Lifting mechanism and propelling device

Abstract

The invention provides a lifting mechanism and a propelling device, and relates to the technical field of lifting mechanisms. The lifting mechanism comprises a lifting rod, at least one clamping wheel set and a driving mechanism. The clamping wheel set comprises at least two clamping wheels abutting against the lifting rod, the driving mechanism drives the clamping wheels to rotate around respective first shafts, and the clamping wheels provide upward or downward friction force for the lifting rod so that the lifting rod can ascend or descend in the axis direction of the lifting rod. And the first shaft is the axis of the clamping wheel.

Description

Technical Field

[0001] This specification relates to the technical field of lifting mechanisms, and particularly to a lifting mechanism and a propulsion device. Background Art

[0002] A lifting mechanism is a mechanical device used to transport materials or change the position of equipment in a vertical or inclined direction. The lifting mechanism can achieve the lifting function through mechanical transmission (such as gears, chains, wire ropes, etc.) or a hydraulic system drive. The lifting mechanism can be used in a propulsion device, such as a marine propulsion device. In a lifting mechanism adopting a mechanical transmission mode, key kinematic pairs (such as gear meshing surfaces, chain pins, wire rope strands, etc.) are prone to progressive performance degradation under alternating loads. Such mechanical wear has significant non-linear development characteristics: before the critical wear threshold, the system can still maintain its basic functions, but beyond the critical point, it will trigger sudden failures without warning. This failure mode is particularly dangerous under the full-load operating conditions of the lifting rod. When the transmission mechanism suddenly loses its power holding ability, the lifting rod and the equipment such as the controller and thruster it carries will rapidly fall under the action of gravitational acceleration. The impact load generated thereby may cause direct damage such as deformation of the propeller blades and bending of the shafting, or may conduct the damage effect to the hull through the rigid connection structure, resulting in multi-level equipment chain damage. Summary of the Invention

[0003] One or more embodiments of this specification provide a lifting mechanism, including: a lifting rod, at least one set of pinch wheels, and a driving mechanism; the set of pinch wheels includes at least two pinch wheels pressing against the lifting rod, the driving mechanism drives the pinch wheels to rotate around their respective first axes, and the pinch wheels provide upward or downward frictional force to the lifting rod to cause the lifting rod to rise or fall along the axis direction of the lifting rod; the first axis is the axis of the pinch wheel.

[0004] In some embodiments, the lifting mechanism further includes: a balancing device, the balancing device drives the pinch wheels to rotate around their respective second axes independently, so that the pinch wheels approach or move away from the lifting rod independently; the second axis is parallel to the first axis.

[0005] In some embodiments, the set of pinch wheels includes: a pinch wheel bracket, each pinch wheel is correspondingly provided with a pinch wheel bracket, and the pinch wheel is rotatably connected to the pinch wheel bracket; the balancing device drives the pinch wheel bracket to carry the pinch wheel to rotate around the second axis, and the position of the second axis in the axis direction of the lifting rod is relatively fixed.

[0006] In some embodiments, the lifting mechanism includes two of the clamping wheel sets, and each clamping wheel set includes two of the clamping wheels; the balancing device includes: a balancing member disposed between the four clamping wheels, the balancing member being configured to: be capable of moving along the axis direction of the lifting rod and be capable of rotating about a third axis parallel to the first axis and the second axis; two balancing swing arms respectively disposed on both sides of the balancing member, one end of each balancing swing arm being rotatably connected to the balancing member; two balancing link rods respectively disposed at the other ends of the two balancing swing arms, the middle of each balancing link rod being rotatably connected to the balancing swing arm; and a support swing arm, each clamping wheel support being correspondingly fixed with one support swing arm, and each support swing arm being respectively rotatably connected to one end of one of the balancing link rods.

[0007] In some embodiments, the lifting mechanism includes one of the clamping wheel sets, and the clamping wheel set includes two of the clamping wheels; the balancing device includes: a balancing member disposed between the two clamping wheels, the balancing member being configured to: be capable of moving along the axis direction of the lifting rod and be capable of rotating about a third axis parallel to the first axis and the second axis; two balancing swing arms respectively disposed on both sides of the balancing member, one end of each balancing swing arm being rotatably connected to the balancing member; and a support swing arm, each clamping wheel support being correspondingly fixed with one support swing arm, and each support swing arm being respectively rotatably connected to one of the balancing swing arms.

[0008] In some embodiments, the lifting mechanism includes three of the clamping wheel sets, each of the clamping wheel sets includes two of the clamping wheels, and the three clamping wheel sets include a first clamping wheel set, a second clamping wheel set, and a third clamping wheel set; the balancing device includes: a balancing member disposed between several of the clamping wheels, the balancing member being configured to: be capable of moving along the axis direction of the lifting rod and be capable of rotating about a third axis parallel to the first axis and the second axis; a balancing swing arm, with two of the balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; a first balancing link, with two of the first balancing links respectively disposed at the other ends of the two balancing swing arms, the middle of the first balancing link being rotatably connected to the balancing swing arm; a second balancing link, the middle of the second balancing link being rotatably connected to one end of the first balancing link; a bracket swing arm, with one of the bracket swing arms fixedly provided corresponding to each of the clamping wheel brackets, the two bracket swing arms corresponding to the two clamping wheel brackets of the first clamping wheel set being respectively rotatably connected to the other ends of the two first balancing links, the two bracket swing arms corresponding to the two clamping wheel brackets of the second clamping wheel set being respectively rotatably connected to one ends of the two second balancing links, and the two bracket swing arms corresponding to the two clamping wheel brackets of the third clamping wheel set being respectively rotatably connected to the other ends of the two second balancing links.

[0009] In some embodiments, the lifting mechanism includes four of the clamping wheel sets, each of the clamping wheel sets includes two of the clamping wheels; the balancing device includes: a balancing member disposed between several of the clamping wheels, the balancing member being configured to: be capable of moving along the axis direction of the lifting rod and be capable of rotating about a third axis parallel to the first axis and the second axis; a balancing swing arm, with two of the balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; a first balancing link, with two of the first balancing links respectively disposed at the other ends of the two balancing swing arms, the middle of the first balancing link being rotatably connected to the balancing swing arm; a second balancing link, the middle of each of the four second balancing links being respectively rotatably connected to one end of a first balancing link; a bracket swing arm, with one of the bracket swing arms fixedly provided corresponding to each of the clamping wheel brackets, and each of the bracket swing arms being respectively rotatably connected to a second balancing link.

[0010] In some embodiments, the balancing swing arm is configured such that during the swinging process of the balancing swing arm, the height of the end of the balancing swing arm connected to the balancing member is not less than the height of the other end of the balancing swing arm.

[0011] In some embodiments, the balance member is provided with a swing arm limiting groove for limiting the rotation angle of the balance swing arm, the balance swing arm is provided with a swing arm limiting member, and the swing arm limiting member can slide in the swing arm limiting groove.

[0012] In some embodiments, the balance device further includes: a lead screw, which is arranged parallel to the axis direction of the lifting rod; a slider mechanism, which is matched with the lead screw, the lead screw rotates to drive the slider mechanism to move along the axis direction of the lead screw, and the balance member is rotatably connected to the slider mechanism.

[0013] In some embodiments, the slider mechanism includes: a lead screw slider, which meshes with the lead screw, and the balance member is rotatably connected to the lead screw slider; or, the slider mechanism includes: a lead screw slider, which meshes with the lead screw; a movable slider, the lead screw passes through the movable slider, and the movable slider can slide relative to the lead screw, and the balance member is rotatably connected to the movable slider; a slider elastic member, which is arranged between the lead screw slider and the movable slider.

[0014] In some embodiments, the lifting mechanism further includes: a chassis skeleton, on which a balance device guiding groove is opened; a balance device guiding member is provided on the lead screw slider and / or the movable slider, and the balance device guiding member is slidably arranged in the balance device guiding groove.

[0015] In some embodiments, the lifting mechanism includes: a balance device driving mechanism, which drives the lead screw to rotate; the balance device driving mechanism includes: a balance device driving motor and a manual release clamp rod that is clutched and drivenly connected to the motor shaft of the balance device driving motor; the lead screw is configured to rotate synchronously with the manual release clamp rod.

[0016] In some embodiments, one of the motor shaft of the balance device driving motor and the manual release clamp rod is provided with an engaging structure, and the other of the motor shaft of the balance device driving motor and the manual release clamp rod is provided with an engaging groove that matches the engaging structure, and the motor shaft of the balance device driving motor and the manual release clamp rod are clutched and drivenly connected through the engaging structure and the engaging groove; the manual release clamp rod can be operably in a first position and a second position; when the manual release clamp rod is in the first position, the engaging structure is disengaged from the engaging groove, and the power of the balance device driving motor is disengaged from the manual release clamp rod; when the manual release clamp rod is in the second position, the engaging structure is engaged with the engaging groove, and the power of the balance device driving motor is transmitted to the manual release clamp rod.

[0017] In some embodiments, the balance device driving mechanism further includes: a positioning structure capable of moving in a direction intersecting the axial direction of the manual clamping and releasing rod, and a positioning elastic member that gives the positioning structure a tendency to move closer to the manual clamping and releasing rod; one or more positioning grooves matching the shape of the positioning structure are formed on the manual clamping and releasing rod.

[0018] In some embodiments, the lifting mechanism further includes: a transmission mechanism that transmits power between the driving mechanism and the clamping wheel. The transmission mechanism includes: a worm, a worm gear meshing with the worm, a first transmission gear coaxially rotating with the worm gear, and a second transmission gear drivingly connected to the first transmission gear; the second transmission gear is fixedly connected to the clamping wheel shaft of the clamping wheel, and the second transmission gear rotates around the first axis; the worm gear and the first transmission gear both rotate around the second axis.

[0019] In some embodiments, each clamping wheel is correspondingly provided with a worm gear, a first transmission gear, and a second transmission gear; the worm meshes with a plurality of the worm gears respectively.

[0020] In some embodiments, the clamping wheel bracket includes: a clamping wheel bracket bottom plate and two clamping wheel bracket side plates provided on both sides of the clamping wheel bracket bottom plate, and the clamping wheel is rotatably arranged between the two clamping wheel bracket side plates.

[0021] In some embodiments, the lifting mechanism further includes: a chassis housing and a chassis skeleton located inside the chassis housing; the lifting rod penetrates through the chassis housing and the chassis skeleton; the clamping wheel group is arranged inside the chassis skeleton; the driving mechanism and the balance device are arranged between the chassis housing and the chassis skeleton.

[0022] In some embodiments, the cross-section of the lifting rod is circular, and the clamping wheel has a concave arc surface that fits the outer surface of the lifting rod; the lifting mechanism further includes: a rotation driving mechanism that drives the lifting rod to rotate around its axis.

[0023] One or more embodiments of this specification provide a propulsion device, including the lifting mechanism described in any one of the above.

[0024] In some embodiments, the propulsion device includes: a control mechanism provided at the upper end of the lifting rod and a thruster provided at the other end of the lifting rod; wherein, the lifting rod is configured to be able to rotate around its axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] This specification will be further described by way of exemplary embodiments, and these exemplary embodiments will be described in detail through the drawings. The same numbers in the drawings represent the same structures or steps.

[0026] Figure 1 It is a schematic diagram of the lifting mechanism shown in some embodiments of this specification.

[0027] Figure 2 It is a schematic diagram of one side of the internal structure of the lifting mechanism shown in some embodiments of this specification.

[0028] Figure 3 is Figure 2 a partially enlarged schematic diagram.

[0029] Figure 4 It is a schematic diagram of the other side of the internal structure of the lifting mechanism shown in some embodiments of this specification.

[0030] Figure 5 is Figure 4 a partially enlarged schematic diagram.

[0031] Figure 6 It is a schematic diagram of the cooperation of the lifting rod, the clamping wheel group and the balancing device of the lifting mechanism shown in some embodiments of this specification.

[0032] Figure 7 It is a schematic diagram of the balancing device and the clamping wheel group of the lifting mechanism shown in some embodiments of this specification.

[0033] Figure 8 is Figure 7 a partially enlarged schematic diagram.

[0034] Figure 9 It is a schematic diagram of the balancing device of the lifting mechanism shown in some embodiments of this specification.

[0035] Figure 10 It is a schematic diagram of the balancing device and the chassis framework of the lifting mechanism shown in some embodiments of this specification.

[0036] Figure 11 It is a schematic diagram of the balancing device driving motor and the manual clamping release rod of the lifting mechanism shown in some embodiments of this specification.

[0037] Figure 12 It is a front view schematic diagram of the balancing device driving motor and the manual clamping release rod of the lifting mechanism shown in some embodiments of this specification.

[0038] Figure 13 It is a sectional view schematic diagram of the balancing device driving motor and the manual clamping release rod of the lifting mechanism shown in some embodiments of this specification.

[0039] Figure 14 It is a schematic diagram of the positioning structure of the manual clamping release rod of the lifting mechanism shown in some embodiments of this specification.

[0040] Figure 15 It is a schematic diagram of the drive mechanism of the lifting mechanism shown in some embodiments of this specification.

[0041] Figure 16 It is a schematic diagram of the drive mechanism, pinch wheel bracket and pinch wheels of the lifting mechanism shown in some embodiments of this specification.

[0042] Figure 17 It is a top view schematic diagram of the drive mechanism, pinch wheel bracket and pinch wheels of the lifting mechanism shown in some embodiments of this specification.

[0043] Figure 18 It is a front view schematic diagram of the drive mechanism, pinch wheel bracket and pinch wheels of the lifting mechanism shown in some embodiments of this specification.

[0044] Figure 19 It is a sectional view schematic diagram of the drive mechanism, pinch wheel bracket and pinch wheels of the lifting mechanism shown in some embodiments of this specification.

[0045] Figure 20 is Figure 19 a partial enlarged schematic diagram of

[0046] Figures 21 to 25 It is a schematic diagram of the principles of various balance devices shown in some embodiments of this specification.

[0047] Markings in the figure: 1 lifting rod; 2 pinch wheel group; 21 pinch wheel; 22 pinch wheel bracket; 220 pinch wheel bracket rotating shaft; 221 pinch wheel bracket bottom plate; 222 pinch wheel bracket side plate; 3 drive mechanism; 4 balance device; 41 balance member; 411 swing arm limit groove; 42 balance swing arm; 421 swing arm limit member; 43 balance connecting rod; 431 first balance connecting rod; 432 second balance connecting rod; 44 bracket swing arm; 45 lead screw; 46 slider mechanism; 461 lead screw slider; 462 movable slider; 463 slider elastic member; 464 balance device guide member; 50 chassis housing; 51 chassis skeleton; 511 balance device guide groove; 61 balance device drive motor; 611 engagement structure; 62 manual release lever; 621 engagement groove; 622 positioning groove; 63 positioning structure; 64 positioning structure housing; 7 transmission mechanism; 71 worm; 72 worm gear; 73 first transmission gear; 74 second transmission gear; 100 control mechanism; 200 thruster. Specific embodiments

[0048] To more clearly illustrate the technical solutions of the embodiments of this specification, the embodiments will be introduced in detail below with reference to the accompanying drawings. Obviously, the content described below is some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, the technical solutions or means disclosed in this specification can also be applied to other scenarios based on this technical content.

[0049] It should be understood that the terms "system", "device", "equipment", "part" and / or "component", "unit" and / or "module" used in this specification are a way to distinguish different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the said words can be replaced by other expressions.

[0050] Unless otherwise specified, the technical terms describing components, elements, etc. in this specification do not specifically refer to the singular form, but may also include the plural form. Generally speaking, terms such as "include" and "comprise" only indicate the inclusion of the clearly identified steps, elements or components, and these steps, elements and components do not constitute an exclusive list. For example, the method or device described may also include other steps or components.

[0051] In the description of this specification, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. In the description of this specification, unless otherwise clearly defined, words such as "set", "install", "connect", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in this specification in combination with the specific content of the technical solution.

[0052] In the description of this specification, it should be particularly noted that the description related to the "axis" is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the related structure must have a physical entity. In the description of this specification, the description related to the "axis", such as the first axis, the second axis, the third axis, etc., can be an actual axis structure or a virtual axis line such as a central axis or an abstract rotation center.

[0053] A lifting mechanism is a mechanical device used to transport materials in a vertical or inclined direction or to change the position of equipment. The lifting mechanism can achieve the lifting function through mechanical transmission (such as gears, chains, wire ropes, etc.) or a hydraulic system. In some embodiments, the lifting mechanism can be used in a propulsion device, such as a marine propulsion device. In some embodiments, the marine propulsion device may include a propeller, a power unit driving the propeller, and a lifting rod connected to the power unit. This lifting rod allows the propeller to descend and enter the water surface, or adjust the depth underwater; this lifting rod also allows the propeller to rise and leave the water surface. In some embodiments, the lifting rod can also be configured to be able to flip around a certain horizontal axis to change from a vertical state to a horizontal state, so as to allow the propulsion device to be horizontally or substantially horizontally stored inside the hull. In some embodiments, the lifting rod can also be configured to be able to rotate around its axial direction, so as to adjust the orientation of the propeller.

[0054] In a lifting mechanism adopting a mechanical transmission mode, key kinematic pairs (such as gear meshing surfaces, chain pins, wire rope strands, etc.) are prone to progressive performance degradation under the action of alternating loads. Specifically, the periodic stress causes fretting wear on the surface of the metal material, and the geometric deformation of the contact surface leads to an increase in the transmission clearance, thereby causing deterioration of the positioning accuracy and a decrease in the power transmission efficiency.

[0055] In some embodiments, such mechanical wear has a significant non-linear development characteristic: before the critical wear threshold, the system can still maintain its basic function, but after exceeding the critical point, it will cause sudden failure without warning. This failure mode is particularly dangerous under the full-load operating conditions of the lifting rod. In some embodiments, when the transmission mechanism suddenly loses its power holding ability, the lifting rod and the equipment such as the controller and the thruster it carries will rapidly fall under the action of gravitational acceleration. The impact load generated therefrom may cause direct damage such as deformation of the propeller blades and bending of the shafting, and may also transmit the damage effect to the hull through the rigid connection structure, causing multi-level equipment chain damage.

[0056] Based on this, in one or more embodiments of this specification, a lifting mechanism is provided, which has a friction drive unit composed of clamping wheels, and realizes the rising or falling of the lifting rod through the rolling friction force applied by the clamping wheels on the lifting rod, has a low wear rate, and can further compensate for the wear amount of the clamping wheels and / or the lifting rod through a balancing device, so that the clamping wheels can maintain a state of being closely attached to the lifting rod.

[0057] Figure 1 is a schematic diagram of the lifting mechanism shown in some embodiments of this specification, Figure 2 is a schematic diagram of one side of the internal structure of the lifting mechanism shown in some embodiments of this specification, Figure 3 is Figure 2 a partial enlarged schematic diagram ofFigure 4 It is a schematic diagram of the other side of the internal structure of the lifting mechanism shown in some embodiments of this specification. Figure 5 It is Figure 4 It is a partially enlarged schematic diagram. Refer to Figures 1 to 5 As shown, in one or more embodiments of this specification, the lifting mechanism includes: a lifting rod 1, at least one clamping wheel group 2, and a driving mechanism 3. In some embodiments, the clamping wheel group 2 includes at least two clamping wheels 21 that abut against the lifting rod 1. In some embodiments, the clamping wheel group 2 may include two clamping wheels 21, and the two clamping wheels 21 respectively abut against both sides of the lifting rod 1. In some embodiments, the clamping wheel group 2 may further include four clamping wheels 21. Exemplarily, the four clamping wheels 21 respectively abut against the front and rear sides and the left and right sides of the lifting rod 1. In some embodiments, the clamping wheel group 2 may further include three or other numbers of clamping wheels 21, and multiple clamping wheels 21 may be arranged in a circular array around the lifting rod 1.

[0058] In some embodiments, the lifting mechanism may include one clamping wheel group 2, or may include multiple clamping wheel groups 2. In some embodiments, the lifting mechanism may include two or more clamping wheel groups 2. In some embodiments, multiple clamping wheel groups 2 may be arranged in sequence along the axis direction of the lifting rod 1. In some embodiments, the clamping wheels 21 in multiple clamping wheel groups 2 may be arranged opposite to each other in the axis direction of the lifting rod 1. For example, the first clamping wheel among the two clamping wheels 21 in multiple clamping wheel groups 2 is arranged on one side of the lifting rod 1, and the second clamping wheel among the two clamping wheels 21 in multiple clamping wheel groups 2 is arranged on the other side of the lifting rod 1. In some embodiments, the clamping wheels in multiple clamping wheel groups 2 may also be arranged staggered in the axis direction of the lifting rod 1. For example, the two clamping wheels 21 in one clamping wheel group 2 are respectively arranged on the left and right sides of the lifting rod 1, and the two clamping wheels 21 in another clamping wheel group 2 are respectively arranged on the front and rear sides of the lifting rod 1.

[0059] In some embodiments, the clamping wheel 21 may have a surface adapted to the shape of the outer surface of the lifting rod 1 to increase the contact area when the clamping wheel 21 abuts against the lifting rod 1. In some embodiments, for example, in the embodiment where the clamping wheel group 2 includes two clamping wheels 21, the two clamping wheels 21 may respectively cover both sides of the lifting rod 1. Exemplarily, the two clamping wheels 21 may both have concave arc surfaces that cover both sides of the lifting rod 1.

[0060] In some embodiments, the cross-section of the lifting rod 1 may be circular to make the lifting rod 1 isotropic, thereby avoiding the influence on the joint surface between the clamping wheel 21 and the lifting rod 1 when the lifting rod 1 rotates around its own axis. In some embodiments, the cross-section of the lifting rod 1 may also be non-circular, such as rectangular, elliptical or other irregular shapes. In this embodiment, the rotation of the lifting rod 1 around its own axis can be achieved by the rotation of the entire device.

[0061] In some embodiments, the drive mechanism 3 drives the pinch wheels 21 to rotate about their respective first axes A, where the first axis A is the axis of the pinch wheel 21. In some embodiments, the first axis A of the pinch wheel 21 may be perpendicular to the axis of the lifting rod 1. In some embodiments, the first axes A of the plurality of pinch wheels 21 are parallel to each other. In some embodiments, the pinch wheels 21 provide an upward or downward frictional force to the lifting rod 1 to cause the lifting rod 1 to rise or fall along the axis direction of the lifting rod 1.

[0062] In one or more embodiments of this specification, refer to Figure 2 、 Figure 3 and Figures 6 to 8 As shown, the lifting mechanism further includes: a balancing device 4, and the balancing device 4 drives the pinch wheels 21 to rotate independently about their respective second axes B, so that the pinch wheels 21 move closer to or away from the lifting rod 1 independently. Wherein, the second axis B is parallel to the first axis A.

[0063] In some embodiments, the pinch wheel 21 can rotate about the first axis A, that is, its own axis, and can also revolve about the second axis B, so that the whole pinch wheel 21 can swing within a certain range, so as to approach or move away from the lifting rod 1. In some embodiments, the surface of the pinch wheel 21 may be worn, or a part of the surface of the lifting rod 1 may be worn. By the balancing device 4, the pinch wheel 21 is made to approach the lifting rod 1, so that rolling friction can be maintained between the pinch wheel 21 and the lifting rod 1, and the stability of the equipment operation is maintained.

[0064] In some embodiments, the balancing device 4 can simultaneously drive a plurality of pinch wheels 21 (such as two pinch wheels 21, three pinch wheels 21, four pinch wheels 21 or more pinch wheels 21) to rotate independently about their respective second axes B.

[0065] In one or more embodiments of this specification, refer to Figures 6 to 8 As shown, the pinch wheel group 2 includes: a pinch wheel bracket 22, and each pinch wheel 21 is correspondingly provided with a pinch wheel bracket 22, and the pinch wheel 21 is rotatably connected to the pinch wheel bracket 22.

[0066] In some embodiments, the position of the second axis B of the pinch wheel bracket 22 is relatively fixed in the axis direction of the lifting rod 1. Exemplarily, the pinch wheel bracket 22 can be rotatably connected to the equipment frame (such as the chassis skeleton 51) to maintain the general position of the pinch wheel bracket 22 and the pinch wheel 21 located thereon. In some embodiments, the pinch wheel bracket 22 can rotate about the second axis B relative to the equipment frame. In some embodiments, the pinch wheel 21 forms an eccentric swing relative to the pinch wheel bracket 22. In some embodiments, the balancing device 4 drives the pinch wheel bracket 22 to carry the pinch wheel 21 to rotate about the second axis B.

[0067] Exemplarily, the pinch wheel bracket 22 can be rotatably connected to the device frame through one or more pinch wheel bracket rotation shafts 220. In some embodiments, the pinch wheel bracket rotation shaft 220 can be fixedly connected to the side surface of the pinch wheel bracket 22. In some embodiments, a bearing can be provided between the pinch wheel bracket rotation shaft 220 and the device frame. In some embodiments, the balancing device 4 can drive the rotation of the pinch wheel bracket rotation shaft 220 (e.g., rotate within a certain range) to drive the pinch wheel bracket 22 with the pinch wheel 21 to rotate around the second axis B. In some further embodiments, the balancing device 4 can drive the rotation of the pinch wheel bracket rotation shaft 220 by driving the swing of an eccentric swing arm fixedly connected to the pinch wheel bracket rotation shaft 220. In some further embodiments, the balancing device 4 can drive the rotation of the pinch wheel bracket rotation shafts 220 of multiple pinch wheel brackets 22 by simultaneously driving the swings of multiple eccentric swing arms. In this embodiment, the axis of the pinch wheel bracket rotation shaft 220 coincides with the second axis B.

[0068] In one or more embodiments of this specification, refer to Figures 6 to 8 , in combination with Figure 21 shown in the schematic diagram, the lifting mechanism can include two pinch wheel groups 2, and each pinch wheel group 2 includes two pinch wheels 21. In this embodiment, the balancing device 4 can include: a balancing member 41, a balancing swing arm 42, a balancing connecting rod 43, and a bracket swing arm 44.

[0069] In some embodiments, refer to Figure 7 shown, the balancing member 41 is arranged between the four pinch wheels 21. For example, the balancing member 41 is arranged in the area near the intersection of the diagonals of the four pinch wheels 21 and can displace and / or rotate within this area. In some embodiments, the balancing member 41 being arranged between the four pinch wheels 21 can be understood as the balancing member 41 being wholly or partially arranged within the space enclosed by the axes of the four pinch wheels 21 and their extensions. In some embodiments, the balancing member 41 is configured to: be able to move along the axis direction of the lifting rod 1 and be able to rotate around a third axis C parallel to the first axis A and the second axis B.

[0070] In some embodiments, the two balancing swing arms 42 are respectively arranged on both sides of the balancing member 41, and one end of the balancing swing arm 42 is rotatably connected to the balancing member 41. In some embodiments, the balancing member 41 can be generally triangular, the upper end of the balancing member 41 can rotate around the third axis C, and both sides of the balancing member 41 are respectively rotatably connected to the two balancing swing arms 42. In some embodiments, the balancing swing arm 42 moves following the movement of the balancing member 41 and can rotate relative to the balancing member 41 at the same time. In some embodiments, the balancing member 41 rotates around the third axis C so that the balancing swing arm 42 generates a displacement biased towards one side, either the left or the right, in the Figure 7 horizontal direction.

[0071] In some embodiments, two balance link rods 43 are respectively disposed at the other ends of two balance swing arms 42, and the middle of the balance link rod 43 is rotatably connected to the balance swing arm 42, so that the upper end or the lower end of the balance link rod 43 can perform a lever motion around the middle thereof. Refer to Figure 7 As shown, taking the balance swing arm 42 on the left side as an example, when the balance swing arm 42 on the left side moves to the left, the middle of the balance link rod 43 moves to the left accordingly, and the balance link rod 43 can perform a lever motion based on the gap between the two pinch rollers 21 on the left side and the lifting rod 1 for adaptive adjustment, so that the two pinch rollers 21 on the left side can closely adhere to the lifting rod 1.

[0072] In some embodiments, the middle of the balance link rod 43 may be the midpoint of the balance link rod 43. In some embodiments, the middle of the balance link rod 43 may also be a region within a certain range near the midpoint of the balance link rod 43. Exemplarily, the middle of the balance link rod 43 may be a region centered on the midpoint of the balance link rod 43 and having a length less than or equal to half of the total length of the balance link rod 43.

[0073] In some embodiments, a bracket swing arm 44 is correspondingly fixed to each pinch roller bracket 22, and each bracket swing arm 44 is respectively rotatably connected to one end of a balance link rod 43. Exemplarily, refer to Figure 7 As shown, the two ends of the balance link rod 43 on the left side are respectively rotatably connected to the upper left bracket swing arm 44 and the lower left bracket swing arm 44, and the two ends of the balance link rod 43 on the right side are respectively rotatably connected to the upper right bracket swing arm 44 and the lower right bracket swing arm 44. In some embodiments, the bracket swing arm 44 is used to drive the pinch roller 21 to rotate around the second axis B. In some embodiments, the bracket swing arm 44 is used to drive the pinch roller bracket 22 to rotate around the second axis B, so as to drive the pinch roller 21 to revolve around the second axis B. In some embodiments, the other end of the bracket swing arm 44 may be fixedly connected to the pinch roller bracket rotating shaft 220 of the pinch roller bracket 22, so that when one end of the bracket swing arm 44 moves based on the movement of one end of the balance link rod 43, the other end of the bracket swing arm 44 drives the pinch roller bracket rotating shaft 220 to rotate, thereby driving the pinch roller 21 to approach or move away from the lifting rod 1.

[0074] It should be noted that in this embodiment, the wear degrees of the four pinch rollers 21 may be different, and the wear degrees at the two sides of the lifting rod 1 and at various positions in the axial direction of the lifting rod 1 may also be different. Therefore, the four pinch rollers 21 need to move different distances towards the lifting rod 1 to achieve close adhesion between the four pinch rollers 21 and the lifting rod 1. In some embodiments, the four pinch rollers 21 may respectively and successively adhere to the lifting rod 1 during the movement towards the lifting rod 1.

[0075] In some embodiments, refer to Figure 7As shown, since the four clamping wheels 21 have different moving distances during the process of moving towards the lifting rod 1, the corresponding clamping wheel brackets 22 of the four clamping wheels 21 have different rotation angles, and the four support swing arms 44 correspondingly transmit the different rotation angles of the four clamping wheel brackets 22.

[0076] In some embodiments, referring to Figure 7 As shown, two balance connecting rods 43 connect two clamping wheels 21 on the same side and rotate around the middle thereof, so as to allow the two support swing arms 44 on the same side to have different rotation angles and be adaptively adjusted based on the different rotation angles of the two support swing arms 44.

[0077] Taking the balance connecting rod 43 on the left side as an example, when the balance connecting rod 43 on the left side is subjected to a leftward thrust, both ends of the balance connecting rod 43 on the left side tend to move leftward, thereby pushing the two support swing arms 44 on the left side to rotate around their respective second axes B. Exemplarily, when the clamping wheel 21 on the left side is in contact with the lifting rod 1, the corresponding clamping wheel bracket 22 rotates into place and the rotation is blocked, and the corresponding support swing arm 44 is also rotationally blocked, so that the upper and lower ends of the balance connecting rod 43 on the left side are determined. In some embodiments, since the upper and lower two clamping wheels 21 on the same side have different moving distances, the balance connecting rod 43 can finally be in a position not parallel to the axis of the lifting rod 1, for example, inclined relative to the axis of the lifting rod 1.

[0078] Similarly, taking the balance connecting rod 43 on the right side as an example, when the balance connecting rod 43 on the right side is subjected to a rightward thrust, both ends of the balance connecting rod 43 on the right side tend to move rightward, thereby pushing the two support swing arms 44 on the right side to rotate around their respective second axes B. Exemplarily, when the clamping wheel 21 on the right side is in contact with the lifting rod 1, the corresponding clamping wheel bracket 22 rotates into place and the rotation is blocked, and the corresponding support swing arm 44 is also rotationally blocked, so that the upper and lower ends of the balance connecting rod 43 on the right side are determined. In some embodiments, since the upper and lower two clamping wheels 21 on the same side have different moving distances, the balance connecting rod 43 can finally be in a position not parallel to the axis of the lifting rod 1, for example, inclined relative to the axis of the lifting rod 1.

[0079] In some embodiments, referring to Figure 7 As shown, the support swing arm 44 and the corresponding clamping wheel bracket 22 form a lever mechanism that rotates around the corresponding second axis B. Taking the support swing arm 44 in the upper left as an example, when the lower end of the support swing arm 44 in the upper left rotates away from the lifting rod 1, the upper end of the clamping wheel bracket 22 (i.e., at the clamping wheel 21) rotates towards the lifting rod 1, so that the clamping wheel 21 is in contact with the lifting rod 1. The same applies to the other three support swing arms 44.

[0080] Therefore, the balance link 43 on the left is moved to the left, and at the same time, the balance link 43 on the right is moved to the right. Based on the lever adjustment around the rotation center of the balance link 43, the four ends of the left and right balance links 43 can be independently pushed away from the lifting rod 1, so that the four clamping wheels approach the lifting rod 1 independently to fit the lifting rod and adapt to their respective movement strokes.

[0081] In some embodiments, through the cooperation of the balance member 41 and the balance swing arm 42, the middle parts of the left and right balance links 43 are pushed away from the lifting rod 1 respectively, so that the four end parts of the left and right balance links 43 are pushed away from the lifting rod 1 respectively. In some embodiments, see Figure 7 As shown, when the balance member 41 moves downward, due to the restrictive effect of the two balance links 43 on both sides of the balance member 41 on the balance swing arm 42 in the axial direction of the lifting rod 1, the balance swing arm 42 cannot move downward translationally as a whole with the downward movement of the balance member 41, so that the balance swing arm 42 rotates around the connection point where it is rotatably connected to the balance member 41. In some embodiments, during the downward movement of the balance member 41, the two balance swing arms 42 rotate so that the ends of the two balance swing arms 42 away from the balance member 41 (i.e., the ends where the balance swing arms 42 are rotatably connected to the balance links 43) move outward, so that the balance link 43 on the left moves to the left and at the same time the balance link 43 on the right moves to the right. In some embodiments, the two balance swing arms 42 can open outward in a V shape as the balance member 41 descends. In some embodiments, the two balance swing arms 42 can move to a position where they form a straight line as the balance member 41 descends. For example, the two balance swing arms 42 can be in Figure 7 the horizontal state in

[0082] In some embodiments, the balance member 41 can rotate around the third axis C to push the balance swing arms 42 on both sides out by different distances respectively, so as to push the balance links 43 on both sides out by different distances respectively to balance the fitting degree between the four clamping wheels 21 and the lifting rod 1.

[0083] In some embodiments, the balance member 41 moves downward so that the position of each end of each balance link 43 is determined based on the above principle. At this time, the position of the balance member 41 as a whole in the axial direction of the lifting rod 1 is determined, and at the same time, the position of the balance member 41 rotating around the third axis C is also determined. The whole mechanism is stable, which can ensure that the four clamping wheels 21 are all in close contact with the lifting rod 1.

[0084] In one or more embodiments of this specification, see Figure 22As shown in the schematic diagram, the lifting mechanism may include a set of clamping wheels 2, and a set of clamping wheels 2 includes two clamping wheels 21. In this embodiment, the balancing device 4 may include: a balancing member 41, a balancing swing arm 42, and a bracket swing arm 44.

[0085] In some embodiments, the balancing member 41 is disposed between the two clamping wheels 21. For example, the balancing member 41 is disposed in a region near the midpoint of the line connecting the two clamping wheels 21, and is capable of displacement and / or rotation within this region. In some embodiments, the balancing member 41 is configured to: be able to move along the axis direction of the lifting rod 1, and be able to rotate around a third axis C parallel to the first axis A and the second axis B.

[0086] In some embodiments, the two balancing swing arms 42 are respectively disposed on both sides of the balancing member 41, and one end of the balancing swing arm 42 is rotatably connected to the balancing member 41. In some embodiments, the balancing member 41 may be triangular, the upper end of the balancing member 41 can rotate around the third axis C, and both sides of the balancing member 41 are respectively rotatably connected to the two balancing swing arms 42. In some embodiments, the balancing swing arm 42 moves following the movement of the balancing member 41, and is able to rotate relative to the balancing member 41 at the same time. In some embodiments, the balancing member 41 rotates around the third axis C so that the balancing swing arm 42 generates a displacement biased towards one side, either the left or the right, in the horizontal direction.

[0087] In some embodiments, each clamping wheel bracket 22 is correspondingly fixed with a bracket swing arm 44, and one end of each bracket swing arm 44 is respectively rotatably connected to a balancing swing arm 42. In some embodiments, the bracket swing arm 44 is used to drive the clamping wheel 21 to rotate around the second axis B. In some embodiments, the bracket swing arm 44 is used to drive the clamping wheel bracket 22 to rotate around the second axis B by itself, thereby driving the clamping wheel 21 to revolve around the second axis B. In some embodiments, the other end of the bracket swing arm 44 may be fixedly connected to the clamping wheel bracket rotating shaft 220 of the clamping wheel bracket 22, so that when one end of the bracket swing arm 44 moves based on the movement of one end of the balance link 43, the other end of the bracket swing arm 44 drives the clamping wheel bracket rotating shaft 220 to rotate, thereby driving the clamping wheel 21 to approach or move away from the lifting rod 1.

[0088] It should be noted that in this embodiment, the wear degrees of the two clamping wheels 21 may be different, and the wear degrees at various positions on both sides of the lifting rod 1 and in the axis direction of the lifting rod 1 may also be different. Therefore, the two clamping wheels 21 need to move different distances towards the lifting rod 1 to achieve a tight fit between the two clamping wheels 21 and the lifting rod 1. In some embodiments, the four clamping wheels 21 can respectively and successively press against the lifting rod 1 during the movement towards the lifting rod 1.

[0089] In some embodiments, since the two clamping wheels 21 have different moving distances during the process of moving towards the lifting rod 1, the corresponding clamping wheel brackets 22 of the two clamping wheels 21 have different rotation angles, and the two support swing arms 44 correspondingly transmit the different rotation angles of the two clamping wheel brackets 22.

[0090] In some embodiments, through the cooperation of the balance member 41 and the balance swing arm 42, one ends of the left and right support swing arms 44 (i.e., the ends rotatably connected to the balance swing arm 42) are directly pushed to move away from the lifting rod 1 respectively. In some embodiments, the support swing arm 44 and the corresponding clamping wheel bracket 22 form a lever mechanism that rotates around the corresponding second axis B. In some embodiments, when one end of the support swing arm 44 rotates away from the lifting rod 1, the end of the clamping wheel bracket 22 (i.e., at the clamping wheel 21) rotates towards the lifting rod 1, so that the clamping wheel 21 fits with the lifting rod 1. In some embodiments, when the balance member 41 moves downward, due to the limiting effect of the two support swing arms 44 on both sides of the balance member 41 on the balance swing arm 42 in the axial direction of the lifting rod 1, the balance swing arm 42 cannot move downward translationally as a whole with the descent of the balance member 41, so that the balance swing arm 42 rotates around the connection point where it is rotatably connected to the balance member 41. In some embodiments, during the process of the balance member 41 moving downward, the two balance swing arms 42 rotate, so that the ends of the two balance swing arms 42 away from the balance member 41 (i.e., the ends where the balance swing arm 42 is rotatably connected to the support swing arm 44) move outward, so that the left support swing arm 44 moves to the left, and at the same time the right support swing arm 44 moves to the right, and both support swing arms 44 rotate.

[0091] In some embodiments, the balance member 41 can rotate around the third axis C to push the balance swing arms 42 on both sides out by different distances respectively, so as to push the support swing arms 44 on both sides out by different distances respectively, to balance the fitting degree between the two clamping wheels 21 and the lifting rod 1.

[0092] In some embodiments, the balance member 41 moves downward to make the ends of the two support swing arms 44 rotate in place, and the two clamping wheels 21 are both in contact with the lifting rod 1 and cannot rotate further. At this time, the position of the balance member 41 in the axial direction of the lifting rod 1 as a whole is determined, and at the same time the position of the balance member 41 rotating around the third axis C is also determined, and the whole mechanism is stable, so as to ensure that both clamping wheels 21 are in close contact with the lifting rod 1.

[0093] In one or more embodiments of this specification, refer to Figure 23As shown in the schematic diagram, the lifting mechanism may include three sets of clamping wheels, each set of clamping wheels including two clamping wheels, and the three sets of clamping wheels including a first set of clamping wheels, a second set of clamping wheels, and a third set of clamping wheels. In some embodiments, the balancing device includes: a balancing member 41, a balancing swing arm 42, a first balancing link 431, a second balancing link 432, and a bracket swing arm 44.

[0094] In some embodiments, the balancing member 41 is disposed between several clamping wheels, and the balancing member 41 is configured to: be able to move along the axis direction of the lifting rod and be able to rotate around a third axis C parallel to the first axis and the second axis.

[0095] In some embodiments, two balancing swing arms 42 are respectively disposed on both sides of the balancing member 41, and one end of the balancing swing arm 42 is rotatably connected to the balancing member 41.

[0096] In some embodiments, two first balancing links 431 are respectively disposed at the other ends of the two balancing swing arms 42, and the middle of the first balancing link 431 is rotatably connected to the balancing swing arm 42.

[0097] In some embodiments, the middle of the second balancing link 432 is rotatably connected to one end of the first balancing link 431 (for example Figure 23 the upper end of the first balancing link 431 in

[0098] In some embodiments, the middle of the first balancing link 431 or the middle of the second balancing link 432 may be the midpoint of the link. In some embodiments, the middle of the first balancing link 431 or the middle of the second balancing link 432 may also be a region within a certain range near the midpoint of the link. Exemplarily, the middle of the first balancing link 431 or the middle of the second balancing link 432 may be a region centered on the midpoint of the link and having a length less than or equal to half of the total length of the link.

[0099] In some embodiments, each clamping wheel bracket is correspondingly fixed with a bracket swing arm 44. The two bracket swing arms 44 corresponding to the two clamping wheel brackets of the first set of clamping wheels are respectively rotatably connected to the other ends of the two first balancing links 431 (for example Figure 23 the lower ends of the first balancing links 431 in Figure 23 ), the two bracket swing arms 44 corresponding to the two clamping wheel brackets of the second set of clamping wheels are respectively rotatably connected to one ends of the two second balancing links 432 (for example Figure 23 the upper ends of the second balancing links 432 in

[0100] The above embodiments can ensure that all the clamping wheels in the three clamping wheel groups or an odd number of clamping wheel groups are in close contact with the lifting rod. The working principle of the above embodiments is similar to that of the lifting mechanisms including one clamping wheel group and two clamping wheel groups described above, so it will not be elaborated here.

[0101] In one or more embodiments of this specification, referring to Figure 24 the schematic diagram shown, the lifting mechanism may include four clamping wheel groups, and each clamping wheel group includes two clamping wheels. In some embodiments, the balancing device includes: a balancing member 41, a balancing swing arm 42, a first balancing link 431, a second balancing link 432, and a bracket swing arm 44.

[0102] In some embodiments, the balancing member 41 is disposed between several clamping wheels, and the balancing member 41 is configured to: be able to move along the axis direction of the lifting rod and be able to rotate around a third axis C parallel to the first axis and the second axis.

[0103] In some embodiments, two balancing swing arms 42 are respectively disposed on both sides of the balancing member 41, and one end of the balancing swing arm 42 is rotatably connected to the balancing member 41.

[0104] In some embodiments, two first balancing links 431 are respectively disposed at the other ends of the two balancing swing arms 42, and the middle part of the first balancing link 431 is rotatably connected to the balancing swing arm 42.

[0105] In some embodiments, the middle part of each of the four second balancing links 432 is rotatably connected to one end of a first balancing link 431. In some embodiments, the four ends of the two first balancing links 431 are respectively rotatably connected to the middle parts of the four second balancing links 432.

[0106] In some embodiments, the middle part of the first balancing link 431 or the middle part of the second balancing link 432 may be the midpoint of the link. In some embodiments, the middle part of the first balancing link 431 or the middle part of the second balancing link 432 may also be a region within a certain range near the midpoint of the link. Exemplarily, the middle part of the first balancing link 431 or the middle part of the second balancing link 432 may be a region centered on the midpoint of the link and with a length less than or equal to half of the total length of the link.

[0107] In some embodiments, each clamping wheel bracket is correspondingly fixed with a bracket swing arm 44, and each bracket swing arm 44 is respectively rotatably connected to a second balancing link 432. In some embodiments, the eight ends of the four second balancing links 432 are respectively rotatably connected to the eight bracket swing arms 44.

[0108] The above embodiments can ensure that all the clamping wheels in the four clamping wheel groups or an even number of clamping wheel groups are in close contact with the lifting rod. The working principle of the above embodiments is similar to that of the lifting mechanisms including one clamping wheel group and two clamping wheel groups described above, so it will not be elaborated here.

[0109] In one or more embodiments of this specification, based on the above embodiments of the lifting mechanism including one clamping wheel group, two clamping wheel groups, three clamping wheel groups, and four clamping wheel groups, it can be further extended to the lifting mechanism including five clamping wheel groups, six clamping wheel groups, and even the lifting mechanism including any odd number of clamping wheel groups or even number of clamping wheel groups. In some further embodiments, specifically, the number of corresponding clamping wheel groups can be increased by increasing the levels of the balance connecting rods. For example, on the basis of having the first balance connecting rod and the second balance connecting rod, add the next-level third balance connecting rod, fourth balance connecting rod, and so on.

[0110] In one or more embodiments of this specification, refer to Figure 25 As shown in the schematic diagram, the balance device can be further extended to the embodiment where three clamping wheels 21 are correspondingly driven to fit on the left side through three support swing arms 44, and two clamping wheels 21 are correspondingly driven to fit on the right side through two support swing arms 44. Specifically, the balance device can drive three support swing arms 44 to work through the first balance connecting rod 431 and the second balance connecting rod 432 on the left side, and at the same time, only drive two support swing arms 44 to work through the first balance connecting rod 431 on the right side to achieve the fit between the clamping wheels and the lifting rod when the number of clamping wheels on both sides is inconsistent.

[0111] The above embodiments can be further extended to the embodiments where there are any number of clamping wheels on the left side and any number (and the number can be different from that on the left side) of clamping wheels on the right side. The working principle of the above embodiments is similar to that of the foregoing embodiments, so it will not be elaborated here.

[0112] In one or more embodiments of this specification, the balance swing arm 42 is configured such that during the swinging process of the balance swing arm 42, the height of the end of the balance swing arm 42 connected to the balance member 41 is not less than the height of the other end of the balance swing arm 42. In some embodiments, when the height of the end of the balance swing arm 42 connected to the balance member 41 is equal to the height of the other end of the balance swing arm 42 (for example, when the balance swing arm 42 rotates to Figure 7 a horizontal state), a dead point position is formed, thereby restricting the rotation angle of the balance swing arm 42 and preventing it from crossing the dead point position to avoid the balance device 4 being unable to recover.

[0113] In some embodiments, refer to Figure 8As shown, the balance member 41 is provided with a swing arm limiting groove 411 for restricting the rotation angle of the balance swing arm 42. The balance swing arm 42 is provided with a swing arm limiting member 421. The swing arm limiting member 421 can slide within the swing arm limiting groove 411, and the rotation angle of the balance swing arm 42 is restricted through the cooperation of the swing arm limiting member 421 and the swing arm limiting groove 411. In some embodiments, the swing arm limiting groove 411 is arc-shaped to allow the balance swing arm 42 to rotate relative to the balance member 41 within the range specified by the swing arm limiting groove 411.

[0114] In one or more embodiments of this specification, refer to Figure 8 As shown, the balance device 4 further includes: a lead screw 45 and a slider mechanism 46, and the balance member 41 is driven to rise or fall through the lead screw 45 and the slider mechanism. In some embodiments, the lead screw 45 is arranged parallel to the axis direction of the lifting rod 1. In some embodiments, the slider mechanism 46 is matched with the lead screw 45, the lead screw 45 rotates to drive the slider mechanism 46 to move along the axis direction of the lead screw 45, and the balance member 41 is rotatably connected to the slider mechanism 46.

[0115] In some embodiments, the slider mechanism 46 includes: a lead screw slider, the lead screw slider meshes with the lead screw 45, and the balance member 41 is rotatably connected to the lead screw slider.

[0116] In other embodiments, the slider mechanism 46 includes: a lead screw slider 461, a movable slider 462, and a slider elastic member 463. In some embodiments, the lead screw slider 461 meshes with the lead screw 45, and the lead screw 45 rotates to drive the lead screw slider 461 to rise or fall. In some embodiments, the lead screw 45 penetrates through the movable slider 462, the movable slider 462 is sleeved outside the lead screw 45, the movable slider 462 can slide relative to the lead screw 45 (i.e., free sliding), and the rotation of the lead screw 45 does not directly affect the movable slider 462. The balance member 41 is rotatably connected to the movable slider 462. In some embodiments, the slider elastic member 463 is arranged between the lead screw slider 461 and the movable slider 462. In some embodiments, the slider elastic member 463 is used to apply an elastic force to the movable slider 462 based on the lead screw slider 461, so that the movable slider 462 can float within the elastic deformation range of the slider elastic member 463, thereby applying a pre-tightening force to the balance member 41, making the balance member 41 have a tendency to move downward, and thus making the pinch wheel 21 have a tendency to move towards the lifting rod 1 in the initial state. In some related usage scenarios, as the pinch wheel 21 and / or the lifting rod 1 wear, the lead screw 45 works to make the lead screw slider 461 descend, thereby compressing the slider elastic member 463 to apply a greater downward movement force to the movable slider 462 and the balance member 41, so that the pinch wheel 21 closely adheres to the lifting rod 1. In some embodiments, the slider elastic member 463 can be a spring, one or more disc springs, an elastic bellows, etc.

[0117] In one or more embodiments of this specification, refer to Figure 9 and Figure 10 As shown, the lifting mechanism further includes: a chassis frame 51, and a balance device guide groove 511 is formed on the chassis frame 51. In some embodiments, a balance device guide member 464 is provided on the lead screw slider 461 and / or the movable slider 462, and the balance device guide member 464 is slidably disposed in the balance device guide groove 511.

[0118] In some embodiments, a balance device guide member 464 is provided on the lead screw slider 461. In some embodiments, a balance device guide member 464 is provided on the movable slider 462. In some embodiments, balance device guide members 464 are provided on both the lead screw slider 461 and the movable slider 462. The balance device guide member 464 and the balance device guide groove 511 guide the lead screw slider 461 and / or the movable slider 462 to move along the axis direction of the lifting rod 1.

[0119] In one or more embodiments of this specification, refer to Figures 11 to 14 and in combination with Figure 6 As shown, the lifting mechanism includes: a balance device driving mechanism 6, and the balance device driving mechanism 6 drives the lead screw 45 to rotate. In some embodiments, the balance device driving mechanism 6 includes: a balance device driving motor 61 and a manual release and clamping rod 62 that is detachably connected to the motor shaft of the balance device driving motor 61. In some embodiments, the manual release and clamping rod 62 is operably connected to the balance device driving motor 61, that is, the manual release and clamping rod 62 can be connected to the balance device driving motor 61 to receive its power, or can be disengaged from the balance device driving motor 61 to implement manual control.

[0120] In some embodiments, the lead screw 45 is configured to rotate synchronously with the manual release and clamping rod 62. When the manual release and clamping rod 62 is connected to the balance device driving motor 61, the balance device driving motor 61 can drive the lead screw 45 to rotate. When the manual release and clamping rod 62 is disengaged from the power of the balance device driving motor 61, the balance device driving motor 61 cannot drive the lead screw 45 to rotate, but the manual release and clamping rod 62 can be manually rotated to drive the lead screw 45 to rotate. Based on the above arrangement, the lead screw 45 can be conventionally driven by the balance device driving motor 61, or manually driven when the balance device driving motor 61 fails, or manually rotated in reverse to disengage from jamming when the balance device driving motor 61 jams.

[0121] In some embodiments, the manual clamping and unclamping rod 62 and the lead screw 45 can be connected by a synchronous belt drive. In some embodiments, a first synchronous pulley can be provided on the manual clamping and unclamping rod 62, and a second synchronous pulley can be provided on the lead screw 45. The first synchronous pulley and the second synchronous pulley are synchronously rotated by the synchronous belt, so that the manual clamping and unclamping rod 62 and the lead screw 45 are synchronously rotated. In some embodiments, the first synchronous pulley can be in transmission connection (such as key connection, etc.) or fixed connection with the manual clamping and unclamping rod 62. In some embodiments, the second synchronous pulley can be in transmission connection (such as key connection, etc.) or fixed connection with the lead screw 45.

[0122] In one or more embodiments of this specification, refer to Figures 11 to 14 As shown, one of the motor shaft of the balance device driving motor 61 and the manual clamping and unclamping rod 62 is provided with an engaging structure 611, and the other of the motor shaft of the balance device driving motor 61 and the manual clamping and unclamping rod 62 is provided with an engaging groove 621 matching the engaging structure 611. The motor shaft of the balance device driving motor 61 and the manual clamping and unclamping rod 62 are detachably and drivably connected through the engaging structure 611 and the engaging groove 621.

[0123] In some embodiments, the engaging structure 611 can be a non-circular structure, and the engaging groove 621 can be a non-circular groove whose shape matches the engaging structure 611. In some embodiments, the engaging structure 611 can be an ellipse, a rectangle, a hexagon, an octagon, a runway shape or other irregular shapes.

[0124] In some embodiments, the manual clamping and unclamping rod 62 is operably in a first position and a second position. When the manual clamping and unclamping rod 62 is in the first position, the engaging structure 611 is disengaged from the engaging groove 621, and the power of the balance device driving motor 61 is disengaged from the manual clamping and unclamping rod 62. When the manual clamping and unclamping rod 62 is in the second position, the engaging structure 611 is engaged with the engaging groove 621, and the power of the balance device driving motor 61 is transmitted to the manual clamping and unclamping rod 62.

[0125] In one or more embodiments of this specification, refer to Figure 14 As shown, the balance device driving mechanism 6 further includes: a positioning structure 63 capable of moving in a direction intersecting the axial direction of the manual clamping and unclamping rod 62 (such as the radial direction of the manual clamping and unclamping rod 62) and a positioning elastic member that makes the positioning structure 63 tend to move closer to the manual clamping and unclamping rod 62. In some embodiments, one or more positioning grooves 622 matching the shape of the positioning structure 63 are formed on the manual clamping and unclamping rod 62.

[0126] In some embodiments, the balance device driving mechanism 6 further includes a positioning structure housing 64, and the positioning structure 63 and the positioning elastic member are disposed inside the positioning structure housing 64. In some embodiments, one end of the positioning elastic member abuts against the positioning structure housing 64, and the other end of the positioning elastic member abuts against the positioning structure 63. In some embodiments, the positioning elastic member applies an elastic force to the positioning structure 63 so that the positioning structure 63 abuts against the manual clamping and releasing lever 62. When the manual clamping and releasing lever 62 moves upward or downward and the positioning groove 622 on the manual clamping and releasing lever 62 faces the positioning structure 63, the positioning structure 63 enters the positioning groove 622 to position the manual clamping and releasing lever 62.

[0127] In some embodiments, the manual clamping and releasing lever 62 may include two positioning grooves 622, which respectively correspond to the positioning of the manual clamping and releasing lever 62 at the first position and the second position.

[0128] In some embodiments, the positioning structure 63 may be a sphere. In some embodiments, a positioning bead may be used to implement the functions of the positioning structure 63, the positioning elastic member, and the positioning structure housing 64.

[0129] In one or more embodiments of this specification, refer to Figure 4 、 Figure 5 、and Figures 15 to 20 As shown, the lifting mechanism further includes a transmission mechanism 7 that drivesly connects the driving mechanism 3 and the clamping wheel 21. In some embodiments, the transmission mechanism 7 includes: a worm 71, a worm wheel 72 meshing with the worm 71, a first transmission gear 73 coaxially rotating with the worm wheel 72, and a second transmission gear 74 drivingly connected to the first transmission gear 73. In some embodiments, the worm 71 rotates to drive one or more worm wheels 72 to rotate, thereby driving the first transmission gear 73 to rotate and further driving the second transmission gear 74 to rotate.

[0130] In some embodiments, the first transmission gear 73 and the second transmission gear 74 are drivingly connected. In some embodiments, the first transmission gear 73 may be directly meshed with the second transmission gear 74. In other embodiments, the first transmission gear 73 may also be drivingly connected to the second transmission gear 74 through other transmission gears or other transmission mechanisms.

[0131] In some embodiments, the second transmission gear 74 is fixedly connected to the clamping wheel shaft of the clamping wheel 21. The second transmission gear 74 rotates around the first axis A. By driving the second transmission gear 74 through the worm 72, the clamping wheel 21 is driven to rotate, so as to provide upward or downward rolling friction to the lifting rod 1 through the clamping wheel 21, thereby realizing the lifting of the lifting rod 1. In some embodiments, both the worm wheel 72 and the first transmission gear 73 rotate around the second axis B.

[0132] In some embodiments, each clamping wheel 21 is correspondingly provided with a worm gear 72, a first transmission gear 73, and a second transmission gear 74. The worm 71 meshes with a plurality of worm gears 72 respectively to synchronously drive a plurality of clamping wheels 21 to rotate through one worm 71.

[0133] In some embodiments, referring to Figures 16 to 20 as shown, the clamping wheel bracket 22 includes: a clamping wheel bracket bottom plate 221 and two clamping wheel bracket side plates 222 arranged on both sides of the clamping wheel bracket bottom plate 221. The clamping wheel 21 is rotatably arranged between the two clamping wheel bracket side plates 222.

[0134] In one or more embodiments of this specification, referring to Figure 1 、 Figure 2 as shown, the lifting mechanism further includes: a chassis housing 50 and a chassis skeleton 51 located inside the chassis housing 50. In some instances, the lifting rod 1 penetrates through the chassis housing 50 and the chassis skeleton 51 to allow the lifting rod 1 to rise or fall. In some embodiments, the clamping wheel group 2 is arranged inside the chassis skeleton 51. In some embodiments, the driving mechanism 3 and the balancing device 4 are arranged between the chassis housing 50 and the chassis skeleton 51. Through the double-layer structure of the chassis housing and the chassis skeleton, the clamping wheel 21 is arranged in the inner layer, and the mechanical transmission structure (such as the balancing device 4) and various motors (such as the driving mechanism 3) are arranged in the interlayer, improving the waterproof performance and allowing potting of the motor area in the interlayer to further improve the waterproof performance.

[0135] In one or more embodiments of this specification, the cross-section of the lifting rod 1 is circular, and the clamping wheel 21 has a concave arc surface that fits the outer surface of the lifting rod 1. In some embodiments, the lifting mechanism further includes: a rotary driving mechanism that drives the lifting rod 1 to rotate around its axis. In some embodiments, while the concave arc surface of the clamping wheel 21 allows the lifting rod 1 to rotate, it can also stably provide an upward or downward frictional force to the lifting rod 1, so that the rotation of the lifting rod 1 and the up / down movement of the lifting rod 1 do not interfere with each other.

[0136] In some embodiments, referring to Figure 3 、 Figure 5As shown, the rotation drive mechanism may include a rotation drive motor 81, a third synchronous pulley 82 provided on the rotation drive motor 81, a fourth synchronous pulley 83 sleeved outside the lifting rod 1 and slidably connected to the lifting rod 1, and a rotation drive synchronous belt 84 wound around the third synchronous pulley 82 and the fourth synchronous pulley 83. In some embodiments, the fourth synchronous pulley 83 is in transmission connection with the lifting rod 1. In some embodiments, the fourth synchronous pulley 83 is key-connected to the lifting rod 1. Exemplarily, a rotation transmission key is provided on the inner wall of the fourth synchronous pulley 83 or the inner wall of the fourth synchronous pulley extends inward to form a rotation transmission key, and a key groove is formed in the outer wall of the lifting rod 1 along its axial direction, so that the fourth synchronous belt 83 can drive the lifting rod 1 to rotate. In some embodiments, a bearing is provided between the fourth synchronous pulley 83 and the lifting rod 1 to allow the lifting rod 1 to rise or fall relative to the fourth synchronous pulley 83. In some embodiments, the rotation drive motor 81 rotates to drive the third synchronous pulley 82 to rotate, thereby driving the fourth synchronous pulley 83 to rotate through the rotation drive synchronous belt 84 to drive the lifting rod 1 to rotate.

[0137] In one or more embodiments of the present specification, a propulsion device is further provided, which includes the above-mentioned lifting mechanism. In some embodiments, the propulsion device includes: a control mechanism 100 provided at the upper end of the lifting rod 1 and a thruster 200 provided at the other end of the lifting rod 1. In some embodiments, the propulsion device may be a marine propulsion device, and the thruster 200 may be a propeller. In some embodiments, the lifting rod 1 is configured to be able to rotate around its axis to adjust the orientation of the thruster 200.

[0138] The beneficial effects that may be brought about by the embodiments of this specification include, but are not limited to: (1) driving the rise or fall of the lifting rod through the rolling friction provided by the clamping wheels, with a relatively low wear rate; (2) enabling the clamping wheels to approach the lifting rod through the balancing device to provide greater friction; (3) achieving the eccentric swing of the clamping wheels through the rotation of the clamping wheel bracket, so as to enable the clamping wheels to approach the lifting rod; (4) through the design of the balancing member, balancing swing arm, balancing connecting rod, and bracket swing arm, enabling multiple clamping wheels to be adaptively adjusted based on different movement paths facing the lifting rod, so that all clamping wheels can closely adhere to the lifting rod and can be applied to the case of two clamping wheel groups; (5) through the design of the balancing member, balancing swing arm, and bracket swing arm, enabling the balancing device to be applied to the case of one clamping wheel group; (6) through the design of the first balancing connecting rod and the second balancing connecting rod, enabling the balancing device to be applied to the case of an odd number of clamping wheel groups or an even number of clamping wheel groups; (7) by restricting the swinging position of the balancing swing arm, preventing the balancing swing arm from exceeding the dead point position and avoiding the inability of the balancing swing arm to recover; (8) providing a pre-tightening force to the balancing member through the lead screw slider, movable slider, and slider elastic member, enabling the balancing member to have a tendency to move downward, enabling the clamping wheels to maintain a state of closely adhering to the lifting rod in the non-worn state, and providing a certain working elasticity to reduce the impact on the system when the balancing device is working or maintaining its position; (9) achieving the automatic operation, manual operation, and manual unlocking of the balancing device through the design of the manual clamping release rod; (10) positioning the manual clamping release rod when it is in the first position or the second position through the positioning structure; (11) driving multiple clamping wheels to move synchronously by driving multiple worm wheels with a worm, reducing the volume of the driving mechanism and the number of motors; (12) through the double-layer structure of the chassis shell and the chassis skeleton, arranging the clamping wheels in the inner layer, arranging the mechanical transmission structure and the motor in the sandwich layer, improving the waterproof performance, and allowing potting to be performed on the motor area in the sandwich layer to further improve the waterproof performance; (13) the design of the lifting rod with a circular cross-section and the design of the clamping wheel with a concave arc surface enable the clamping wheel to drive the lifting rod to rise and fall without affecting the rotation of the lifting rod. It should be noted that the beneficial effects that may be produced by different embodiments are different. In different embodiments, the beneficial effects that may be produced may be any one or several of the above combinations, or any other beneficial effects that may be obtained.

[0139] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are taught in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A lifting mechanism, characterized in that: include: A lifting rod, at least one clamping wheel set and a driving mechanism; The clamping wheel group includes at least two clamping wheels abutting against the lifting rod, the driving mechanism drives the clamping wheels to rotate around respective first axes, and the clamping wheels provide upward or downward friction force to the lifting rod to make the lifting rod rise or fall along the axis direction of the lifting rod; The first axis is the axis of the clamping wheel.

2. The lifting mechanism according to claim 1, characterized in that: Also includes: A balancing device, wherein the balancing device drives the clamping wheels to rotate independently around their respective second axes, so that the clamping wheels move independently toward or away from the lifting rod; The second axis is parallel to the first axis.

3. The lifting mechanism according to claim 2, characterized in that: The clamping wheel assembly comprises: a clamping wheel bracket, each of the clamping wheels is correspondingly provided with a clamping wheel bracket, and the clamping wheel is rotatably connected to the clamping wheel bracket; The balancing device drives the clamping wheel bracket to carry the clamping wheel to rotate around the second axis, and the position of the second axis in the axial direction of the lifting rod is relatively fixed.

4. The lifting mechanism according to claim 3, characterized in that: It comprises two clamping wheel groups, each of which comprises two clamping wheels; The balancing device comprises: A balancing member, the balancing member is disposed between the four clamping wheels, and the balancing member is configured to: be able to move along the axial direction of the lifting rod, and be able to rotate around a third axis parallel to the first axis and the second axis; A balancing swing arm, wherein two balancing swing arms are respectively arranged on both sides of the balancing member, and one end of the balancing swing arm is rotatably connected to the balancing member; A balancing link, wherein the two balancing links are respectively arranged at the other ends of the two balancing swing arms, and the middle portion of the balancing link is rotatably connected to the balancing swing arm; A support swing arm, each of the clamping wheel supports is correspondingly fixed with a support swing arm, and each of the support swing arms is rotatably connected to one end of a balance connecting rod.

5. The lifting mechanism according to claim 3, characterized in that: It comprises a clamping wheel set, wherein the clamping wheel set comprises two clamping wheels; The balancing device comprises: A balancing member, the balancing member is disposed between the two clamping wheels, and the balancing member is configured to: be able to move along the axial direction of the lifting rod, and be able to rotate around a third axis parallel to the first axis and the second axis; A balancing swing arm, wherein two balancing swing arms are respectively arranged on both sides of the balancing member, and one end of the balancing swing arm is rotatably connected to the balancing member; A support swing arm, each of the clamping wheel supports is correspondingly fixed with a support swing arm, and each of the support swing arms is rotatably connected to a balance swing arm.

6. The lifting mechanism according to claim 3, characterized in that: It comprises three clamping wheel groups, each of which comprises two clamping wheels, and the three clamping wheel groups comprise a first clamping wheel group, a second clamping wheel group and a third clamping wheel group; The balancing device comprises: A balancing member, the balancing member is disposed between the plurality of clamping wheels, and the balancing member is configured to be able to move along the axis direction of the lifting rod and to rotate around a third axis parallel to the first axis and the second axis; A balancing swing arm, wherein two balancing swing arms are respectively arranged on both sides of the balancing member, and one end of the balancing swing arm is rotatably connected to the balancing member; A first balancing link, wherein two of the first balancing links are respectively arranged at the other ends of the two balancing swing arms, and a middle portion of the first balancing link is rotatably connected to the balancing swing arm; a second balancing link, a middle portion of which is rotatably connected to one end of the first balancing link; A bracket swing arm, each of the clamping wheel brackets is correspondingly fixed with a bracket swing arm, the two bracket swing arms corresponding to the two clamping wheel brackets of the first clamping wheel group are respectively rotatably connected to the other end of the two first balance links, the two bracket swing arms corresponding to the two clamping wheel brackets of the second clamping wheel group are respectively rotatably connected to one end of the two second balance links, and the two bracket swing arms corresponding to the two clamping wheel brackets of the third clamping wheel group are respectively rotatably connected to the other end of the two second balance links.

7. The lifting mechanism according to claim 3, characterized in that: It comprises four clamping wheel groups, each of which comprises two clamping wheels; The balancing device comprises: A balancing member, the balancing member is disposed between the plurality of clamping wheels, and the balancing member is configured to be able to move along the axis direction of the lifting rod and to rotate around a third axis parallel to the first axis and the second axis; A balancing swing arm, wherein two balancing swing arms are respectively arranged on both sides of the balancing member, and one end of the balancing swing arm is rotatably connected to the balancing member; A first balancing link, wherein two of the first balancing links are respectively arranged at the other ends of the two balancing swing arms, and a middle portion of the first balancing link is rotatably connected to the balancing swing arm; A second balancing link, wherein a middle portion of each of four second balancing links is rotatably connected to one end of one of the first balancing links; A support swing arm, each of the clamping wheel supports is correspondingly fixed with a support swing arm, and each of the support swing arms is rotatably connected to one of the second balancing connecting rods.

8. The lifting mechanism according to any one of claims 4 to 7, characterized in that: The balancing swing arm is configured such that, during the swinging process of the balancing swing arm, a height of one end of the balancing swing arm connected to the balancing member is not less than a height of the other end of the balancing swing arm.

9. The lifting mechanism according to claim 8, characterized in that: The balancing component is provided with a swing arm limiting groove for limiting the rotation angle of the balancing swing arm, and the balancing swing arm is provided with a swing arm limiting piece, and the swing arm limiting piece can slide in the swing arm limiting groove.

10. The lifting mechanism according to any one of claims 4 to 7, characterized in that: The balancing device also includes: A screw rod, the screw rod is arranged parallel to the axis direction of the lifting rod; A slider mechanism is matched with the screw rod, the screw rod rotates to drive the slider mechanism to move along the axial direction of the screw rod, and the balancing member is rotatably connected to the slider mechanism.

11. The lifting mechanism according to claim 10, characterized in that: The slider mechanism comprises: a screw slider, the screw slider is engaged with the screw, and the balancing member is rotatably connected to the screw slider; Or, the slider mechanism comprises: A screw slider, the screw slider is engaged with the screw; A movable slider, wherein the screw rod passes through the movable slider, the movable slider can slide relative to the screw rod, and the balancing member is rotatably connected to the movable slider; A slider elastic member, wherein the slider elastic member is arranged between the screw slider and the movable slider.

12. The lifting mechanism according to claim 11, characterized in that: Also includes: A chassis frame, wherein a balancing device guide groove is provided on the chassis frame; The screw slider and / or the movable slider is provided with a balancing device guide, and the balancing device guide is slidably disposed in the balancing device guide groove.

13. The lifting mechanism according to claim 10, characterized in that: include: A balancing device driving mechanism, wherein the balancing device driving mechanism drives the screw rod to rotate; The balancing device driving mechanism comprises: a balancing device driving motor and a manual clamping release rod which is detachably connected to the motor shaft of the balancing device driving motor; The lead screw is configured to rotate synchronously with the manual clamp release lever.

14. The lifting mechanism according to claim 13, characterized in that: One of the motor shaft of the balancing device driving motor and the manual clamping release rod is provided with a coupling structure, and the other of the motor shaft of the balancing device driving motor and the manual clamping release rod is provided with a coupling groove matching the coupling structure, and the motor shaft of the balancing device driving motor and the manual clamping release rod are clutchably connected to each other through the coupling structure and the coupling groove; The manual clamp release lever is operable to be in a first position and a second position; When the manual clamp release rod is in the first position, the engagement structure is disengaged from the engagement groove, and the power of the balancing device driving motor is disengaged from the manual clamp release rod; When the manual clamping release rod is in the second position, the engagement structure engages with the engagement groove, and the power of the balancing device driving motor is transmitted to the manual clamping release rod.

15. The lifting mechanism according to claim 13, characterized in that: The balancing device driving mechanism further comprises: a positioning structure capable of moving in a direction intersecting with the axial direction of the manual clamp release rod, and a positioning elastic member which makes the positioning structure have a tendency to move close to the manual clamp release rod; The manual clamp release rod is provided with one or more positioning grooves matching the shape of the positioning structure.

16. The lifting mechanism according to claim 1, characterized in that: Also includes: A transmission mechanism for connecting the driving mechanism and the clamping wheel, wherein the transmission mechanism comprises: A worm, a worm wheel meshing with the worm, a first transmission gear coaxially rotating with the worm wheel, and a second transmission gear transmission-connected with the first transmission gear; The second transmission gear is fixedly connected to the clamping wheel shaft of the clamping wheel, and the second transmission gear rotates around the first shaft; The worm gear and the first transmission gear both rotate around the second axis.

17. The lifting mechanism according to claim 16, characterized in that: Each of the clamping wheels is correspondingly provided with a worm gear, a first transmission gear and a second transmission gear; The worm gears are respectively meshed with the plurality of worm wheels.

18. The lifting mechanism according to claim 3, characterized in that: The clamping wheel bracket comprises: a clamping wheel bracket bottom plate and two clamping wheel bracket side plates arranged on both sides of the clamping wheel bracket bottom plate, and the clamping wheel is rotatably arranged between the two clamping wheel bracket side plates.

19. The lifting mechanism according to claim 2, characterized in that: Also includes: A chassis shell and a chassis frame located inside the chassis shell; The lifting rod passes through the chassis shell and the chassis frame; The clamping wheel assembly is arranged inside the chassis frame; The driving mechanism and the balancing device are arranged between the chassis shell and the chassis frame.

20. The lifting mechanism according to any one of claims 1 to 5, characterized in that: The cross section of the lifting rod is circular, and the clamping wheel has a concave arc surface that fits the outer surface of the lifting rod; The lifting mechanism further comprises: a rotation driving mechanism, which drives the lifting rod to rotate around its axis.

21. A propulsion device, characterized in that: A lifting mechanism comprising any one of claims 1 to 20.

22. The propulsion device according to claim 21, characterized in that include: A control mechanism disposed at the upper end of the lifting rod, and a propeller disposed at the other end of the lifting rod; Wherein, the lifting rod is configured to be rotatable around its axis.

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