fixed on the positioning part.

[0166] In some embodiments, a positioning hook 830 with the same opening as the positioning part 820 is fixed outside the positioning part 820, and a handle 840 is arranged on the positioning hook. The positioning hook with the handle is fixed outside the positioning part, and the positioning hook with the handle can facilitate the rotation of the opening positioning part, making it more labor-saving and convenient to rotate.

[0167] In some embodiments, a positioning groove 850 is arranged on the outer periphery of the positioning part 820. In some embodiments, an annular protrusion that cooperates with the positioning groove on the outer periphery of the positioning part can be arranged inside the groove to increase the rotational friction between the positioning part and the groove, so that the positioning part is not easily rotated and causes the hinged rod to be separated from the positioning part.

[0168] In some embodiments, positioning holes 523 are arranged on both sides of the groove 522 on the side plate 520, and a fixed pin 524 can be inserted into the positioning holes 523. As shown in Figure 10 When the opening of the positioning part faces downward, the fixed pin is inserted into the positioning hole, and the fixed pin is clamped in the positioning groove on the opening positioning part, so that the opening positioning part is fixed in the circular groove, i.e., the rotating device is fixed on the side plate.

[0169] In some embodiments, as shown in Figures 11-12As shown, the propulsion device 1000 further comprises a lifting device 100 arranged on one side of the propulsion device lifting rod 200 to lift the lifting rod 200, and the lifting device 100 is used to drive the lifting rod to lift. The lifting device 100 can comprise a lifting driver 120, a rotating shaft 130 drivenly connected with the lifting driver 120, a driven shaft 140 parallel to the rotating shaft 130 and rotationally connected with the rotating shaft 130 through a steel cable 150, and the steel cable 150 is wound around the outer periphery of the rotating shaft 130 and the driven shaft 140, and the two ends are fixed on the upper end and the lower end of the lifting rod 200 through a first fixing device 210 and a second fixing device 220, respectively.

[0170] In some embodiments, the controller can be electrically connected with the rotating device, the propeller and the lifting device, respectively, and the lifting driver is a servo motor with changeable rotating direction, the output shaft of which is connected with the rotating shaft, and the rotating shaft can be controlled to rotate in the clockwise or counterclockwise direction, and the abutting steel cable wound around the rotating shaft is also wound around the driven shaft, so that when the rotating shaft rotates, the steel cable also rotates with the driven shaft following the rotating shaft, that is, the lifting rod can be driven to lift to adjust the draft of the propeller or lift the propeller out of the water. The propulsion device (such as a top flow machine with a lifting device) has a simple structure, occupies a small space, liberates more limited activity space, and is suitable for various types of ships. In addition, due to the further reduction of parts, the production cost is greatly reduced, and the difficulty of installation and maintenance is also reduced. The lifting top flow machine is convenient for the maintenance and repair of the underwater propeller, and does not need to be completely disassembled from the ship for maintenance and repair. A protective shell can be arranged on the outer periphery of the lifting device to prevent the parts from being eroded by sun and rain.

[0171] In some embodiments, the rotating shaft 130 and the driven shaft 140 are vertically offset to arrange a limiting groove for limiting and fixing the steel cable 150. Specifically, the limiting groove can comprise a first groove 131 arranged around the rotating shaft 130 and a second groove 141 arranged around the driven shaft 140. In some embodiments, the limiting groove is in the shape of "V" so that the opening width of the limiting groove 18 gradually narrows from outside to inside.

[0172] In some embodiments, the limiting grooves are in the form of a pulley-type "V" structure, so that the opening width of the limiting grooves gradually narrows from the outside to the inside. In some embodiments, the diameter of the steel cable is preferably 6 mm, the outermost end of the opening width of the limiting grooves is preferably 6.2 mm, and the innermost end is 2 mm. When the steel cable is clamped in the limiting grooves, the driving shaft drives the driven shaft to rotate, and the steel cable gradually rotates inward and tightens during the rotation. Because the opening width of the limiting grooves gradually narrows from the outside to the inside, the steel cable is clamped tighter and tighter in the limiting grooves, so that the friction between the steel cable and the driving shaft and the driven shaft gradually increases. The steel cable is linked by friction with the driving shaft and the driven shaft through the two limiting grooves, preventing the steel cable from slipping during rotation. The limiting grooves on the driving shaft and the driven shaft can prevent the steel cable from shifting position during rotation, making the lifting rod lift smoothly. Because the limiting grooves on the driving shaft and the driven shaft are staggered, the steel cable will not be wound and stacked together when it rotates along the driving shaft and the driven shaft, preventing the steel cable from being clamped and too tight due to mutual winding during rotation, making the lifting process more smooth.

[0173] In some embodiments, the end of the steel cable 150 passes through the first fixator 210, and a first stopper 151 (or called clamping part) is provided on the steel cable 150. An elastic member 250 is provided between the first stopper 151 and the first fixator 210. The upper end of the steel cable passes through the first fixator and is fixed with the first stopper 151 at the end. An elastic member, preferably a spring, is provided between the first stopper 151 and the first fixator. The steel cable passes through the spring, and the spring has high elasticity. When the steel cable is wound and rotated on the driving shaft, the elastic effect of the spring can relieve the upward and downward pressure of the first fixator and the second fixator caused by the tension, further preventing damage to the lifting device.

[0174] In some embodiments, the existing propulsion device generally includes a mounting seat, a mounting rod, and a propeller mounted at the bottom of the mounting rod. The mounting rod generally cannot be adjusted up and down, so the position of the propeller cannot be adjusted, which makes the propulsion device not suitable for use on different height vessels. Therefore, how to design a propulsion device that can adjust the position of the propeller becomes a technical problem to be solved. Therefore, some embodiments of the present specification provide a propulsion device with lifting adjustment function.

[0175] In some embodiments, as shown in Figures 13-20 the propulsion device 1000 (or called electronic anchor with lifting adjustment function) can include a mounting seat 900, a lifting rod 200 that rotates with the mounting seat 900 and can be up and down, a top shell 600 mounted at the top of the lifting rod 200, and a propeller 300 mounted at the bottom of the lifting rod 200.

[0176] In some embodiments, the top shell 600 is provided with a GPS signal receiver, the propeller 300 comprises a sealed shell, a propeller, and a propeller driving motor installed in the shell, the propeller driving motor is a stepping motor, a servo motor, a brushless motor or the like, and is preferably a brushless motor. The driving shaft of the propeller driving motor extends to the outside of the shell and is connected with the propeller to drive the propeller to rotate and provide driving force.

[0177] In some embodiments, the mounting seat 900 is provided with a lifting device 100, the lifting device 100 comprises a shell 110, a lifting driver 120, and a steel cable 150, the shell 110 is rotatably provided with a driving shaft 130 and a driven shaft 140, the driving shaft 130 is provided with a first groove 131 (or referred to as a first annular groove), the cross section of the first groove 131 is in a V-shaped structure or a trapezoidal structure with a wide upper part and a narrow lower part, and preferably the cross section of the first groove 131 is in a trapezoidal structure with a wide upper part and a narrow lower part. The driven shaft 140 is arranged above the driving shaft 130 and is provided with a second groove 141 (or referred to as a second annular groove) which is staggered with the first groove 131, the cross section of the second groove 141 is in a semicircular shape or a trapezoidal structure with a wide upper part and a narrow lower part, and preferably the cross section of the second groove 141 is in a semicircular shape. The steel cable 150 is wound around and clamped with the lower side wall of the first groove 131 and is wound around the upper part of the second groove 141, and the upper and lower ends of the steel cable 150 are connected with the upper and lower ends of the lifting rod 200. The clamping and winding of the steel cable 150 with the lower side wall of the first groove 131 can ensure that the steel cable 150 can be clamped between the two inclined side walls of the first groove 131 when the driving shaft 130 drives the steel cable 150 to move, so as to prevent the steel cable 150 from slipping. The lifting driver 120 is drivingly connected with one end of the driving shaft 130 to drive the driving shaft 130 to rotate and drive the lifting rod 200 to lift.

[0178] In some embodiments, in order to further prevent the steel cable 150 from slipping with the driving shaft 130, anti-skid protrusions are arranged on the two side walls of the first groove 131, the anti-skid protrusions are in a strip shape or a bent shape, one end of each anti-skid protrusion extends to the bottom of the first groove 131, and the other end extends to the edge of the slot of the first groove 131, and a plurality of anti-skid protrusions are uniformly distributed along the side walls of the first groove 131.

[0179] In some embodiments, the lifting driver 120 is a lifting driving motor or a ratchet, the lifting driving motor is installed in the shell 110, the driving shaft of the lifting driving motor is connected with the driving shaft 130 through a shaft coupling, and the ratchet is arranged outside the shell 110 and extends into the shell 110 at one end and is connected with the driving shaft 130. In some embodiments, the lifting driver 120 is a lifting driving motor, the lifting driving motor is a servo motor or a stepping motor with a locking function, and preferably the lifting driving motor is a servo motor with a locking function.

[0180] In some embodiments, when the lifting driver 120 drives the main shaft 130 to rotate clockwise, the part of the steel cable 150 above the shell 110 is driven to move downward and clamps around the lower part of the first groove 131, then winds around the upper part of the second groove 141 upward and is transported downward, the downward movement of the steel cable 150 links the downward movement of the lifting rod 200, and drives the pusher 300 to move downward, when the lifting driver 120 drives the main shaft 130 to rotate counterclockwise, the upward movement of the steel cable 150 links the upward movement of the lifting rod 200, and drives the pusher 300 to move upward, so as to realize the adjustment of the position of the pusher 300.

[0181] In some embodiments, the rotating device 400 is installed on the mounting seat 900, and the rotating device 400 is drivingly connected with the lifting rod 200 to drive the lifting rod 200 to rotate, the rotation of the lifting rod 200 links the rotation of the pusher 300, and further realizes the steering adjustment.

[0182] In some embodiments, the rotating device 400 comprises 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 seat 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 driving shaft of the rotating driver 430, the sleeve 460 is rotatably fitted in the through hole on the mounting seat 900, specifically, the upper and lower ends of the sleeve 460 are respectively sleeved with the second bearings 470, the two second bearings 470 are installed in the through hole on the mounting seat 900, the upper and lower sides of the second bearings 470 are respectively installed with oil seal rings, the driven gear 450 is fixedly sleeved outside the sleeve 460, the nylon sleeve 480 is fixedly connected inside the sleeve 460, the nylon sleeve 480 is provided with a through hole for the steel cable 150 to pass through, the lifting rod 200 is rotatably and movably fitted with the through hole on the nylon sleeve 480. The wall thickness of one side of the nylon sleeve 480 provided with the through hole for the steel cable 150 to pass through is relatively thicker than the wall thickness of the other side, as shown in the cross-sectional view, that is, the left side wall thickness of the nylon sleeve 480 is relatively thicker than the right side wall thickness. In some embodiments, the lower bottom plate 118 of the shell 110 is provided with a through hole at the right end, the right end of the lower bottom plate 118 is fixedly connected to the top of the sleeve 460 by bolts, the second limiting structure 240 is fixedly connected to the right end of the lower bottom plate 118 of the shell 110, the first limiting structure 230 is movably fixedly connected to the upper end of the lifting rod 200, one of the second limiting structure 240 and the first limiting structure 230 is provided with a plug-in part 231, and the other is provided with a plug-in groove 241 matched with the plug-in part 231. In some embodiments, preferably, the second limiting structure 240 is provided with the plug-in groove 241, and the first limiting structure 230 is provided with the plug-in part 231. Among them, the plug-in groove 241 is V-shaped or U-shaped, the plug-in part 231 is triangular or rectangular, preferably the plug-in groove 241 is V-shaped, and the plug-in part 231 is triangular. In some embodiments, when the plug-in part 231 is matched with the plug-in groove 241, the rotating driver 430 drives the driving gear 440 to drive the driven gear 450 to rotate, the driven gear 450 drives the sleeve 460 to rotate, the sleeve 460 rotates to drive the second limiting structure 240 to rotate, the second limiting structure 240 drives the first limiting structure 230 to drive the lifting rod 200 to rotate, the lifting rod 200 drives the propeller 300 to rotate, thereby realizing the steering adjustment of the propeller 300.

[0183] In some embodiments, the first limiting structure 230 includes a collar 233 provided with a collar gap 234, a plug portion 231 provided outside the collar gap 234 and fixedly connected with the collar 233, and an abutting plate 235 provided inside the collar gap 234, the abutting plate 235 is provided with a connecting column 236 matched with a through hole on the plug portion 231, the plug portion 231 is provided with a threaded through hole 232 corresponding to the abutting plate 235, and a locking screw for pressing and fixing the abutting plate 235 against the lifting rod 200 is matched with the threaded through hole 232.

[0184] In some embodiments, the upper end of the lifting rod 200 is provided with an adjusting assembly 260 for adjusting the tightness of the steel cable 150, the adjusting assembly 260 includes a first fixer 210, an elastic member 250, and a first stopper 151 (or a wire lock), the first fixer 210 is provided with a through hole for the steel cable 150 to pass through, and the first fixer 210 is adjustably fixed on the lifting rod 200. Specifically, the first fixer 210 includes two semicircular clamping members which are tightly connected on the lifting rod 200 by bolts, the first stopper 151 is locked on 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 of the elastic member 250 abuts against the first fixer 210. The tightness of the steel cable 150 can be adjusted by adjusting the position of the first fixer 210 up and down. The lower end of the lifting rod 200 is fixedly connected with a second fixer 220, and the lower end of the steel cable 150 is fixedly connected with the second fixer 220.

[0185] In some embodiments, a magnetic induction switch is mounted on the annular protrusion at the bottom of the mounting seat 900, and a magnetic block is connected to the lower end of the lifting rod 200. Specifically, the magnetic block is mounted on the second fixer 220 at the lower end of the lifting rod 200, and the magnetic induction switch is arranged in correspondence with the magnetic block up and down. When the lifting rod 200 is driven to rise, the magnetic block can approach the magnetic induction switch, so that the magnetic induction switch is triggered.

[0186] In some embodiments, the propulsion device 1000 further includes an electric control assembly, which includes a central control host and an elevation drive motor driver, a rotation drive motor driver, and a propulsion drive motor driver electrically connected with the central control host. The elevation drive motor driver, the rotation drive motor driver, and the propulsion drive motor driver are electrically connected with an elevation drive motor, a rotation drive motor (such as the rotation driver 430), and a propulsion drive motor, respectively. A GPS signal receiver is electrically connected with the central control host, and the central control host is used to control the start and stop of each motor.

[0187] In some embodiments, the left end of the mounting seat 900 is hingedly connected to the base 500 (or referred to as a mounting base) through the hinge rod 810, that is, the left end of the mounting seat 900 is connected with the hinge rod 810, and the two ends of the hinge rod 810 are hingedly connected to the through holes on the base 500. The right side of the mounting seat 900 is provided with a transversely structured through hole 421 (such as a strip-shaped through hole), and the right side of the mounting seat 900 is hingedly connected with the lever mechanism 700 (or referred to as a turnover frame). Specifically, the rod body in the middle of the lever mechanism 700 is hingedly connected to the hinge holes on the mounting seat 900 through hinge bolts at both ends, the lower end of the lever mechanism 700 is connected with the locking rod 710, and the two ends of the locking rod 710 pass through and movably connect with the two through holes 421. In some embodiments, the right side of the base 500 is provided with a clamping groove 521, and pulling the upper end of the lever mechanism 700 to the right can make the two ends of the locking rod 710 correspondingly clamped in the two clamping grooves 521, at this time, the mounting seat 900 is locked and cannot be turned over; when pulling the upper end of the lever mechanism 700 to the left, the two ends of the locking rod 710 are disengaged from the two clamping grooves 521, at this time, the mounting seat 900 is unlocked, and pulling the lever mechanism 700 to the left and upward can turn over the mounting seat 900, which is convenient for maintaining the thruster 300. When pulling the lever mechanism 700 to the left or to the right, the two ends of the locking rod 710 move in a certain arc path in the through hole 421, when the through hole 421 is in a horizontal state, the gap between the locking rod 710 and the inner wall of the through hole 421 is kept when the two ends of the locking rod 710 are placed in the through hole 421, so that the two ends of the locking rod 710 can swing in a certain arc in the through hole 421. When the through hole 421 is arc-shaped, the arc-shaped structure of the through hole 421 matches the arc-shaped path of the swinging of the locking rod 710, so that the two ends of the locking rod 710 can swing in a certain arc in the through hole 421.

[0188] Some embodiments of the present specification provide a lifting device on the propulsion device, when the lifting drive drives the driving shaft to rotate clockwise, the part of the steel cable above the shell is driven to move downward and clamped to pass through the lower part of the first annular groove, and then to pass through the upper part of the second annular groove and to be transported downward, the downward movement of the steel cable links the lifting rod to move downward, driving the thruster to move downward, when the lifting drive drives the driving shaft to rotate counterclockwise, the upward movement of the steel cable links the lifting rod to move upward, driving the thruster to move upward, so as to adjust the position of the thruster, thereby being suitable for use in various ships with different heights, the propulsion device has simple structure, small space occupation and good practicability.

[0189] The propulsion device can help the ship to travel or park on the water. The propulsion device includes a propeller (or called a propulsion power unit). When working, the propeller can be located underwater to provide the required power for the ship to travel or park. When stopping working, the propeller can be lifted out of the water to facilitate daily cleaning or maintenance, which helps to prolong the service life of the propeller. In some embodiments, the propulsion device further includes a lifting rod. The propeller is connected to the lower end of the lifting rod. When the propeller needs to work, the lifting rod can be driven to descend, thereby extending the propeller underwater. When the work is finished, the lifting rod can be driven to ascend, thereby lifting the propeller out of the water.

[0190] In order to efficiently drive the propeller to ascend or descend, a lifting power device (which can also be called a lifting device in some embodiments of the present specification) is usually used to realize the lifting and lowering of the propeller. In some embodiments, a hydraulic mechanism or a gear transmission mechanism can be used as the lifting power device to provide the power for lifting and lowering. However, the hydraulic device needs to be provided with various equipment such as a hydraulic cylinder. This form of lifting power device has a complex structure and a large number of components, which not only makes the assembly cost high but also greatly occupies the use space. In the use scene of the ship, which has limited space, it is difficult to be used in large quantities. The gear transmission mechanism needs to be provided with multiple gear sets to cooperate with each other, which still leads to a large number of components of the device, high production cost, complicated installation process, and inconvenient maintenance. For example, under the long-term corrosion of seawater, the teeth of the gear are easy to be damaged, thereby causing the device to be disabled.

[0191] Therefore, some embodiments of the present specification propose a propulsion device with a lifting function. The traction type lifting device in the propulsion device has a simple structure and can reliably drive the propeller to ascend or descend.

[0192] Figure 21 is a structural schematic diagram of a propulsion device according to some other embodiments of the present specification. As shown in Figure 21 the propulsion device 1000 includes a lifting rod 200, a propeller 300, and a lifting device 100.

[0193] The propeller 300 works underwater. It generates a force for the ship to travel or park by affecting the movement of the water flow. In some embodiments, the propeller 300 can include a propeller and a power unit. The power unit drives the propeller to rotate, thereby affecting the movement of the water flow to generate a reaction force to propel the ship to travel or enable the ship to park in the water flow. The power unit can be an electric machine, a motor, or the like. It is driven by electricity to convert electrical energy into mechanical energy. The propeller 300 is connected to the lower part of the lifting rod 200. When the lifting rod 200 descends, the propeller can enter the water. Specifically, the propeller 300 can be connected to the lifting rod 200 by thread cooperation, screw connection, welding, clamping, or the like. The lifting device 100 is used to drive the lifting rod 200 to ascend or descend, thereby driving the propeller 300 to ascend or descend.

[0194] Figure 22 is a structural schematic diagram of a lifting device according to some other embodiments of the present specification. As shown in Figure 22 , the lifting device 100 comprises a shell 110, a lifting driver 120 arranged in the shell 110, a rotating shaft 130 driven by the lifting driver 120, and a driven shaft 140 arranged above the rotating shaft 130.

[0195] The lifting driver 120 can be a motor, and as an example, the lifting driver 120 can be a stepper motor, a reluctance motor, a hysteresis motor, a permanent magnet motor, etc. The lifting driver 120 can have a rotating shaft, and the rotating shaft can be coaxially fixedly connected with the rotating shaft 130. Coaxial fixed connection means that the rotating shafts of two objects are fixed together, and the two objects can rotate synchronously. As an example, the rotating shaft 130 is provided with a mounting hole along its rotating axis, and the rotating shaft of the lifting driver 120 can be fixedly connected with one end of the mounting hole of the rotating shaft 130 through clamping, bonding, welding, etc., so that the rotating axes of the two are collinear and fixed together. When the rotating shaft of the lifting driver 120 rotates, it can drive the rotating shaft 130 to rotate. In some optional embodiments, a first fixing rod is arranged on the side wall of the shell 110, and the other end of the mounting hole of the rotating shaft 130 is sleeved on the first fixing rod, which serves to stabilize the rotating shaft 130 and make its rotation more stable.

[0196] In some embodiments, continuing to refer to Figure 22 , the driven shaft 140 is arranged above the rotating shaft 130. As an example, a second fixing rod can be fixedly arranged on the inner wall of the shell 110, and the position of the second fixing rod is above the aforementioned first fixing rod, and the driven shaft 140 is sleeved on the second fixing rod. In some other embodiments, the two ends of the driven shaft 140 can also be rotatably arranged on the shell 110 through bearings. Similarly, the end of the rotating shaft 130 which is not connected with the rotating shaft of the lifting driver 120 can also be rotatably arranged on the shell 110 through a bearing.

[0197] In some embodiments, the lifting device 100 further comprises a steel cable 150 used in cooperation with the rotating shaft 130 and the driven shaft 140. The rotating shaft 130 is provided with a first groove around it for winding the steel cable 150, and the driven shaft 140 is provided with a second groove around it for winding the steel cable 150. One end of the steel cable 150 is connected with the upper end of the lifting rod 200, such as being fixed to Figure 21 A shown in the figure. The steel cable 150 is wound against at least part of the first groove and at least part of the second groove. The other end of the steel cable 150 is connected with the lower end of the lifting rod 200, such as being fixed to Figure 21 B shown in the figure.

[0198] Continue to see Figure 22 In some embodiments, the steel cable 150 can be wound from top to bottom and then upwards against the first groove of the rotating shaft 130, and then from bottom to top and then downwards 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 tendency 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 tensioned state, and the driven shaft 140 rotates accordingly driven by the steel cable 150. More specifically, from Figure 22 Observing from the left side, when the rotating shaft 130 rotates clockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed down, and the lifting rod 200 descends. When the rotating shaft 130 rotates counterclockwise, the steel cable 150 tightly wound around the rotating shaft 130 is pushed up, and the lifting rod 200 rises. Finally, the lifting drive 120 realizes the lifting and lowering movement of the propeller 300 by forward or reverse rotation. 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 rotating shaft of the motor can be locked and stopped, so that the rotating shaft 130 is also locked and stopped from rotating. The effective friction between the steel cable and the shaft can prevent the steel cable from slipping relative to the shaft, and finally the lifting rod 200 and the propeller 300 are stably stopped at a certain lifting height, and the propeller 300 can work stably underwater at a certain depth. In some embodiments, the first groove and the second groove can be staggered in the vertical direction. See 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 under the action of 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.

[0199] As described above, 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 the thruster can be effectively driven to lift and stay in the lifted position. In order to further increase the friction force between the steel cable and the rotating shaft, in some embodiments, the opening width of the first groove in the surface of the rotating shaft is not greater than the diameter of the steel cable. In some embodiments, the opening width of the first groove in the surface of the rotating shaft can be 60% to 100% of the diameter of the steel cable 150. In some embodiments, the opening width of the first groove in the surface of the rotating shaft can be 70% to 80% of the diameter of the steel cable 150. As an example, the opening width of the first groove in 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, etc. The steel cable generally refers to a steel wire bundle twisted around a fiber core or a steel wire rope core by a plurality of steel wire ropes, which has a rough surface and a certain flexibility. In actual use, when the steel cable is pressed against 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 force and improving the reliability of the lifting device to avoid the steel cable from slipping.

[0200] However, a large friction force can easily cause the surface of the steel cable or the rotating shaft to be worn on the other hand. For example, long-term use can cause the diameter of the steel cable to decrease or the width of the first groove to increase, or both. In order to maintain a high reliability of the lifting device for a long time, in some embodiments, the opening width of the first groove in 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, the steel cable and the first groove after wear still have a large contact area, and the contact surface between them has an effective large friction force. In some embodiments, the width of the bottom of the first groove can be set to be 20% to 50% of the diameter of the steel cable 150. In some embodiments, the width of the bottom of the first groove can be set to be 30% to 40% 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, etc. In yet some embodiments, in order to make the first groove have a shape of wide opening and narrow bottom, the cross section of the first groove can be specifically set to be V-shaped or trapezoidal. Further, the angle between the side of the cross section of the first groove and the height direction of the cross section (such as the angle a shown in the figure) can be 10° to 45°. As an example, the aforementioned angle can be 12°, 18°, 25°, 30°, or 35°, etc. In some embodiments, the angle between the side of the cross section of the first groove and the height direction of the cross section (such as the angle a shown in the figure) can be 25° to 35°. Figure 23 Figure 23 ​​

[0201] Figure 23 is a cross-sectional view of a rotating shaft according to some embodiments of this specification. Figure 23 As shown, the cross-section of the first groove 131 is trapezoidal. The width Wup of the upper base of the trapezoid is no greater than the diameter of the cable. Taking a cable with an 8 cm diameter as an example, the width Wup of the upper base can be set between 5 and 8 cm, with specific values ​​of 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 between 2 and 4 cm, with specific values ​​of 2.5 cm, 3 cm, 3.5 cm, etc. To more intuitively understand the beneficial effects of this first groove configuration, let's assume that the cable has an 8 cm diameter, 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 cable diameter is larger than the width of the upper opening of the first groove, due to the cable's sufficient room for deformation, a portion of the cable can be squeezed into the first groove under pressure, resulting in a larger contact area between the cable and the sidewalls of the first groove and generating greater friction. As the use time increases, the steel cable is worn and becomes thinner. Since the cross-section of the first groove is wide at the top and narrow at the bottom, the steel cable will not fall completely into the first groove. At this time, under the action of pressure, only a part of the steel cable is still squeezed into the first groove and has a large contact area with the side wall of the first groove. It can be seen that such a groove structure can make the propulsion device, even after a certain period of use, its lifting device can still stably drive the propeller to lift or maintain it at a certain height, with high reliability, extending the service life of the device. In some embodiments, in order to prevent the steel cable from eventually falling completely into the first groove due to long-term wear, the depth of the first groove can 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. As an 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. As shown in FIG. Figure 23 The height D of the cross section of the first groove is equal to or less than the diameter of the steel cable. For example, taking the diameter of the steel cable as 8 cm, the depth of the first groove can be 5 to 8 cm, specifically 5.5 cm, 6 cm, etc.

[0202] In some embodiments, in order to further increase the friction between the steel cable and the rotating shaft, the sidewall of the first groove may be provided with anti-slip lines. The anti-slip lines may be formed on the sidewall of the first groove by etching, engraving, cladding, etc. The anti-slip lines may be irregular or regular. Figure 24 and Figure 25 , the side wall 133 of the first groove 131 of the rotating shaft can be provided with a thread.

[0203] When the propeller is working, it needs to adjust the orientation according to the water flow direction or the advancing direction, therefore, the propelling device can further comprise a rotating device for driving the propeller to rotate. As shown in Figure 21 the propelling device further comprises a rotating device 400, the lifting device 100 is fixedly arranged on the rotating device 400, and the rotating device 400 is capable of driving the lifting device 100 and the lifting rod 200 to rotate together, thereby driving the propeller 300 to change its orientation.

[0204] Figure 26 is a schematic view of the connection between the lifting device and the rotating device according to some embodiments of the present specification. As shown in Figure 26 the rotating device 400 comprises a connecting portion 410, which is capable of rotating under the action of a rotating driver of the rotating device 400. Similar to the lifting driver, the rotating driver can be a motor, specifically a stepper motor, a reluctance motor, etc. The lifting device 100 is fixedly arranged on the connecting portion 410, for example, the two can be fixedly connected through screw connection, welding, clamping, etc. The connecting portion 410 is further provided with a first guide hole 411 with a larger diameter and a second guide hole 412 with a smaller diameter, the lifting rod 200 is arranged in the first guide hole 411, and the steel cable 150 of the lifting device is arranged in the second guide hole 412. Since the lifting rod 200 is connected with the lifting device 100 through the steel cable 150, when the rotating device 400 drives the lifting device 100 to rotate, the lifting rod 200 can rotate in the first guide hole 411, thereby changing the orientation of the propeller 300.

[0205] Some embodiments of the present specification further provide a traction type lifting power device (or referred to as the lifting device 100), comprising a lifting driver, a rotating shaft driven by the lifting driver, and a driven shaft arranged above the rotating shaft. A first groove for winding the steel cable is arranged around the rotating shaft, and a second groove for winding the 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 the sidewall of the first groove is provided with anti-skid lines. In some embodiments, the width of the opening is not greater than the diameter of the steel cable used in cooperation. For more information about the lifting power device, please refer to the description of the lifting device in Figures 21-26 the related description, which will not be repeated here.

[0206] The beneficial effects that some embodiments of the present specification can bring include but are not limited to: (1) the lifting device provided by some embodiments of the present 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 improve the reliability of the device, and help to prolong the service life of the device. It should be noted that different embodiments may have different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of several of the above, or any other beneficial effect that can be obtained.

[0207] In some embodiments, in order to conveniently drive the lifting rod to move in different directions, the lifting rod can be inserted into the through hole of the rotating device, and the lifting rod can rotate under the drive of the rotating device while being able to ascend or descend in the through hole under the drive of the lifting device. As shown in Figure 21 The lifting rod 200 is inserted into the first guide hole of the rotating device 400, the lifting device 100 is arranged on the rotating device 400, and the lifting device 100 and the lifting rod 200 have a transmission connection, which can drive the lifting rod 200 to ascend or descend. The rotating device 400 and the lifting device 100 have a transmission connection, which can drive the lifting device 100 to rotate. Since the lifting device 100 and the lifting rod 200 have a direct transmission connection relationship, the rotating device 400 can indirectly drive the lifting rod 200 to rotate. The aforementioned transmission connection can be understood as that two objects have intermediate mechanical structures such as cables, connecting rods, gears for transmission, or can be understood as that two objects are fixed by bonding, welding, screw connection and the like, so that the two objects can be linked. In some embodiments, part of the rotating device 400 can be fixed on the ship, for example, it can be fixed on the deck at the tail of the ship, so as to realize the fixed installation of the whole propulsion device.

[0208] Since the lifting rod is inserted into the rotating device, when the lifting rod continuously ascends, the propeller at the lower end of the lifting rod may collide with the bottom of the rotating device, causing damage to the propulsion device.

[0209] To this end, some embodiments of the present specification propose a pushing device with a limit control function, in addition to comprising the aforementioned parts, further comprising a controller and a first limit sensor. Wherein the first limit sensor can be arranged at the lower side of the rotating device and / or at a position of the lower half region of the lifting rod, and the output signal of the first limit sensor can reflect the distance information between the position of the lower half region of the lifting rod and the rotating device. Wherein the lower side of the rotating device can be a certain region on the lower surface of the rotating device, and further can be a region near the opening of the first guide hole on the lower surface of the rotating device. The lower half region of the lifting rod can also be referred to as the lower half section of the lifting rod, and the position of the lower half region can be any position of the lower half section of the lifting rod, for example, can be a position near the lower end of the lifting rod. The controller has signal connection with the first limit sensor and the lifting device, and can control whether the lifting device is stopped based on the output signal of the first limit sensor. Specifically, when the controller determines that the distance between the position of the lower half region of the lifting rod and the rotating device is close based on the output signal of the first limit sensor, the controller controls the lifting device to stop, thereby effectively preventing the lifting device from continuously driving the lifting rod to rise and causing the pusher to collide with the rotating device.

[0210] In some embodiments, the first limit sensor can be a switch sensor, a magnetic induction sensor, an infrared or laser transmission-receiving sensor, etc. For example, the switch sensor can be arranged at the lower side of the rotating device or at a position of the lower half region of the lifting rod, and correspondingly, a stopper or other structural member can be arranged at the position of the lower half region of the lifting rod or the lower side of the rotating device, when the two are close, the stopper or other structural member touches the switch sensor, the switch sensor outputs a valid electrical signal to the controller, and the controller can determine that the position of the lower half region of the lifting rod is close to the rotating device when receiving the valid electrical signal. When the first limit sensor is a magnetic induction sensor, the installation method of the magnetic induction sensor can be similar to that of the switch sensor, except that a magnetic element is correspondingly arranged at the position of the lower half region of the lifting rod or the lower side of the rotating device. Exemplary magnetic elements can be permanent magnets, silicon steel sheets, soft ferrite, etc. When the two are close, the magnetic element is close to the magnetic induction sensor, the magnetic induction sensor outputs a valid electrical signal to the controller, and the controller can determine that the position of the lower half region of the lifting rod is close to the rotating device when receiving the valid electrical signal. When the first limit sensor is a transmission-receiving sensor, the transmitting end of the sensor can be arranged at a position of the lower half region of the lifting rod or the lower side of the rotating device, and correspondingly, the receiving end of the sensor can be arranged at a position of the lower half region of the lifting rod or the lower side of the rotating device, or vice versa. When the two are close, the receiving end can receive the infrared or laser emitted by the transmitting end, the sensor outputs a valid electrical signal to the controller, and the controller can determine that the position of the lower half region of the lifting rod is close to the rotating device when receiving the valid electrical signal.

[0211] In some embodiments, the controller can be signal connected with the first limit sensor through a cable or wireless communication, so as to receive the output signal of the first limit sensor. Similarly, the controller can also be signal connected with the lifting device through a cable or wireless communication. In some embodiments, the power of the lifting device and the rotating device are controlled by the controller, and the controller can specifically control the start, stop, movement stroke, running speed, etc. of the corresponding power. When the controller receives the valid electrical signal from the first limit sensor, a stop signal can be output to the power of the lifting device, so that the lifting device stops and no longer runs.

[0212] Figure 27 is a bottom view of the rotating device according to some embodiments of the present specification, from Figure 27 It can be observed from the above that the lower surface of the rotating device 400 has a lower opening of the first guide hole 411 and a lower end surface of the side wall of the first guide hole 411, and the lower opening of the second guide hole 412 can also be observed on the aforementioned 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 magnetic elements, stop rods, structural components, etc.) can be specifically the lower end surface of the side wall of the first guide hole 411. As an example, Figure 27 the lower end surface of the side wall of the first guide hole 411 of the rotating device is provided with the first magnetic induction sensor 202.

[0213] Figure 28 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 the present specification. As Figure 28In some embodiments, the propulsion device can include a second fixture 220, which is detachably fastened to the lifting rod 200. For example, the second fixture 220 can be a clamp structure, which further includes a metal ring with an opening, for example. The lifting rod 200 can be clamped into the metal ring from the opening, and the two ends of the metal ring at the opening can be fastened together by a screw. The diameter of the metal ring can be appropriately configured to fasten the metal ring to the lifting rod 200. Further, the lifting rod 200 can be provided with a limiting structure such as a protrusion or a groove at different height positions, and the second fixture 220 can be arranged at the protrusion or the groove at the corresponding height position to increase the fastening degree of the second fixture 220 to the lifting rod 200 and prevent the second fixture 220 from sliding up and down. For another example, the second fixture 220 is a closed metal ring with a diameter matching the diameter of the lifting rod 200. The lifting rod 200 can be clamped in the metal ring, and the metal ring can be provided with a threaded hole along the radial direction thereof. After the metal ring is clamped on the lifting rod 200, a screw can be assembled in the threaded hole, and the screw can be rotated to control the pushing degree, so that the screw abuts against the lifting rod 200 to fasten the metal ring. The second fixture 220 is provided with a through hole along the axial direction of the ring or along the length direction of the lifting rod 200. The other end, such as the lower end, of the steel cable 150 passes through the through hole of the second fixture 220 from top to bottom, and the lower end of the steel cable 150 is fixedly provided with a second stopper 152, which can abut against the second fixture 220 to fasten the steel cable 150 when the steel cable 150 is pulled tight. Specifically, after the lower end of the steel cable 150 is clamped in the through hole, the second stopper 152 can be fixed to the lower end of the steel cable 150 by means of clamping, threaded cooperation, bonding or welding, etc. The diameter of the cross section of the second stopper 152 or the size of at least one radial direction thereof is greater than the diameter of the through hole of the second fixture 220, so that the second stopper 152 can abut against the second fixture 220 to fasten the steel cable 150 when the steel cable 150 is pulled tight. In some embodiments, the second fixture can be provided with a first limiting sensor or related devices (such as magnetic elements, stop rods, etc.) thereon. For example, the second fixture 220 is provided with a first magnetic element 201. For a traction lifting device, the first limiting sensor can also prevent the lifting rod from being pulled off when the lifting rod is raised to the limit position. Figure 28 For example, the second fixture 220 is provided with a first magnetic element 201. For a traction lifting device, the first limiting sensor can also prevent the lifting rod from being pulled off when the lifting rod is raised to the limit position.

[0214] In some embodiments, the first limiting structure is arranged at a position of the lifting rod, and the upper side of the rotating device is provided with a second limiting structure matched with the first limiting structure, and the second limiting structure is rotatable under the drive of the rotating device. The first limiting structure and the second limiting structure are matched with each other to limit and block the lifting rod when the lifting rod is lowered to a certain height. The certain height can be the height corresponding to the underwater depth required by the propeller when working. Figure 21 In addition, Figure 29 In some embodiments, the first limiting structure 230 is detachably fastened to the lifting rod 200. For example, the lifting rod 200 is provided with screw holes at different heights, and the first limiting structure 230 can be fixed at a certain height of the lifting rod 200 by screws. In other alternative embodiments, the first limiting structure 230 can be fixed on a hoop structure or a closed ring which is detachably fixed at different height positions of the lifting rod 200. For the connection mode of the hoop structure or the closed ring with the lifting rod 200, please refer to the relevant description of the second fastener, which will not be repeated here. In some embodiments, the second limiting structure 240 has a third guide hole, and the second limiting structure 240 can be arranged on the upper side of the rotating device 400 and make the first guide hole correspond to the third guide hole, and the lifting rod 200 can be arranged in the two guide holes at the same time. As an example, the second limiting structure 240 can be installed on the connecting part 410 of the rotating device 400, and the third guide hole is aligned with the first guide hole 411. The second limiting structure 240 is provided with a groove. In order to realize the clamping, the groove on the second limiting structure 240 is matched with the first limiting structure in shape. As shown in the figure, the first limiting structure 230 can have a V-shaped part protruding from the surface of the lifting rod 200, and correspondingly, the groove on the second limiting structure 240 is a V-shaped groove. In this way, Figure 29 As an example, the first limiting structure 230 can be fixed at a certain height of the upper half of the lifting rod 200, and when the lifting rod 200 is lowered to a certain height, the first limiting structure 230 can be clamped into the second limiting structure 240. At this time, the lifting rod 200 cannot continue to be lowered, and when the rotating device stops working, the lifting rod 200 also cannot be randomly rotated and shaken in the guide hole. Adjusting the height of the first limiting structure 230 on the lifting rod 200 can make the propeller work stably at a proper depth underwater, and its direction cannot be changed randomly due to human, wind or water force. In addition, the cooperation of the V-shaped part and the V-shaped groove can also have the effects of buffering and automatic alignment. Specifically, factors such as device processing precision and friction between components can cause the lifting rod to have a certain deviation, so that the first limiting structure and the second limiting structure are not completely aligned. When the lifting rod is lowered to make the first limiting structure move to cooperate with the second limiting structure, the cooperation of the V-shaped part can have the effects of buffering and automatic alignment.

[0215] In some embodiments, the propulsion device can further comprise a second limit sensor, which can be arranged at the first limit structure and / or the second limit structure, and the output signal of the second limit sensor reflects the distance information between the first limit structure and the second limit structure. The second limit sensor is also in signal connection with the controller, so that the controller can control the lifting device to stop based on the output signal of the second limit sensor. In this way, the two limit structure members can be prevented from being damaged due to mutual collision when the lifting rod is descending, and the steel cable can also be prevented from being broken when the lifting rod is descending to the limit position. Similar to the first limit sensor, the second limit sensor can be a switch sensor, a magnetic induction sensor or a reflection sensor, etc. The specific mounting mode of the second limit sensor at the first limit structure and the second limit structure can refer to the mounting mode of the first limit sensor at the lower side of the rotating device and at a certain position of the lower half region of the lifting rod. For example, Figure 29 As an example, the second magnetic induction sensor 204 is arranged in the V-shaped groove of the second limit structure 240, and the second magnetic element 203 is arranged on the V-shaped part of the first limit structure, or vice versa.

[0216] In some embodiments, the controller can be in signal connection with the second limit sensor through a cable or wireless communication, etc., so as to receive the output signal of the second limit sensor. When the controller receives a valid electrical signal from the second limit sensor, a stop signal can be output to the power device of the lifting device, so that the lifting device stops and no longer operates.

[0217] The beneficial effects brought by some embodiments of the present specification can include but are not limited to: (1) the first limit sensor arranged at the lower half region of the lifting rod and / or the lower side of the rotating device can effectively prevent the propeller from colliding with the bottom of the rotating device when the lifting rod is ascending; (2) for the traction type lifting device, the arrangement of the first limit sensor can also prevent the steel cable from being broken when the lifting rod is ascending to the limit position; (3) the arrangement of the first limit structure and the second limit structure can make the rotating device stop working, i.e., when the lifting rod is rotated to the position, the propeller can be prevented from being randomly rotated and shaken under the action of other external forces, and the orientation can be changed; (4) the arrangement of the second limit sensor at the first limit structure and / or the second limit structure can prevent the two limit structure members from being damaged due to mutual collision, and the steel cable can also be prevented from being broken when the lifting rod is descending to the limit position. It should be noted that different embodiments can have different beneficial effects, and in different embodiments, the beneficial effects can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0218] Some embodiments of the present specification propose a propulsion device with lifting function, wherein the traction type lifting device has simple structure and can reliably drive the propeller and other components with large weight to perform lifting movement.

[0219] Figure 30 is a structural schematic diagram of a lifting device according to yet some embodiments of the present specification. As shown in Figure 30 the lifting device 100 comprises a housing 110, a lifting driver 120 arranged in the housing 110, a rotating shaft 130 driven by the lifting driver 120, and a driven shaft 140 arranged above the rotating shaft 130.

[0220] The lifting device provided by some embodiments of the present specification realizes the lifting driving of the lifting rod and the propeller through the rotating shaft, the driven shaft and the steel cable, and can be regarded as a traction type lifting device, which has simple structure and does not need hydraulic mechanism or gear, and is convenient to maintain. In order to make the lifting device more reliably realize the lifting driving of the lifting rod and the propeller, and to ensure that the lifting rod and the propeller can stably stay at the height reached by the lifting motion, at least the contact surface between the rotating shaft and the steel cable needs to have sufficient effective friction. The foregoing friction is positively correlated with the weight of the driven object. When the propeller needs to provide greater propelling force, the blades of the configured propeller will be larger, and the power of the power device will also be larger, which often leads to the increase of the weight of the propeller. Correspondingly, in order to improve the connection strength of the lifting rod and the propeller, a lifting rod with higher material density also needs to be configured, and thus the weight of the lifting rod will also increase. In order to make the traction type lifting device provide greater effective friction, some embodiments of the present specification increase the number of grooves on the rotating shaft and the driven shaft, so that the steel cable can have more winding turns on the two shafts, and the reliability of the lifting device is improved.

[0221] 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 wound around at least part of each first groove, and is wound around at least part of each second groove.

[0222] 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.

[0223] In some embodiments, when the lifting driver 120 is in operation, the rotating shaft 130 rotates accordingly, so that the steel cable 150 is pushed up or down in a tensioned state, and the driven shaft 140 rotates accordingly driven by the steel cable 150. More specifically, Figure 30 As viewed from the left side, 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 can prevent the steel cable from slipping relative to the shaft, ultimately allowing the lifting rod 200 and the propeller 300 to stably stop at a certain lifting height, allowing the propeller 300 to operate stably underwater at a certain depth.

[0224] In some embodiments, the first grooves and the second grooves can be staggered in the vertical direction. Taking the example of the rotating shaft 130 having two first grooves and the driven shaft 140 having two second grooves, the first grooves and the second grooves can be staggered in the vertical direction, meaning that any first groove is staggered with any second groove in the vertical direction, for example, the first first groove is neither aligned with the first second groove nor aligned with the second second groove in the vertical direction, and the second first groove is neither aligned with the first second groove nor aligned with the second second groove in the vertical direction. As an example, the first second groove on the driven shaft corresponds to the spacing region between the two first grooves on the rotating shaft in the vertical direction (this example can be the case of the first second groove on the driven shaft 140 in FIG. 13 being omitted from left to right in Figure 34 ). In this way, the steel cable 150 will not be wound and stacked together when being pushed up or down by the rotating shaft 130 and the driven shaft 140, preventing the steel cable 150 from being stuck due to mutual winding when moving, and making the lifting process smoother.

[0225] In some embodiments, the number of the second grooves can be different from the number of the first grooves. For example, the number of the second grooves is one more than the number of the first grooves. Figure 31 and Figure 32 are structural schematic diagrams of the rotating shaft and the driven shaft according to some embodiments of the present disclosure. In some embodiments, the rotating shaft 130 in the lifting device has two first grooves, and the driven shaft has three second grooves. The extra grooves on the driven shaft relative to the rotating shaft can be mainly used for positioning. Continuing to refer to Figure 30 When the steel cable 150 is wound and stopped above the first first groove of the rotating shaft 130 from top to bottom and then upwards, the part of the steel cable 150 above the first first groove is directly against 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 part of the steel cable against the surface of the driven shaft 140 will occupy a certain space in the shell 110, increasing the volume of the lifting device. Therefore, in some embodiments, the number of the second grooves is set to be one more than the number of the first grooves, and the extra second groove can accommodate the steel cable wound above the first first groove of the rotating shaft, reducing the space volume occupied by the steel cable, and making the structure of the lifting device more compact.

[0226] Continuing to refer to Figure 30In some embodiments, the rotating shaft 130 can be provided with two first grooves, the driven shaft 140 can be provided with three second grooves, and each first groove is vertically aligned with one second groove. As shown in FIGS. 6, 7 and 8, for example, the first first groove on the rotating shaft 130 corresponds to the first second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the second second groove on the driven shaft 140 in the vertical direction. Figure 33 As shown in FIGS. 6, 7 and 8, for example, the first first groove on the rotating shaft 130 corresponds to the first second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the second second groove on the driven shaft 140 in the vertical direction. Figure 30 As shown in FIGS. 6, 7 and 8, for example, the first first groove on the rotating shaft 130 corresponds to the first second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the second second groove on the driven shaft 140 in the vertical direction. Figure 33 As shown in FIGS. 6, 7 and 8, for example, the first first groove on the rotating shaft 130 corresponds to the first second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the second second groove on the driven shaft 140 in the vertical direction.

[0227] In some embodiments, the two first grooves and the three second grooves can be staggered in the vertical direction, as shown in FIGS. 9, 10 and 11, for example. As shown in FIGS. 9, 10 and 11, for example, the first first groove on the rotating shaft 130 corresponds to the interval between the first second groove and the second second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the interval between the second second groove and the third second groove on the driven shaft 140 in the vertical direction. Figure 34 As shown in FIGS. 9, 10 and 11, for example, the first first groove on the rotating shaft 130 corresponds to the interval between the first second groove and the second second groove on the driven shaft 140 in the vertical direction, and the second first groove on the rotating shaft 130 corresponds to the interval between the second second groove and the third second groove on the driven shaft 140 in the vertical direction.

[0228] 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.

[0229] However, on the other hand, the larger friction force will make the surface of the steel cable or the rotating shaft easy 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 be ensured that the worn steel cable and the first groove have a larger contact area, and the contact surface of the two has an effective larger friction force. 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 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 (such as Figure 35 The angle α) shown can be 10° to 45°. As an example, the angle can be 12°, 18°, 25°, 30° or 35°.

[0230] Figure 35 1 is a cross-sectional view of a rotating shaft shown in some embodiments of this specification. Figure 35As shown, the first groove 131 has a trapezoidal cross section. The upper base of the trapezoid has a width Wup that is not greater than the diameter of the steel cable. As an example, for a steel cable with a diameter of 8 cm, the width Wup of the upper base can be set to 5-8 cm, and the specific width Wup of the upper base can be set to 5.8 cm, 6.2 cm, 6.5 cm, 7 cm, 8 cm, etc. The lower base of the trapezoid has a width Wdown that is less than the width Wup of the upper base. As an example, for a steel cable with a diameter of 8 cm, the width Wdown of the lower base can be set to 2-4 cm, and the specific width Wdown of the lower base can be set to 2.5 cm, 3 cm, 3.5 cm, etc. To better understand the beneficial effects of such a first groove, 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. When first used, although the diameter of the steel cable is greater than the width of the upper opening of the first groove, due to the deformation space of the steel cable, a portion of the steel cable can be extruded into the first groove under pressure, so that the steel cable has a large contact area with the side wall of the first groove, generating a large friction force. As the use time increases, the steel cable is worn and thinned. Since the cross section of the first groove is trapezoidal, the steel cable does not completely fall into the first groove. At this time, under the action of pressure, the steel cable is still only partially extruded into the first groove and has a large contact area with the side wall of the first groove. As can be seen, such a groove structure can enable the propulsion device to stably drive the propeller to rise or remain at a certain height even after a certain period of use, with high reliability and extended service life. In some embodiments, to avoid the steel cable eventually falling completely into the first groove due to long-term wear, the depth of the first groove can be equal to or less than the diameter of the steel cable. Specifically, the depth of the first groove can be 50%-100% of the diameter of the steel cable 150. As an 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, etc. As shown in the cross section of the first groove, the height D of the first groove is equal to or less than the diameter of the steel cable. As an example, for a steel cable with a diameter of 8 cm, the depth of the first groove can be 5-8 cm, and the specific depth can be 5.5 cm, 6 cm, etc. Figure 35 As shown in the cross section of the first groove, the height D of the first groove is equal to or less than the diameter of the steel cable. As an example, for a steel cable with a diameter of 8 cm, the depth of the first groove can be 5-8 cm, and the specific depth can be 5.5 cm, 6 cm, etc.

[0231] In some embodiments, to further increase the friction between the steel cable and the rotating shaft, anti-slip patterns can be provided on the side wall of the first groove. The anti-slip patterns can be formed on the side wall of the first groove by etching, engraving, cladding, etc. The anti-slip patterns can be irregular or regular. As an example, the side wall of the first groove 131 of the rotating shaft can be provided with threads.

[0232] In some embodiments, the force to move the steel cable up or down is mainly from the friction between the steel cable and the rotating shaft, and the driven shaft can mainly serve as a guide. In order to reduce unnecessary wear of the steel cable, the structure of the second groove on the driven shaft can be different from that of the first groove, so as to reduce the wear between the second groove and the steel cable. Figure 36 is a cross-sectional view of a driven shaft according to some embodiments of the present disclosure. As shown in Figure 36 , the cross section of the second groove 141 can be a circular arc, which can be adapted to the cross section of the steel cable to reduce the friction between the contact surface of the second groove and the steel cable. Further, 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. Referring to Figure 36 , the cross section of the second groove 141 can be a semicircle, and the diameter thereof 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, so as to reduce the contact surface between the second groove and the steel cable, thereby reducing the friction therebetween.

[0233] In some embodiments, the cross section shape and size of the second groove 141 can be the same as those of the first groove 131, so as to further increase the friction between the contact surface of the groove (including the first groove 131 and the second groove 141) and the steel cable.

[0234] As mentioned above, the force to move the steel cable up or down is mainly from the friction between the steel cable and the rotating shaft. In some embodiments, in order to further increase the friction between the steel cable and the rotating shaft, the diameter of the rotating shaft can be greater than that 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 greater than that of the driven shaft 140. Such design can make the adhesion between the steel cable and the rotating shaft greater, while reducing the friction between the steel cable and the driven shaft, thereby reducing the wear of the steel cable. In some embodiments, the diameter of the rotating shaft 130 can be 1.2-2.5 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, etc. In some embodiments, when the diameter of the rotating shaft 130 is greater than that of the driven shaft 140, the side of the rotating shaft 130 and the driven shaft 140 close to the lifting rod can be aligned along the length direction of the lifting rod, so as to facilitate the connection of the two ends of the steel cable 150 to the lifting rod. In some embodiments, as shown in Figure 37As shown, the right side of the rotating shaft 130 and the driven shaft 140 can be aligned in the vertical direction (i.e. the length direction of the lifting rod). In some embodiments, considering the different depths of the steel cable winding 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 on 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 close to the length portion of the lifting rod, which is parallel to the length direction of the lifting rod.

[0235] When the two ends of the steel cable in the lifting device are connected with the lifting rod respectively, the steel cable needs to be tightened to ensure that at least a large enough effective friction force is generated on the contact surface between the steel cable and the rotating shaft to balance the gravity of the lifting rod and other components (such as the thruster) thereon. In order to more conveniently control the tension of the steel cable, some embodiments of the present specification provide a connection mode of the steel cable and the lifting rod.

[0236] Figure 38 is a schematic diagram of the connection of the steel cable and the lifting rod according to some embodiments of the present specification. As shown in the figure, the steel cable is connected with the lifting rod through the rotating shaft 130 and the driven shaft 140. The rotating shaft 130 is connected with the lifting rod through the first groove 131, and the driven shaft 140 is connected with the lifting rod through the second groove 141. Figure 38As shown, in some embodiments, the pushing device can further include a first fixer 210 and an elastic member 250. The first fixer 210 is sleeved on the lifting rod 200, specifically, at a position of the upper half region or the lower half section of the lifting rod 200, and the elastic member 250 is located above the first fixer 210. Specifically, the first fixer 210 is detachably fastened on the lifting rod 200. For example, the first fixer 210 can be a clamp structure, as an example, the first fixer 210 further includes a metal ring with an opening, the lifting rod 200 can be clamped into the metal ring from the opening, and the two ends of the metal ring at the opening are fixed together by a screw. The diameter of the metal ring is appropriately configured so that the metal ring is fastened on the lifting rod 200. Further, the lifting rod 200 can be provided with limiting structures such as protrusions or grooves at different height positions, and the first fixer 210 can be arranged at the protrusions or grooves at the corresponding height positions to increase the fastening degree of the first fixer 210 and the lifting rod 200 and prevent the first fixer 210 from sliding up and down. As another example, the first fixer 210 is a closed metal ring with a diameter matched with the diameter of the lifting rod 200, the lifting rod 200 can be sleeved in the metal ring, and the metal ring is provided with a screw hole along the radial direction thereof. After the metal ring is sleeved on the lifting rod 200, a screw can be assembled in the screw hole, and the screw is rotated to control the pushing degree, so that the screw abuts against the lifting rod 200 to fasten the metal ring. In some embodiments, a hole can be formed in the lifting rod 200, and the screw passes through the radial screw hole in the metal ring and the hole in the lifting rod 200 in sequence to fasten the metal ring on the lifting rod 200 more firmly. The hole can be formed in the lifting rod 200 at different height positions, so that the height of the first fixer 210 on the lifting rod 200 can be adjusted according to the required tightness of the steel cable.

[0237] In some embodiments, a through hole is further formed in the first fixer 210 along the axial direction of the ring or along the length direction of the lifting rod 200. Continuing to refer to Figure 38, one end of the steel cable 150, such as the upper end, is sequentially threaded through the through hole on the first fastener 210 and the elastic member 250 from bottom to top, and the upper end of the steel cable 150 is fixedly provided with a first stopper, for example, when the upper end of the steel cable 150 is threaded through the through hole and the elastic member 250, the first stopper is fixed on the upper end of the steel cable 150, and when the steel cable 150 is stretched, the first stopper can abut against the elastic member 250 to play a role of fastening the steel cable 150. For example only, the first stopper can be fixed on the upper end of the steel cable 150 by clamping, threaded fitting, bonding or welding, etc. In some embodiments, the elastic member 250 can have a through hole in the longitudinal direction (the direction consistent with the length of the lifting rod 200), and the elastic member 250 can be placed or abut against the upper side of the through hole of the first fastener 210, and the cross-sectional diameter or at least one radial dimension (such as length) of the elastic member 250 is greater than the diameter of the through hole on the first fastener 210. The cross-sectional diameter or at least one radial dimension (such as length) of the first stopper can be set to be greater than the diameter of the through hole of the elastic member 250, so that the first stopper can abut against the elastic member 250. The elastic member 250 has the ability of longitudinal elastic deformation, 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, and the elastic member 250 can further give an upward rebounding force, so that the steel cable 150 can be further stretched and tightened, thereby increasing the friction between the steel cable and the rotating shaft. In some embodiments, the elastic member 250 can be a spring, a spring sheet or the like. In some embodiments, the provision of the elastic member 250 can make the steel cable 150 always maintain a tightened state.

[0238] As Figure 38As shown, in some embodiments, the propulsion device can further comprise a second fastener 220, which is sleeved and detachably fastened to the lifting rod 200, particularly at a position of the lower half region or the lower half section of the lifting rod 200. The second fastener 220 is fastened to the lifting rod 200 in a manner similar to the first fastener 210, which can be referred to the foregoing description and will not be described here again. A through hole is formed in the second fastener 220 along the axial direction of the ring or along the length direction of the lifting rod 200. The other end, such as the lower end, of the steel cable 150 passes through the through hole in the second fastener 220 from top to bottom, and the lower end of the steel cable 150 is fixedly provided with a second stopper, which can abut against the second fastener 220 to play a role of fastening the steel cable 150 when the steel cable 150 is tightened. Specifically, after the lower end of the steel cable 150 is sleeved in the through hole, the 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 clamping, threaded cooperation, adhesion or welding, etc. The diameter of the cross section of the second stopper or the size of at least one radial direction thereof is greater than the diameter of the through hole of the second fastener 220, so that the second stopper can abut against the second fastener 220 to play a role of fastening the steel cable 150 when the steel cable 150 is tightened. In some embodiments, a resilient member can also be arranged between the second stopper and the second fastener 220.

[0239] The connection mode of the steel cable and the lifting rod provided by some embodiments of the present specification can realize different degrees of tightening of the steel cable by adjusting the height position of the fixing ring on the lifting rod. For example, the steel cable 150 can be tightened to a certain degree by adjusting the first fastener 210 upward or adjusting the second fastener 220 downward or both. Figure 38 Further, the resilient member above the first fastener has longitudinal elastic deformation capability, which realizes self-adaptive adjustment of the tightening degree of the steel cable to a certain extent.

[0240] When the propeller works, it needs to adjust the orientation according to the water flow direction or the advancing direction. Therefore, the propulsion device further comprises a rotating device for driving the propeller to rotate. As shown in the figure, Figure 21 The propulsion device shown in the figure further comprises a rotating device 400, and the lifting device 100 is fixedly arranged 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.

[0241] Figure 39 is a schematic view of the connection between the lifting device and the rotating device according to still another embodiment of the present specification. As shown in the figure, Figure 39As shown, the rotating device 400 comprises a connecting portion 410, which is capable of rotating under the action of a rotating driver (or referred to as a second power device) of the rotating device 400. Similar to the lifting driver, the rotating driver can be an electric motor, specifically a stepping motor, a reluctance motor, etc. The lifting device 100 is fixedly arranged on the connecting portion 410, for example, the two can be fixedly connected through screw connection, welding, clamping, etc. The connecting portion 410 is further provided with a first guide hole 411 with a larger diameter and a second guide hole 412 with a smaller diameter, the lifting rod 200 is arranged in the first guide hole 411, and the steel cable 150 of the lifting device is arranged in the second guide hole 412. Since the lifting rod 200 is connected with the lifting device 100 through the steel cable 150, when the rotating device 400 drives the lifting device 100 to rotate, the lifting rod 200 can rotate in the first guide hole 411, thereby changing the orientation of the propeller 300.

[0242] Some embodiments of the present specification also provide a traction type lifting power device, comprising a lifting driver, a rotating shaft driven by the lifting driver, and a driven shaft arranged above the rotating shaft. The rotating shaft is arranged with two or more first grooves for winding the steel cable, and the driven shaft is arranged with two or more second grooves for winding the steel cable. In some embodiments, the opening width 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 circular arc-shaped. In yet some embodiments, the opening width of the first groove on the surface of the rotating shaft is not greater than the diameter of the steel cable, and the opening width 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 the related description, which will not be repeated here. Figure 21 and Figures 30-37 The description of the lifting device in the related description will not be repeated here.

[0243] The beneficial effects brought by some embodiments of the present specification include, but are not limited to: (1) providing more than two grooves on the rotating shaft and the driven shaft respectively, which can increase the number of winding turns of the steel cable on the shaft, effectively increase the friction force between the steel cable and the shaft, and enable the lifting device to drive a propeller with greater weight; (2) providing a second groove for adjustment on the driven shaft, which helps to reduce the size 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 at the same time help to prolong the service life of the device; (4) the second groove structure of the driven shaft further helps to prolong the service life of the device due to the reduction of wear on the steel cable; (5) the diameter of the rotating shaft is greater than the diameter of the driven shaft, which improves the reliability of the device while helping to reduce the wear between the steel cable and the shaft; (6) the connection mode of the steel cable and the lifting rod ensures reliable connection between the steel cable and the lifting rod while allowing convenient adjustment of the tightness of the steel cable, further improving the reliability of the device. It should be noted that different embodiments may have different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0244] In some embodiments, when the propeller is working, the lifting rod generally needs to maintain a vertical state with the water surface or the deck of the ship. In some embodiments, the propulsion device can include a base and a motion control mechanism. The base can include a bottom plate and two side plates arranged on the bottom plate in parallel, and the bottom plate has an open slot (or called notch) extending along the arrangement direction of the side plates. At least part of the motion control mechanism can be carried on the bottom plate and located between the two side plates; the lifting rod is arranged in the open slot of the motion control mechanism and the bottom plate, and the motion control mechanism can be used to drive the lifting rod to ascend or descend and / or rotate to change the orientation of the propeller.

[0245] In some embodiments, the motion control mechanism can include a lifting device, which can efficiently drive the lifting rod and the propeller to ascend or descend. In some embodiments, a hydraulic mechanism or a gear transmission mechanism can be used as the lifting device to provide power for lifting and lowering. In other embodiments, a traction lifting power device or mechanism can be used as the lifting device. In some embodiments, at least part of the motion control mechanism carried on the bottom plate and located between the two side plates can be the lifting device. When the propeller is working, the orientation needs to be adjusted according to the direction of water flow or the direction of travel, therefore, in some embodiments, the motion control mechanism can 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 part of the motion control mechanism carried on the bottom plate and located between the two side plates can be the lifting device or the rotating device.

[0246] In order to facilitate cleaning or maintenance of the lifting rod or the thruster, after the lifting rod and the thruster thereon are lifted out of the water, the lifting rod and the thruster thereon are generally laid down (i.e., in a state of being non-perpendicular to the water surface or the deck of the ship, for example, parallel), which requires the movement control mechanism and the lifting rod to be able to rotate between the two side plates in a first direction, so that the lifting rod and the thruster thereon can be laid down. The first direction refers to a direction perpendicular to the two side plates. In actual application, when the thruster is working, if the rotation of the movement control mechanism and the lifting rod between the two side plates in the first direction is not limited, the lifting rod together with the thruster thereon may sway in the first direction, which causes the thruster to be unable to stably provide the required power for the ship to move or park in a certain direction, thereby causing the ship to rock and causing a greater safety risk.

[0247] Figure 40 is a structural schematic diagram of a propelling device according to some other embodiments of the present specification. In combination with Figure 21 and Figure 40 , it is shown that the propelling device can include a base (or referred to as a support), a movement control mechanism 1100, a lifting rod 200, and a thruster 300.

[0248] The thruster 300 is connected to the lower part of the lifting rod 200, and when the lifting rod 200 is lifted or lowered, the thruster 300 can be lifted out of or into the water. When the lifting rod 200 rotates (e.g., rotates around the central axis in the vertical direction of the lifting rod 200), the orientation of the thruster 300 can be adjusted. Specifically, the thruster 300 can be connected to the lifting rod 200 by means of threaded cooperation, screw connection, welding, clamping, etc. The movement control mechanism 1100 can be used to control the lifting rod 200 to lift or lower and / or rotate to change the orientation of the thruster 300.

[0249] In some embodiments, in the propelling device shown in Figure 40 , the movement control mechanism 1100 can include a lifting device (not shown in Figure 40 ) for controlling the lifting rod 200 to lift or lower and / or a rotating device (not shown in Figure 40 ) for controlling the lifting rod 200 to rotate to change the orientation of the thruster 300. More descriptions about the lifting device and / or the rotating device can be referred to the related descriptions of the lifting device 100 and / or the rotating device 400 in the propelling device shown in Figure 21 , which will not be described in detail here.

[0250] In some embodiments, as shown in Figure 21 , the movement control mechanism 1100 can include the lifting device 100, which can be used to drive the lifting rod 200 to ascend or descend, thereby driving the thruster 300 to lift or lower. In some embodiments, as shown in Figure 21As shown, the motion control mechanism 1100 can further include a rotating device 400, which can be used to drive the lifting rod 200 to rotate, thereby adjusting the orientation of the propeller 300.

[0251] In some embodiments, the propulsion device can be fixed to the ship through the base 500 in the motion control mechanism 1100, for example, the bottom plate 510 in the base 500 can be fixedly installed on the deck at the stern of the ship, thereby achieving the fixation of the propulsion device to the ship. As an example, as shown in Figure 21 As shown, a plurality of mounting holes are formed on the bottom plate 510 of the base, and a plurality of threaded holes corresponding to the plurality of mounting holes are provided on the deck of the ship. By passing a plurality of bolts through the plurality of mounting holes and installing them into the corresponding threaded holes, the fixation of the bottom plate 510 and the entire base to the deck of the ship can be achieved, thereby achieving the fixation of the rotating device 400 to the deck of the ship, and further achieving the fixation of the propulsion device to the ship.

[0252] Figure 41 is Figure 40 an assembly view of the base and the operating assembly in the propulsion device shown in Figure 42 is Figure 21 an assembly view of the base and the rotating device in the propulsion device shown in

[0253] In combination with Figure 41 and Figure 42 As shown, the base can include a bottom plate 510 and two side plates 520 arranged parallel to each other on the bottom plate 510, and the bottom plate 510 has an open slot 530 extending along the arrangement direction of the side plates 520. The lifting rod 200 can be arranged in the motion control mechanism and the open slot 530 of the bottom plate 510.

[0254] In combination with Figure 40 and Figure 41 , and / or Figure 21 and Figure 42 As shown, at least part of the motion control mechanism 1100 can be carried on the bottom plate 510 and located between the two side plates 520, for example, as shown in Figure 40 In the propulsion device shown in Figure 21 As shown, the rotating device 400 in the motion control mechanism 1100 can be carried on the bottom plate 510 and located between the two side plates 520.

[0255] In actual application, in order to facilitate cleaning or maintenance of the lifting rod and the thruster, the lifting rod and the thruster thereon are generally laid down (i.e., in a non-vertical (e.g., parallel) state with the water surface or the deck of the ship) after being lifted out of the water surface. Therefore, the motion control mechanism and the lifting rod need to be able to rotate between the two side plates in the first direction so that the lifting rod and the thruster thereon can be laid down. The first direction refers to a direction perpendicular to the two side plates. Therefore, by passing the lifting rod 200 through the opening slot 530 of the motion control mechanism and the bottom plate 510, the opening slot 530 can provide a rotating space for the lifting rod 200 when the lifting rod 200 rotates in the first direction, so as to avoid interference when the lifting rod 200 rotates in the first direction.

[0256] If the rotation of the motion control mechanism and the lifting rod between the two side plates in the first direction is not limited, the lifting rod and the thruster thereon may sway in the first direction when the thruster is working, which causes the thruster to be unable to stably provide the required power for the ship to move or park in a certain direction, thereby causing the ship to rock and causing a greater safety risk.

[0257] Therefore, some embodiments of the present specification provide a propulsion device, in addition to the thruster, the lifting rod, the base, and the motion control mechanism described above, the propulsion device can further include a locking mechanism. The locking mechanism can include an operating assembly, a limiting rod, and a limiting slot. The operating assembly is connected with the limiting rod. One of the limiting rod and the limiting slot is arranged on the base, and the other is arranged on the motion control mechanism. At least part of the limiting rod is clamped into the limiting slot to limit the rotation of the motion control mechanism and the lifting rod between the two side plates in the first direction. The operating assembly is used to drive at least part of the limiting rod to disengage from the limiting slot to release the rotation limitation of the motion control mechanism and the lifting rod between the two side plates in the first direction. Specifically, by clamping at least part of the limiting rod into the limiting slot to limit the rotation of the motion control mechanism and the lifting rod between the two side plates in the first direction, the rotation of the motion control mechanism and the lifting rod between the two side plates in the first direction can be avoided when the thruster is working, thereby avoiding the swaying of the lifting rod and the thruster thereon to ensure that the ship can move or park smoothly and safely. At the same time, when the thruster is not working, the staff can conveniently drive at least part of the limiting rod to disengage from the limiting slot by operating the operating assembly to release the rotation limitation of the motion control mechanism and the lifting rod between the two side plates in the first direction, and then lay down the lifting rod and the thruster thereon for cleaning or maintenance work.

[0258] In some embodiments, the operation assembly can include an operation rod, a support rod, and a rotating rod, wherein the operation rod is in transmission connection with the rotating rod through the support rod, and the rotating rod is in transmission connection with the limiting rod. Further, the worker can drive the operation rod to rotate around the central axis of the rotating rod to drive at least part of the limiting rod to disengage from the limiting slot to release the rotation restriction of the movement control mechanism and the lifting rod between the two side plates in the first direction.

[0259] In order to facilitate the worker to easily and safely rotate the movement control mechanism in the first direction after the rotation restriction of the movement control mechanism and the lifting rod between the two side plates in the first direction is released, at least part of the movement control mechanism carried on the bottom plate and located between the two side plates can be rotatably installed between the two side plates. In some embodiments, a rotating shaft is perpendicularly rotatably installed between the two side plates, and at least part of the movement control mechanism carried on the bottom plate and located between the two side plates can be fixedly connected with the rotating shaft. When the rotation restriction of the movement control mechanism between the two side plates in the first direction is released, the movement control mechanism can rotate around the central axis of the rotating shaft.

[0260] In some embodiments, the locking mechanism in the propulsion device provided by some embodiments of the present application can be a first locking mechanism, and the first locking mechanism can include a first operation assembly, a first limiting rod, and a first limiting slot. In some embodiments, the first limiting slot can be arranged on the movement control mechanism, and the first operation assembly can be arranged on the base.

[0261] In some embodiments, the first limiting slot can be arranged on the side surface of the movement control mechanism parallel to the side plate, and a notch channel can be arranged on the side surface. One end of the notch channel is in communication with the first limiting slot, and the other end of the notch channel is in communication with one of the surfaces of the movement control mechanism parallel to the bottom plate. By arranging the notch channel on the side surface of the movement control mechanism parallel to the side plate and in communication with the first limiting slot, the first limiting rod can pass through the notch channel without interfering with the movement of the movement control mechanism during the rotation of the movement control mechanism and the lifting rod between the two side plates in the first direction. In order to ensure that the first limiting rod can smoothly pass through the notch channel without interfering with the movement of the movement control mechanism during the rotation of the movement control mechanism and the lifting rod between the two side plates in the first direction, in some embodiments, the extension path of the opening of the notch channel on the side surface of the movement control mechanism parallel to the side plate is an arc, and the center of the arc is located on the rotation axis of the movement control mechanism when the movement control mechanism rotates in the first direction.

[0262] In some embodiments, the first limiting slot can be arranged on the side surface of the movement control mechanism parallel to the side plate, and the first limiting slot is in communication with one of the surfaces of the movement control mechanism perpendicular to the bottom plate and the side plate.

[0263] In some embodiments, the first limiting slot can extend through the motion control mechanism along the first direction. In some embodiments, the first limiting slot can also have a depth along the first direction without extending through the motion control mechanism, i.e., the depth of the first limiting slot along the first direction is less than the dimension of the motion control mechanism along the first direction.

[0264] The first operation assembly can include a first operation lever, a first rotating lever, a first supporting lever, and at least one linkage assembly. The first rotating lever is vertically connected between the two side plates. The first operation lever is drivingly connected with the first rotating lever through the first supporting lever. The linkage assembly is installed on the side plates, and one end of the linkage assembly is drivingly connected with the first rotating lever, and the other end of the linkage assembly is rotatably connected with the corresponding side plate. The first limiting rod is fixedly connected with the linkage assembly in parallel to the first direction, and at least part of the first limiting rod is clamped into the first limiting slot. When it is needed to release the restriction of the motion control mechanism and the rotation of the lifting rod between the two side plates around the first direction, the operator can drive the operation lever to rotate around the central axis of the first rotating lever to drive the two linkage assemblies to move synchronously, thereby driving the first limiting rod to move out of the first limiting slot, and at this moment, the restriction of the motion control mechanism and the rotation of the lifting rod between the two side plates around the first direction is released. It can be understood that the driving connection involved in some embodiments of the present specification can be understood as that there is a cable, linkage, gear, etc. intermediate mechanical structure between the two objects for driving, and it can also be understood that the two objects are fixed through bonding, welding, screw connection, etc. to be able to move together.

[0265] At least part of the motion control mechanism (e.g., the lifting device or the rotating device) can be carried on the bottom plate and located between the two side plates. As shown in Figure 40 The first locking mechanism (not labeled in the drawings) can include the first operation assembly (not labeled in the drawings), the first limiting rod 507, and the first limiting slot 102.

[0266] It can be understood that when the mechanism or assembly (e.g., the base, the motion control mechanism, the locking mechanism, the operation assembly, the linkage assembly, etc. in some embodiments of the present specification) including at least one element in some embodiments of the present specification is described in combination with the drawings, although these mechanisms or assemblies are not labeled in the drawings, since at least one element in these mechanisms or assemblies has been labeled in the drawings, the fact that these mechanisms or assemblies are not labeled in the drawings does not affect the understanding of the embodiments.

[0267] The first operation assembly can be arranged on the base. Further, in combination with Figure 40 and Figure 41As shown, the first operation assembly can include a first operation rod 501, a first rotating rod 502, a first supporting rod 503, and at least one connecting rod assembly (not labeled in the drawings); the first rotating rod 502 is vertically connected between two side plates 520; the first operation rod 501 is drivingly connected with the first rotating rod 502 through the first supporting rod 503. As an example, in Figure 40 , the number of the first supporting rod 503 can be two, and the first operation rod 501 and the first rotating rod 502 are vertically fixedly connected between the two first supporting rods 503; one end of each connecting rod assembly is drivingly connected with the first rotating rod 502, and the other end is rotatably connected to the corresponding side plate 520. As an example, in Figure 40 , one end of each connecting rod assembly can be drivingly connected with two ends of the first rotating rod 502 respectively, and the other end of each connecting rod assembly is rotatably connected to the two side plates 520 respectively; at least part of the first limiting rod 507 is clamped into the first limiting slot 102.

[0268] In some embodiments, the first operation assembly can include two connecting rod assemblies, and the two connecting rod assemblies are respectively mounted on the two side plates 520. Specifically, one end of each connecting rod assembly is drivingly connected with two ends of the first rotating rod 502 respectively, and the other end of each connecting rod assembly is rotatably connected to the two side plates 520 respectively. The first limiting rod 507 is parallel to the first direction and is fixedly connected between the two connecting rod assemblies, and at least part of the first limiting rod 507 is clamped into the first limiting slot 102. Wherein, the first limiting slot 102 can pass through 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 slot 102. In some embodiments, when the first operation assembly includes two connecting rod assemblies, the first limiting slot 102 can also not pass through the motion control mechanism 1100 along the first direction. As an example, the first limiting slot 102 is provided on both side surfaces of the motion control mechanism parallel to the side plates along the first direction but not passing through the motion control mechanism 1100, and the first limiting rod 507 parallel to the first direction is fixedly connected to the two connecting rod assemblies. At least part of the two first limiting rods 507 is clamped into the corresponding first limiting slot 102 respectively.

[0269] In some embodiments, the first operation assembly can also include only one connecting rod assembly, which can be mounted on one of the side plates 520, and the first limiting slot 102 is provided on the surface of the motion control mechanism 1100 facing the side plate 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 part of the first limiting rod 507 except the one end fixedly mounted on the connecting rod assembly is clamped into the first limiting slot 102. Wherein, the first limiting slot 102 can pass through the motion control mechanism 1100 along the first direction, or can not pass through the motion control mechanism 1100 along the first direction.

[0270] Combine Figure 40 and Figure 41 As shown, the connecting rod assembly may include a first connecting rod 504, a second connecting rod 505 and a third connecting rod 506 that are sequentially connected in rotation; wherein one end of the first connecting rod 504 away from the second connecting rod 505 is transmission-connected to the first rotating rod 502, for example, Figure 40 In the embodiment, 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; and 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 along the first direction, the first limiting rod 507 can 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 partially or completely the same as the motion trajectory of the first connecting rod or the third connecting rod. It should be noted that Figure 40 The connecting rod assembly shown in the figure is not intended to limit the scope of the embodiments described in this specification. When connecting rod mechanisms with other structures are used as the connecting rod assembly, they are also within the scope of the embodiments described in this specification.

[0271] Figure 43 is a schematic diagram of a motion control mechanism according to some embodiments of this specification. Figure 40 and Figure 43 As shown, the first limiting groove 102 can be opened on the side surface 101 of the motion control mechanism 1100 parallel to the side plate 520, and a notch channel 103 is opened on the side surface 101. One end of the notch channel 103 is connected to the first limiting groove 102, and the other end is connected to one of the surfaces of the motion control mechanism 1100 parallel to the bottom plate 510. As an example, Figure 40 In some embodiments, when the motion control mechanism 1100 and the lifting rod 200 are turned clockwise around the first direction, the other end of the notch channel 103 can be connected to the lower surface of the motion control mechanism, that is, the notch channel 103 has an opening on the lower surface of the motion control mechanism 1100. Figure 40When the first limiting groove 102 is turned counterclockwise in the first direction, the other end of the notched channel 103 can be connected to the upper surface of the motion control mechanism. It can be understood that if the first limiting groove 102 passes through the motion control mechanism 1100 along the first direction, the notched channel 103 also passes through the motion control mechanism 1100 along the first direction; if the first limiting groove 102 is along the first direction but does not pass through the motion control mechanism 1100, the depth of the notched channel 103 along the first direction is not less than the depth of the first limiting groove 102 along the first direction.

[0272] Figure 44 yes Figure 40 Schematic diagram of the structure of the propulsion device shown in FIG. 1 after the restriction on the rotation of the motion control mechanism and the lifting rod around the first direction between the two side plates is released. Figure 45 yes Figure 40 FIG. 1 is a schematic structural diagram of the motion control mechanism of the propulsion device during the process of rotating around the first direction between the two side plates.

[0273] As an example, combined with Figure 40 and Figure 44 As shown, when the staff moves the first operating lever 501 from Figure 40 The position in the Figure 44 When the second link 505 is in the middle position, the connecting rods in the connecting rod assembly will be driven to move. At this time, the first limiting rod 507 can be driven by the second link 505 to break away 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 plates 520 can be released. Figure 45 As shown, the staff can rotate the motion control mechanism 1100 together with the lifting rod 200 and the propeller 300 in the first direction to lower it. Since the first limiting groove 102 is provided inside the motion control mechanism 1100, at least a portion of the first limiting rod 507 being inserted into the first limiting groove 102 can be regarded as the first limiting rod 507 being passed through or inserted into the motion control mechanism 1100 through the first limiting groove 102. Furthermore, by providing the notch channel 103, the first limiting rod 507 can be moved away from the motion control mechanism 1100 through the notch channel 103 during the process of rotating the motion control mechanism 1100 in the first direction without interfering with the movement of the motion control mechanism 1100.

[0274] 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.

[0275] Figure 46 is a schematic view of a motion control mechanism according to some other embodiments of the present specification. In some embodiments, as shown in Figure 46 , a first limiting slot 102 can be formed on the side surface 101 parallel to the side plate 520 of the motion control mechanism 1100, and the first limiting slot 102 is communicated to one of the surfaces of the motion control mechanism 1100 perpendicular to the bottom plate 510 and the side plate 520. For example, in Figure 46 , the first limiting slot 102 is communicated to the rear surface of the motion control mechanism 1100, i.e. the first limiting slot 102 has an opening on the rear surface of the motion control mechanism 1100. Further, the first limiting rod 507 can be moved by the second connecting rod to pass through the opening of the first limiting slot 102 on the rear surface of the motion control mechanism 1100 to disengage from the first limiting slot, so as to release the restriction of the rotation of the motion control mechanism 1100 around the first direction between the two side plates 520.

[0276] As shown in Figure 40 , a rotating shaft 540 is vertically rotatably installed between the two side plates 520, the rotating shaft 540 is arranged through the motion control mechanism and is fixedly connected with the motion control mechanism 1100, and when the rotation of the motion control mechanism 1100 around the first direction is released, the motion control mechanism 1100 can rotate around the central axis of the rotating shaft 540. In some embodiments, the extension path of the opening of the gap channel 103 on the side surface 101 to the first limiting slot 102 is an arc, and the center of the arc is located on the central axis of the rotating shaft 540.

[0277] In some embodiments, the first locking mechanism can further include an elastic mechanism, one end of the elastic mechanism can be connected to the base, for example, fixedly connected to the bottom plate, and the other end rotates with the first rotating rod. When at least part of the first limiting rod is clamped into the first limiting slot, the elastic mechanism can provide a pre-tightening force for keeping the first limiting rod in the first limiting slot. Specifically, when the first rotating rod tends to rotate due to an unexpected external force during the operation of the propelling device, causing the first limiting rod to be separated from the first limiting slot, the elastic mechanism can generate an elastic force as a pre-tightening force to limit the rotation of the first rotating rod under the action of the external force, so as to reduce the risk that the unexpected release of the restriction of the movement control mechanism rotating in the first direction caused by the accidental separation of the first limiting rod from the first limiting slot during the operation of the propelling device. At the same time, when the propelling device is not in operation, during the process in which the operator drives the first rotating rod to rotate by applying an external force to the first operating rod, thereby driving the first limiting rod to be separated from the first limiting slot to release the restriction of the movement control mechanism rotating in the first direction, the elastic mechanism can generate an elastic force under the action of the external force. After the movement control mechanism is laid down by rotating in the first direction, the first operating rod 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, etc.

[0278] In some embodiments, in the propelling device shown in Figure 40 , when the movement control mechanism 1100 includes a lifting device similar to the lifting device 100 as shown in Figure 21 , and / or a rotating device similar to the rotating device 400 as shown in Figure 21 , at least part of the movement control mechanism 1100 carried on the bottom plate and located between the two side plates can be the lifting device or the rotating device. Further, the lifting device or the rotating device can be restricted from rotating in the first direction between the two side plates by the first locking mechanism, and the restriction of the lifting device or the rotating device from rotating in the first direction between the two side plates can be released by the first locking mechanism, wherein the limiting slot of the locking mechanism is arranged on the lifting device or the rotating device. For the description of the restriction of the lifting device or the rotating device from rotating in the first direction between the two side plates by the first locking mechanism, and the release of the restriction of the lifting device or the rotating device from rotating in the first direction between the two side plates by the first locking mechanism, reference can be made to the above description of how the first locking mechanism restricts the movement control mechanism 100 from rotating in the first direction between the two side plates, and releases the restriction of the movement control mechanism from rotating in the first direction between the two side plates, which will not be repeated here.

[0279] In some embodiments, the locking mechanism in the propelling device provided by some embodiments of the present disclosure can be a second locking mechanism, and the second locking mechanism can include a second operating assembly, a second limiting rod, and a clamping slot.

[0280] 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.

[0281] The rotating device of the motion control mechanism can be carried on the bottom plate and located between the two side plates. Furthermore, the second operating component can be arranged on the rotating device. Figure 21 and Figure 42 As shown, 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 panels 520. The rotating device 400 is provided with two mounting plates 420 that are parallel to the side panels. 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 are 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 panels 520.

[0282] In some embodiments, combined Figure 21 and Figure 42 As shown, the slot 521 can be opened on the surface of the side plate 520 facing the motion control mechanism, and the slot 521 is connected to one of the surfaces of the side plate 520 that is perpendicular to the mounting plate 420 and not parallel to the bottom plate 510. As an example, when the second operating component is located Figure 26 When the front side of the rotating device 400 is in the middle of the rotation device 400, the slot 521 is connected to the front surface of the side plate 520 perpendicular to the mounting plate 420 and not parallel to the bottom plate 510. In some embodiments, the slot 521 can pass through the side plate 520 along the first direction, or it can have a certain depth along the first direction but not pass through the side plate 520. In some embodiments, when the second operating component is located Figure 26When the rotation device is rotated to the position shown in FIG. 7B, the opening can be located on the rear surface of the side plate 520. In some embodiments, as shown in FIG. 7A, when the clamping groove 521 is formed on the inner surface of the two side plates 520 (i.e. the surface of the side plates close to the rotation device), the clamping groove 521 has an opening on one of the surfaces of the side plate 520 that is perpendicular to the mounting plate 420 and not parallel to the bottom plate 510, and the opening can not pass through the side plate 520 in the first direction. Figure 21 and Figure 26 In some embodiments, as shown in FIG. 7A, when the clamping groove 521 is formed on the inner surface of the two side plates 520 (i.e. the surface of the side plates close to the rotation device), the clamping groove 521 has an opening on one of the surfaces of the side plate 520 that is perpendicular to the mounting plate 420 and not parallel to the bottom plate 510, and the opening can not pass through the side plate 520 in the first direction.

[0283] Figure 47 is a schematic diagram of the assembly of the rotation device and the base after the rotation device is released from the restriction of rotating around the first direction between the two side plates in the propulsion device shown in Figure 21 Figure 48 is a schematic diagram of the structure of the rotation device during the rotation around the first direction between the two side plates in the propulsion device shown in Figure 21

[0284] As an example, in combination with the rotation device shown in Figure 21 , Figure 42 and Figure 47 , when the worker rotates the second operating rod 701 from the position shown in FIG. 7A to the position shown in FIG. 7B, the second limiting rod 704 will be moved out of the clamping groove 521, so that the rotation device 400 is released from the restriction of rotating around the first direction between the two side plates 520. As shown in Figure 42 , the worker can rotate the rotation device 400 together with the lifting rod 200, the propeller 300, etc. around the first direction to lay it down. Figure 47 Figure 48

[0285] In order to ensure that the mounting plate can avoid the two ends of the second limiting rod, so that the two ends of the second limiting rod can be clamped into the clamping groove, in some embodiments, a through hole 421 is formed on the mounting plate 420, and the two ends of the second limiting rod 704 are clamped into the clamping groove 521 through the two through holes 421 on the mounting plate 420 respectively, and the size of the through hole 421 in the movement direction of the second limiting rod 704 is greater than the size of the clamping groove 521 in the movement direction of the second limiting rod 704. In order to achieve the purpose of avoiding the two ends of the second limiting rod, in other embodiments, a notch is formed on the mounting plate corresponding to the clamping groove, and the two ends of the second limiting rod are clamped into the clamping groove through the two notches on the mounting plate respectively. In still other embodiments, the distance from the lower surface of the mounting plate to the bottom plate is greater than the distance from the upper inner surface of the clamping groove to the bottom plate, and the two ends of the second limiting rod can be clamped into the clamping groove from below the two mounting plates respectively.

[0286] ​​​​In some embodiments, the force required to rotate the second operating lever 701 can be adjusted by setting the ratio between the distance from the second operating lever 701 to the second rotating lever 702 and the distance from the second limiting lever 704 to the second rotating lever 702. In some embodiments, the smaller the ratio between the distance from the second operating lever 701 to the second rotating lever 702 and the distance from the second limiting lever 704 to the second rotating lever 702, the greater the force required to rotate the second operating lever 701. In some embodiments, the ratio between the distance from the second operating lever 701 to the second rotating lever 702 and the distance from the second limiting lever 704 to the second rotating lever 702 can be 1.5:1 to 4:1.

[0287] Figure 49 is Figure 21 Assembly view of the base and the rotating device in the propulsion device shown in

[0288] In some embodiments, as shown in Figure 49 In some embodiments, the second locking mechanism can further include an elastic mechanism 705, one end of which can be connected to the motion control mechanism 1100, for example, fixedly connected to the rotating device 400, and the other end can rotate with the second rotating lever 702, for example, the other end can be fixedly connected to one of the second operating lever 701, the second rotating lever 702, the second supporting lever 703, and the second limiting lever 704 and rotate with the second rotating lever 702. When at least part of the second limiting lever 704 is clamped into the clamping groove 521, the elastic mechanism 705 can provide a pre-tightening force for the second limiting lever to stay in the clamping groove. Specifically, when the second rotating lever tends to rotate due to an unexpected external force during the operation of the propeller, causing the second limiting lever to be disengaged from the clamping groove, the elastic mechanism 705 can generate an elastic force as a pre-tightening force to limit the rotation of the second rotating lever under the action of the external force, so as to reduce the risk that the unexpected release of the restriction on the rotation of the motion control mechanism in the second direction caused by the accidental disengagement of the second limiting lever from the clamping groove during the operation of the propeller; at the same time, when the propeller is not in operation, during the process in which the operator drives the second rotating lever to rotate by applying an external force to the second operating lever, thereby driving the second limiting lever to disengage from the clamping groove to release the restriction on the rotation of the motion control mechanism in 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 laid down by rotating in the second direction, the second 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, etc.

[0289] In some embodiments, when the lifting device of the motion control mechanism is carried on the bottom plate and located between the two side plates, the same or similar locking mechanism as the second locking mechanism can also be used to limit the rotation of the lifting device around the first direction between the two side plates and release the limitation of the rotation of the lifting device around the first direction between the two side plates, wherein the operating assembly of the locking mechanism is arranged on the lifting device. For the description of using the same or similar locking mechanism as the second locking mechanism to limit the rotation of the lifting device around the first direction between the two side plates and release the limitation of the rotation of the lifting device around the first direction between the two side plates, please refer to the description of the second locking mechanism limiting the rotation of the rotating device around the first direction between the two side plates and releasing the limitation of the rotation of the rotating device around the first direction between the two side plates, which will not be repeated here.

[0290] In some embodiments, in the propelling device shown in Figure 21 In the propelling device shown, the same or similar locking mechanism as the first locking mechanism can also be used to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates. For more relevant description of using the same or similar locking mechanism as the first locking mechanism to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates, please refer to the above description of using the first locking mechanism to limit the rotation of the motion control mechanism around the first direction between the two side plates and release the limitation of the rotation of the motion control mechanism around the first direction between the two side plates in Figure 40 In the propelling device shown, the same or similar locking mechanism as the first locking mechanism can also be used to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates. For more relevant description of using the same or similar locking mechanism as the first locking mechanism to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates, please refer to the above description of using the first locking mechanism to limit the rotation of the motion control mechanism around the first direction between the two side plates and release the limitation of the rotation of the motion control mechanism around the first direction between the two side plates in

[0291] In some embodiments, in the propelling device shown in Figure 40 In the propelling device shown, the same or similar locking mechanism as the second locking mechanism can also be used to limit the rotation of the motion control mechanism around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates. For more relevant description of using the same or similar locking mechanism as the second locking mechanism to limit the rotation of the motion control mechanism around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates, please refer to the above description of using the second locking mechanism to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates in Figure 21 In the propelling device shown, the same or similar locking mechanism as the first locking mechanism can also be used to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates. For more relevant description of using the same or similar locking mechanism as the first locking mechanism to limit the rotation of the lifting device or the rotating device around the first direction between the two side plates and release the limitation of the rotation of the lifting device or the rotating device around the first direction between the two side plates, please refer to the above description of using the first locking mechanism to limit the rotation of the motion control mechanism around the first direction between the two side plates and release the limitation of the rotation of the motion control mechanism around the first direction between the two side plates in

[0292] Some embodiments of the present specification can bring benefits including but not limited to: (1) the locking mechanism in the propulsion device provided by some embodiments of the present specification can avoid the movement control mechanism and the lifting rod from rotating around the first direction between the two side plates when the propeller is working, thereby avoiding the lifting rod and the propeller thereon from shaking to ensure that the boat can travel or dock smoothly and safely; at the same time, it can conveniently release the rotation restriction of the movement control mechanism and the lifting rod around the first direction between the two side plates when the propeller is not working, and then lay down the lifting rod and the propeller thereon for cleaning or maintenance work; (2) the locking mechanism in the propulsion device provided by some embodiments of the present specification has a resilient mechanism, which can reduce the risk of the lifting rod and the propeller thereon from shaking or being laid down due to the accidental release of the rotation restriction of the movement control mechanism and the lifting rod around the first direction between the two side plates when the propeller is working, and can automatically reset the operating rod after the movement control mechanism and the lifting rod are laid down. It should be noted that different embodiments can produce different benefits, and in different embodiments, the benefits that can be produced can be any one or a combination of the above, or any other possible benefit.

[0293] In some embodiments, in actual application scenarios, once the lifting drive appears abnormal (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 cannot output rotation to drive the rotating shaft to rotate, the lifting rod and the propeller thereon will be locked and cannot continue to move up and down. Therefore, some embodiments of the present specification propose a propulsion device, wherein the lifting device further comprises a clutch mechanism, which can drive connect the lifting drive and the rotating shaft in the first state; and in the second state, the clutch mechanism can release the driving connection between the lifting drive and the rotating shaft, so that the rotating shaft can be driven by a driving force provided by the lifting drive. As an exemplary illustration, when the lifting drive is working normally, a driving force can be provided to the rotating shaft to drive it to rotate and drive the lifting rod and the propeller thereon to move up and down. When the lifting drive appears abnormal and cannot drive the rotating shaft to rotate, thereby causing the lifting rod and the propeller thereon to be unable to move up and down, 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 the lifting drive (for example, manually), thereby driving the lifting rod and the propeller thereon to continue to move up and down.

[0294] Figure 50 is a cross-sectional structure schematic diagram of the lifting device when the clutch mechanism according to some embodiments of the present specification is in the first state. Figure 51 is a cross-sectional structure schematic diagram of the lifting device when the clutch mechanism according to some embodiments of the present specification is in the second state.

[0295] in combination with Figure 50 and Figure 51 As shown in FIG. 1, the lifting device 100 comprises a lifting driver 120, a rotating shaft 130 and a clutch mechanism.

[0296] The lifting driver 120 has a hollow shaft 121 with a hollow structure, which can be used as an output shaft of the lifting driver 120 to output torque when the lifting driver 120 is in normal operation. As an example, the hollow shaft 121 can be arranged along its axial direction through the lifting driver 120. Further, when the clutch mechanism is in the first state to drive-connect the lifting driver 120 and the rotating shaft 130, the lifting driver 120 can output torque to the rotating shaft 130 through the hollow shaft 121 to drive the rotating shaft 130 to rotate; the rotating shaft 130 is provided with an assembly hole 132 along its axial direction, and the clutch mechanism can comprise a connecting shaft 160 and a connecting sleeve 122; the connecting sleeve 122 is non-rotatably mounted in the hollow shaft 121, and at least part of the connecting shaft 160 is slidably located in 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 in the first state and the second state, respectively.

[0297] In some embodiments, the connecting shaft 160 comprises, in sequence along its axial direction, a first shaft section 161, a second shaft section 162, a third shaft section 163 and a fourth shaft section 164; at least part of the first shaft section 161 is slidably and non-rotatably located in the assembly hole 132, and at least part of the fourth shaft section 164 is located outside the hollow shaft 121.

[0298] 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.

[0299] 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.

[0300] like Figure 50 As shown, when the clutch mechanism is in the first state, the clutch mechanism drives the lifting driver 120 and the rotating shaft 130 to connect. At this time, the rotating shaft 130 can rotate under the drive of the lifting driver 120, thereby driving the lifting rod and the propeller thereon to perform lifting movements.

[0301] 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.

[0302] 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).

[0303] like Figure 51 As shown, 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.

[0304] Further, when the clutch mechanism is in the second state, only the at least part of the second shaft segment 162 is located in the connecting sleeve 122 to enable the connecting shaft 160 to rotate relative to the hollow shaft 121, while the at least part of the first shaft segment 161 is slidably and non-rotatably located in the mounting hole 132 to enable the connecting shaft 160 to rotate synchronously with the rotating shaft 130, thus the rotating shaft 130 is able to rotate relative to the hollow shaft 121, i.e. the transmission connection between the hollow shaft 121 (the lifting driver 120) and the rotating shaft 130 is released.

[0305] When only the at least part of the second shaft segment 162 is located in the connecting sleeve 122 to enable the connecting shaft 160 to rotate relative to the hollow shaft 121, the at least part of the second shaft segment 162 located in the connecting sleeve 122 is able to rotate relative to the connecting sleeve 122. To enable the at least part of the second shaft segment 162 located in the connecting sleeve 122 to rotate relative to the connecting sleeve 122, in some embodiments, the diameter of the circumscribed circle of the radial cross-sectional shape of the second shaft segment 162 is not greater than the diameter of the inscribed circle of the radial cross-sectional shape of the inner cavity of the connecting sleeve 122. It can be understood that only when the third shaft segment 163 is not located in the connecting sleeve 122 at all and only the part or the whole of the second shaft segment 162 is located in the connecting sleeve 122, the connecting shaft 160 is able to rotate relative to the hollow shaft 121, thus when the clutch mechanism is in the second state, the part of the connecting shaft 160 located in the connecting sleeve 122 is only the part or the whole of the second shaft segment 162, and cannot have the third shaft segment 163. To ensure that the part of the connecting shaft 160 located in the connecting sleeve 122 is only the part or the whole 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.

[0306] It can be understood that the transmission connection involved in some embodiments of the present specification can be understood as that there is an intermediate mechanical structure such as a cable, a connecting rod, a gear, etc. between two objects for transmission, or can be understood as that the two objects are fixed by means of bonding, welding, screw connection, etc. and thus the two objects are able to move together. Further, the two objects being able to rotate synchronously involved in some embodiments of the present specification can mean that the two objects have transmission connection therebetween, and one of the two objects rotates to drive the other object to rotate; while the two objects being able to rotate relative to each other involved in some embodiments of the present specification can mean that the two objects do not have transmission connection therebetween, and one of the two objects does not rotate to drive the other object to rotate.

[0307] In some embodiments, when the lifting driver 120 is able to operate normally, the clutch mechanism can be kept in the first state, i.e. such that at least part of the third shaft segment 163 is located within the connecting sleeve 122 to enable the connecting shaft 160 to rotate coaxially with the hollow shaft 121, to keep the transmission connection between the rotating shaft 130 and the lifting driver 120, so that the rotating shaft 130 can be rotated under the driving of the lifting driver 120 to drive the lifting rod and the thrusters thereon to perform lifting movement; when the lifting driver 120 cannot output rotation to drive the rotating shaft 130 to rotate due to abnormality, 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 driving force provided by sources other than the lifting driver 120, to enable the lifting rod and the thrusters thereon to continue to perform lifting movement. As an example, the clutch mechanism can be switched from the first state to the second state by sliding the connecting shaft 160 relative to the connecting sleeve 122, so that the third shaft segment 163 is completely removed from the connecting sleeve 122, and part or all of the second shaft segment 162 enters the connecting sleeve 122, so that the connecting sleeve 122 only has the second shaft segment 162.

[0308] To facilitate the sliding of the connecting shaft 160 relative to the connecting sleeve 122, at least part of the fourth shaft segment 164 can be located outside the hollow shaft 121, so that an external force can be applied to the at least part of the fourth shaft segment 164 located outside the hollow shaft 121 to drive the connecting shaft 160 to move axially, as an example, in combination with Figure 50 and Figure 51 As shown, the clutch mechanism can be switched from the first state to the second state by moving the connecting shaft 160 from right to left by applying an external force to the at least part of the fourth shaft segment 164 located outside the hollow shaft 121, 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, an external force can be applied to the at least part of the fourth shaft segment 164 located outside the hollow shaft 121 to drive the connecting shaft 160 to rotate, for example, by manually rotating the at least part of the fourth shaft segment 164 located outside the hollow shaft 121 to drive the connecting shaft 160 to rotate, to drive the rotating shaft 130 (relative to the hollow shaft 121) to rotate, and further drive the lifting rod and the thrusters thereon to perform lifting movement.

[0309] Continuing to refer to Figure 50As shown, in some embodiments, at least a portion of the rotating shaft 130 can be located inside 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 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 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 connecting sleeve 122 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.

[0310] Figure 52 It is a schematic cross-sectional structural diagram of a lifting device when the clutch mechanism shown in other embodiments of this specification is in the first state.

[0311] like Figure 52 As shown, 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.

[0312] Continue to see Figure 50 、 Figure 51 or Figure 52 As shown, 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 has 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. By providing the housing 110, the lifting actuator 120 and the rotating shaft 130 can be isolated from the external environment to prevent the lifting actuator 120 and the rotating shaft 130 from being affected by the external environment (for example, preventing water or other substances in 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.

[0313] 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 penetrating out of the back plate 113 to move the connecting shaft 160 along its axial direction relative to the connecting sleeve 122. Meanwhile, 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 penetrating out of the back plate 113 to drive the rotating shaft 130 to rotate. As an example, an operator can manually (for example, directly with hands or using corresponding tools or fixtures) push and pull the end of the connecting shaft 160 penetrating out of the back plate 113 to move the connecting shaft 160 along its axial direction, thereby switching the clutch mechanism between the first state and the second state, and manually rotating the end of the connecting shaft 160 penetrating out of the back plate 113 to rotate the connecting shaft 160 to drive the rotating shaft 130 to rotate when the clutch mechanism is in the second state, thereby driving the lifting rod and the thruster thereon to perform lifting movement.

[0314] In some embodiments, the end of the connecting shaft 160 penetrating out of the back plate 113 is an end of the fourth shaft segment 164 away from the third shaft segment 163. In some embodiments, the clutch mechanism can further include a positioning sleeve 123, which can be sleeved on the connecting shaft 160, for example, the positioning sleeve 123 can be sleeved on part of the fourth shaft segment 164 and / or part of the third shaft segment 163, and the two ends of the positioning sleeve 123 can 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 driver). In this way, when the connecting shaft 160 moves along its axial direction, the connecting sleeve 122 can be prevented from moving together with the connecting shaft 160 to cause the clutch mechanism to fail to smoothly switch between the first state and the second state. In some embodiments, the diameter of the port of the end of the positioning sleeve 123 close to the back plate 113 is smaller than the radial dimension of the third shaft segment 163. In this way, when the connecting shaft 160 is slid 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 positioning sleeve 123 to prevent the first shaft segment 161 from completely disengaging from the mounting hole 132, thereby maintaining the transmission connection between the connecting shaft 160 and the rotating shaft 130.

[0315] In some embodiments, a first through hole is formed in the back plate 113, and a first bearing 114 is installed in the first through hole. At least part of the fourth shaft segment 164 is slidably and non-rotatably installed in the inner ring of the first bearing 114. By providing the first bearing 114, the connecting shaft 160 can be smoothly and stably rotated under corresponding driving to drive the rotating shaft 130 to rotate when the clutch mechanism is in the first state or the second state.

[0316] In some embodiments, the outer surface of the back plate 113 can be fixedly connected with a sealing assembly 115, which can include a sealing cover 116 fixedly connected with the outer surface of the back plate 113, and an oil seal 117 disposed in an oil seal mounting groove formed on the surface of the sealing cover 116 facing the back plate 113 and abutting against the end surface of the first bearing 114 away from the lifting driver 120. By providing the sealing assembly 115, the gap (e.g., the gap between the first through hole and the first bearing 114, the gap of the first bearing 114 itself, the gap between the connecting shaft 160 and the inner ring of the first bearing 114, etc.) caused by the connecting shaft 160 passing through the back plate 113 can be sealed, so as to prevent external substances (e.g., water) from entering the housing 1101 through the gap on the back plate 113 and causing damage to the lifting driver 120, the rotating shaft 130, etc. 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, which can increase the sealing property between the sealing cover 116 and the back plate 113 and achieve the sealed connection between the sealing cover 116 and the back plate 113.

[0317] In order to facilitate the switching between the first state and the second state of the clutch mechanism, and facilitate the application of external force to the connecting shaft 160 to drive the connecting shaft 160 to rotate when the clutch mechanism is in the second state, so as to drive the rotating shaft 130 to rotate and in turn drive the lifting rod and the thruster thereon to move up and down, the end of the fourth shaft segment 164 away from the third shaft segment 163 can pass through the oil seal 117 and the sealing cover 116 and protrude from the surface of the sealing cover 116 away from the back plate 113.

[0318] Figure 22 is a structural schematic diagram of a lifting device according to some embodiments of the present specification. As shown in Figure 22 The rotating shaft 130 can be drivingly connected with the lifting rod 200 through a steel cable traction mechanism. Specifically, the lifting device 100 can further include a steel cable traction mechanism, which can include a driven shaft 140 and a steel cable 150 used in cooperation with the rotating shaft 130 and the driven shaft 140. The driven shaft 140 is disposed in the housing 110 together with the lifting driver 120 and the rotating shaft 130.

[0319] In some embodiments, a first fixing rod is provided on the side wall (e.g., the side wall opposite to the back plate 113) of the housing 110, and the end of the rotating shaft 130 away from the lifting driver 120 is sleeved on the first fixing rod, which can stabilize the rotating shaft 130 and make the rotating process more stable.

[0320] In some embodiments, the driven shaft 140 is arranged above the rotating shaft 130. As an example, a second fixed rod can be fixedly arranged on the inner wall of the housing 110, the second fixed rod being arranged above the first fixed rod, and the driven shaft 140 is sleeved on the second fixed rod. In other embodiments, the two ends of the driven shaft 140 can also be rotatably arranged on the housing 110 through bearings, respectively. Similarly, the end of the rotating shaft 130 that is not connected to the rotating shaft of the lifting driver 120 can also be rotatably arranged on the housing 110 through a bearing.

[0321] The rotating shaft 130 is arranged around a first groove for winding the steel cable 150, and the driven shaft 140 is arranged around a second groove 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 an example, in Figure 21 , one end of the steel cable 150 is fixed at A shown in Figure 21 . The steel cable 150 is wound against at least part of the first groove and at least part of the second groove. The other end of the steel cable 150 is connected to the lower end of the lifting rod 200, for example, the other end of the steel cable 150 is fixed at B shown in Figure 21 .

[0322] In some embodiments, continuing to refer to Figure 22 , the steel cable 150 can be wound against the first groove of the rotating shaft 130 from top to bottom and then from bottom to top, and then wound against the second groove of the driven shaft 140 from bottom to top and then from top to bottom. By adjusting the tension of the two ends of the steel cable 150, the steel cable 150 can be tightly pressed on the rotating shaft 130 and the driven shaft 140. Because the contact surface between the steel cable and the shaft (such as the rotating shaft 130 and the driven shaft 140) is not smooth, an effective friction force is generated on the contact surface between the steel cable and the shaft, so that there is no relative movement between the steel cable and the shaft, that is, the steel cable is prevented from slipping. When the lifting driver 120 operates, the rotating shaft 130 rotates, so that the steel cable 150 is pulled up or down in a tension state, and the driven shaft 140 rotates under the driving of the steel cable 150. More specifically, from Figure 22When the rotating shaft 130 rotates clockwise, the steel cable 150 tightly wound on the rotating shaft 130 is pushed down, and the lifting rod 200 is lowered. When the rotating shaft 130 rotates anticlockwise, the steel cable 150 tightly wound on the rotating shaft 130 is pushed up, and the lifting rod 200 is raised. Finally, the lifting driver 120 realizes the lifting movement of the propeller 300 through forward rotation or reverse rotation. In some embodiments, the lifting driver 120 can be an electric motor with a locking function. When the electric motor operates for a certain period of time, the driving shaft of the electric motor can be locked to be stationary, so that the rotating shaft 130 is also locked to stop rotating. The effective friction between the steel cable and the shaft can prevent the steel cable from slipping relative to the shaft, and finally the lifting rod 200 and the propeller 300 are stably stopped at a certain lifting height, and the propeller 300 can work stably underwater at a certain depth. In some embodiments, the first groove and the second groove can be arranged staggered in the vertical direction. In some embodiments, the first groove on the rotating shaft 130 is arranged on the left, and the second groove on the driven shaft 140 is arranged on the right. In this way, the first groove and the second groove are staggered in the vertical direction, so that the steel cable 150 is not wound and stacked together when it is pushed up or pushed down by the rotating shaft 130 and the driven shaft 140. This prevents the steel cable 150 from being stuck due to mutual winding when it moves, making the lifting process smoother.

[0323] The beneficial effects that some embodiments of the present specification can bring include but are not limited to: (1) the propelling device provided by some embodiments of the present specification has a clutch mechanism. When the lifting driver cannot output rotation to drive the rotating shaft to rotate, causing the lifting rod and the propeller thereon to be unable to perform lifting movement, the clutch mechanism is switched from the first state to the second state, so that the rotating shaft can be driven by driving force provided by the lifting driver (for example, manually), thereby driving the lifting rod and the propeller thereon to continue the lifting movement; (2) the clutch mechanism has the characteristics of simple structure and reliability, and the switching between the first state and the second state is simple and easy to operate, and it is also convenient to drive the rotating shaft to rotate in other ways when the clutch mechanism is in the second state; (3) by arranging the two ends of the positioning sleeve to abut the inner surfaces of the connecting sleeve and the back plate, the movement of the connecting sleeve along the axial direction of the connecting shaft can be avoided, which causes the clutch mechanism to fail to smoothly switch between the first state and the second state. It should be noted that different embodiments can have different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0324] In some embodiments, the lifting rod 200 can be made of metal material. However, the lifting rod made of a single metal material (such as stainless steel) is prone to bending. Some embodiments of the present specification also provide a lifting rod made of composite material.

[0325] 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 can 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 means of adhesion. 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 also has the characteristics of light weight, and the combination of titanium alloy outer rod and carbon fiber inner rod can effectively reduce the weight of the lifting rod.

[0326] In some embodiments, the length of the carbon fiber inner rod 280 is less than the length of the metal outer rod 270. Since the two ends of the lifting rod are generally not subjected to a large bending force, the length of the carbon fiber inner rod can be set to be less than the length 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 less than the length 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 the lowest position, the length of the lifting rod inside and above the motion control mechanism is greater than or equal to the first distance. When the lifting rod is lowered to the lowest position, the fulcrum of the bending force generated by the thruster on the lifting rod is generally near the lower end of the motion control mechanism, so the part of the lifting rod inside and above the motion control mechanism is not subjected to a large bending force. By leaving a first distance at the upper part of the lifting rod without carbon fiber, the overall strength of the lifting rod can be ensured while saving costs and reducing the weight of the lifting rod.

[0327] The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of specific terminology. As such, the description herein is not intended to limit the devices and / or processes described herein, but rather is intended to describe the embodiments in a way that enables others skilled in the art to make or use the devices and / or processes. The description herein is thus intended to be illustrative and not restrictive. Many variations and modifications of the devices and / or processes described herein will become apparent to those skilled in the art upon reading the foregoing description, and such variations and modifications are intended to be included within the scope of the devices and / or processes described herein.

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 transmission connection with the rotating shaft, and the rotating shaft and the driven shaft are arranged in parallel with 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 the steel cable. The driven shaft is provided 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. The traction-type lifting device 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, 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.

2. The traction type lifting device according to claim 1, characterized in that: An adjusting mechanism for adjusting the tightness of the steel cable is provided on the lifting rod.

3. The traction type lifting device according to claim 2, characterized in that: The adjustment mechanism includes a first fixer arranged at the front end of the lifting rod and a second fixer arranged at the end of the lifting rod. The front end of the steel cable is connected to the first fixer, and the end of the steel cable is connected to the second fixer.

4. The traction-type lifting device according to claim 1, wherein: An isolation cavity is provided in the shell, the rotating shaft and the driven shaft are provided in the isolation cavity, and the lifting drive is provided in the shell and connected to the rotating shaft.

5. The traction-type lifting device according to claim 1, wherein: Heat dissipation holes are opened on the shell, and the shell is made of aluminum alloy material.

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

7. The traction-type lifting device according to claim 6, 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.

8. The traction-type lifting device according to claim 7, 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.

9. A propulsion device, characterized in that: The lifting device comprises the lifting device according to any one of claims 1 to 8.

10. The propulsion device according to claim 9, characterized in that 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 end 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.

11. The propulsion device according to claim 10, 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.

12. The propulsion device according to claim 9, 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 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 lever mechanism can be moved to unlock or lock the rotating device on the side plate; wherein, the base plate is also provided with an open slot for inverting the propulsion device.

13. The propulsion device according to claim 12, 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.

14. The propulsion device according to claim 12, wherein: 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, and 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 circular 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.

15. The propulsion device according to claim 14, characterized in that A positioning hook with the same opening as the positioning part is fixedly provided on the outside of the positioning part, and a handle is provided on the positioning hook; a positioning groove is provided on the periphery of the positioning part; positioning holes are provided on both sides of the circular groove on the side plate, and a fixing pin can be inserted into the positioning hole.

16. The propulsion device according to claim 9, 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 mounting seat is installed with the lifting device, 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 and narrow lower section. 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 clamped with the lower side wall of the first groove, and is wrapped around 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.

17. The propulsion device according to claim 16, 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.

18. A propulsion device according to claim 16 or 17, characterized in that Both side walls of the first groove are provided with anti-slip protrusions.

19. The propulsion device according to claim 17, characterized in that 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.

20. The propulsion device according to claim 19, 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 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 in an adjustable manner 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 slot matched with the plug-in portion is provided on the other. When the plug-in portion is matched with the plug-in slot, the second limiting structure is driven to rotate and can be linked to the rotation of the lifting rod.

21. The propulsion device according to claim 20, characterized in that 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 the abutment plate to be fixed on the lifting rod.

22. The propulsion device according to claim 20, characterized in that A nylon sleeve is fixedly connected to the interior of the sleeve. The nylon sleeve is provided with a through hole for the steel cable to pass through. The lifting rod rotates with the through hole on the nylon sleeve and can be movably matched up and down.

23. The propulsion device of claim 16, 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 in an adjustable manner 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.

24. The propulsion device according to claim 20, characterized in that The lifting drive motor is a servo motor or a stepper motor with a locking function, the rotary 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, rotary drive, propeller, GPS signal receiver and magnetic induction switch are all electrically connected to the electronic control component.

25. The propulsion device of claim 16, 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 of a horizontal structure 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 connected to the two bayonet holes.

26. The propulsion device according to claim 9, characterized in that 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 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.

27. The propulsion device according to claim 26, characterized in that The cross section of the first groove is V-shaped or trapezoidal.

28. The propulsion device according to claim 27, characterized in that An included angle between a side of a cross section of the first groove and a height direction of the cross section is 10° to 45°.

29. The propulsion device according to claim 26, characterized in that 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.

30. The propulsion device of claim 26, wherein: Anti-slip patterns are provided on the side walls of the first groove.

31. The propulsion device of claim 26, wherein: The depth of the first groove is no greater than the diameter of the steel cable.

32. The propulsion device according to claim 31, characterized in that The depth of the first groove is 50% to 100% of the diameter of the steel cable.

33. The propulsion device of claim 26, 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 upwards around the first groove of the rotating shaft, and then wound from bottom to top and then downwards around the second groove of the driven shaft.

34. The propulsion device of claim 26, 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.

35. The propulsion device of claim 9, 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, for driving the lifting rod to rise or fall; the rotating device is used to drive the lifting device to rotate, and then drive 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.

36. The propulsion device according to claim 35, characterized in that The lower side of the rotating device includes a lower end surface of the side wall of the first guide hole.

37. The propulsion device of claim 35, 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.

38. The propulsion device according to claim 37, characterized in that 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.

39. The propulsion device according to claim 38, characterized in that The first limiting structure includes a V-shaped portion protruding from the surface of the lifting rod, and the groove formed on the second limiting structure is a V-shaped groove.

40. The propulsion device of claim 38, 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.

41. The propulsion device of claim 37, 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 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.

42. The propulsion device according to claim 41, 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.

43. The propulsion device of claim 35, 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 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.

44. The propulsion device according to claim 43, 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 stop so that the second stop can rest on the second fixing ring to fasten the steel cable when the steel cable is tightened; 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 second 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.

45. The propulsion device of claim 9, 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; two or more first grooves for the steel cable to be wound around the rotating shaft are arranged around the driven shaft, and two or more second grooves for the steel cable to be wound around the driven shaft are arranged 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 part of each first groove and at least a part of each second groove, and the other end of the steel cable is connected to the lower end of the lifting rod.

46. ​​The propulsion device of claim 45, 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 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.

47. The propulsion device according to claim 46, characterized in that Anti-slip grooves are provided on the side walls of the first groove; the depth of the first groove is not greater than the diameter of the steel cable.

48. The propulsion device of claim 45, wherein: The number of the second grooves is one greater than the number of the first grooves.

49. The propulsion device according to claim 48, characterized in that Each first groove is aligned with one 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 wound around the first first groove of the rotating shaft from top to bottom and then upward, and is wound around the second second groove of the driven shaft from bottom to top and then downward, and then is wound around the second first groove of the rotating shaft from top to bottom and then upward, and is wound around the second second groove of the driven shaft from bottom to top and then downward, and so on, until the steel cable is wound around the last second groove of the driven shaft.

50. The propulsion device of claim 45, wherein: The diameter of the rotating shaft is larger than the diameter of the driven shaft.

51. The propulsion device of claim 45, wherein: It also includes an elastic member and a first fixing ring, the elastic member has elastic deformation ability 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 the one end of the steel cable is fixedly provided with a first stop so that the first stop can abut against the elastic member when the steel cable is tightened to tighten the steel cable.

52. The propulsion device of claim 45, wherein: It 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 fixedly provided with a second stop so that when the steel cable is tightened, the second stop can be pressed against the second fixer to fasten the steel cable.

53. The propulsion device of claim 45, 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.

54. The propulsion device of claim 9, wherein: 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 position 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 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.

55. The propulsion device of claim 54, wherein: The limit groove is provided on the 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 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 base plate; 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 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 is rotationally connected to the side plate; 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.

56. The propulsion device of claim 55, wherein: An 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.

57. The propulsion device of claim 54, wherein: 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 perpendicular to both the bottom plate and the side panel; the operating assembly is arranged on the base; the operating assembly 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.

58. A propulsion device according to claim 55 or 57, characterized in that 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 plate; wherein, the limiting rod is fixedly connected to the second connecting rod parallel to the first direction.

59. The propulsion device of claim 54, 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 provided with two mounting plates parallel to the side panels; the operating assembly includes 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 turn; 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.

60. The propulsion device of claim 59, wherein: 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.

61. The propulsion device of claim 59, wherein: 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.

62. The propulsion device of claim 59, 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 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.

63. The propulsion device of claim 55 or 57, wherein: 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.

64. The propulsion device of claim 9, 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, 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.

65. The propulsion device of claim 64, wherein: 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; 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 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 in the lower half of the lifting rod.

66. A propulsion device according to claim 64 or 65, 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.

67. The propulsion device of claim 66, wherein: 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.

68. The propulsion device of claim 67, 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 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.

69. The propulsion device of claim 67, 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.

70. The propulsion device of claim 67, wherein: 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.

71. The propulsion device of claim 67, 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.

72. The propulsion device of claim 68, wherein: 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.

73. The propulsion device of claim 72, wherein: 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 surface 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.

74. The propulsion device of claim 9, wherein: 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, and the lifting device is used to drive the lifting rod to move up and down; 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.

75. The propulsion device of claim 74, wherein: The metal outer rod is a stainless steel outer rod or a titanium alloy outer rod.

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