Propeller and submarine operation robot

Abstract

The invention relates to the field of propellers, and discloses a propeller and a submarine operation robot, the propeller comprises a shell and a rotating shaft provided with a propeller, a driving motor for driving the rotating shaft to rotate is arranged in the shell, a flow guide cover covers the propeller, and a boosting mechanism is arranged among the shell, the rotating shaft and the flow guide cover; the boosting mechanism comprises a machine barrel and a transmission thread which is spirally arranged outside the rotating shaft in the machine barrel in the axial direction of the rotating shaft and is in rotary sealing fit with the inner wall of the machine barrel, the flow guide cover is fixedly connected with the machine barrel through a connecting rod, and a conveying flow channel for spraying water in the machine barrel from the end, away from the machine shell, of the flow guide cover is formed among the machine barrel, the connecting rod and the flow guide cover; according to the propeller, the filtering structure is arranged between the machine barrel and the machine shell, the self-adaptive cleaning assembly which is matched with the filtering structure in a spaced mode in the normal state and automatically conducts dredging after the filtering structure is blocked and exceeds the preset range is arranged on the rotating shaft, the thrust effect of the propeller is effectively improved, the structure is easy to achieve, and the linkage performance is good.

Description

Technical Field

[0001] The present invention relates to the field of thrusters, and in particular to a thruster and a submarine operation robot. Background Art

[0002] The underwater propeller is the power mechanism of the underwater robot and an important component of the underwater robot. The water jet propeller with the announcement number CN216003032U is an integral one-piece design, with a motor at the front, a motor drive shaft and a propeller shaft connected by a coupling in the middle, and a guide vane assembly and a tail spray at the rear; the motor is provided with a motor fixing base, a motor fixing plate and a motor cover on the outside, the front end of the motor is fixed on the motor fixing base, and the rear end is fixed on the motor fixing bottom plate. A water inlet cover is provided on the outside of the coupling, and the water inlet cover is generally conical, and strip holes are opened on the downward half of the surface of the cone.

[0003] The water inlet cover is distributed in a grid-like shape, the strip holes are large in area, the ability to intercept foreign matter is weak, and it cannot be automatically cleared after being blocked, which can easily lead to equipment failure. Summary of the invention

[0004] The present invention aims at the disadvantage that the thrust of existing propeller propellers needs to be improved, and the first purpose is to provide a propeller with good water inlet interception performance and capable of automatically clearing water inlet blockage.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions: A propeller comprises a casing, a rotating shaft located outside the casing, and a propeller circumferentially spaced at an end of the rotating shaft away from the casing, a driving motor for driving the rotating shaft to rotate is arranged in the casing, a deflector is arranged on the outer cover of the propeller, the deflector is fixedly connected to the casing through a connecting rod, a booster mechanism is arranged between the casing, the rotating shaft and the deflector, the booster mechanism comprises a barrel located between the casing and the deflector and with an opening away from the deflector, and a transmission thread arranged in a spiral along the axial direction outside the rotating shaft in the barrel and rotating and sealingly cooperating with the inner wall of the barrel, the deflector is fixedly connected to the barrel through a connecting rod, and a water supply is arranged between the barrel and the casing to intercept and pre- The invention discloses a filtering structure for filtering foreign objects out of size, the filtering structure comprises an annular filter screen, an adaptive cleaning component is arranged on the rotating shaft, which cooperates with the spacing of the filter screen in normal state and automatically clears the blockage when the filter screen is blocked to a preset degree, the adaptive cleaning component comprises a brush elastically sealed and retracted along the radial direction of the rotating shaft between the barrel and the casing on the rotating shaft, and a first elastic member driving the brush to be in a retracted state in normal state, the brush seal is retracted in an "L"-shaped installation groove which is arranged through the rotating shaft, when the filter screen is blocked to a preset degree, the negative pressure inside the filter screen gradually increases and drives the brush to gradually extend until it elastically abuts against the filter screen.

[0006] By adopting the above scheme, the propeller has the dual functions of water jet propulsion and propeller propulsion, and replaces the grid-type water inlet cover with a filter screen, which significantly increases the filtering effect. At the same time, an adaptive cleaning component is set, and the opening of the adaptive cleaning component is positively correlated with the blockage degree of the filter screen and the rotation speed of the rotating shaft. Due to the structure of adopting the transmission thread for water supply, when the filter screen is blocked to exceed the preset range, the transmission thread unidirectionally transmits the water in the filter screen to the direction of the guide cover. When the amount of transmitted water is greater than the amount of water inlet, the negative pressure in the internal space of the filter screen will gradually increase. When the negative pressure overcomes the first After the elastic force of the elastic part is released, the brush will move outward and seal until it elastically abuts against the filter screen. As the shaft rotates, the brush will revolve around the shaft and fully clean the filter screen. When the filter screen is gradually unblocked, the pressure inside the filter screen gradually returns to normal, and the brush will automatically retract again under the resetting action of the first elastic part, thereby reducing the increase in the load on the drive motor caused by the brush abutting against the filter screen. Therefore, the propeller has the dual propulsion effects of propeller propulsion and water jet propulsion, which significantly improves the filtering performance of the incoming water and also has the function of automatically unblocking water inlet blockage.

[0007] Preferably, a matching structure is provided between the brush and the rotating shaft so that the extension and retraction of the brush is not affected by the centrifugal force, and the bristles of the brush are distributed and extended along the axial direction of the filter screen.

[0008] With the above solution, since the extension direction of the brush is in the same direction as the centrifugal force generated by the rotation of the shaft on the brush, and the magnitude of the centrifugal force is positively correlated with the rotation speed of the shaft, in order to avoid the centrifugal force exceeding the pulling force that limits the extension of the brush when the shaft rotates at high speed, it is necessary to add a matching structure to ensure that the brush will not accidentally extend and abut the filter device, causing an increase in the load on the shaft.

[0009] Preferably, the matching structure includes a sealing block arranged in the radial segment of the installation groove and sealingly moving with the pressure change outside the rotating shaft. The brush has a piston block which seals and moves in the radial segment of the installation groove. A compressed air cavity is formed between the piston block and the sealing block. A locking structure which automatically locks when the brush retracts to the maximum stroke is arranged between the piston block and the inner wall of the radial segment. An unlocking member which automatically unlocks the locking structure when the sealing block moves to a preset stroke under the drive of external pressure is arranged on the sealing block.

[0010] By adopting the above scheme, the moving direction of the sealing block is perpendicular to the direction of the centrifugal force. Therefore, the movement of the sealing block is only affected by external pressure. In normal state, the brush is driven by the first elastic member to be retracted to the maximum stroke and is locked with the rotating shaft under the locking of the locking structure. Only when the sealing block is subjected to external pressure and moves to the preset stroke can the unlocking member be triggered to unlock the locking structure, so that the brush is driven by the compressed air cavity with increased pressure to extend and press against the filter device, and continuously cleans and dredges the filter device as the rotating shaft rotates.

[0011] Preferably, the locking structure includes a locking block telescopically arranged at the radially segmented bottom of the mounting groove, a locking groove arranged on the piston block for the locking block to be inserted into when the piston block moves to a preset stroke, a mating block integrally arranged on the locking block, a second elastic member driving the locking block to be in an extended state is arranged between the locking block and the mounting groove, and a driving rod is convexly provided at one end of the sealing block close to the locking block, which presses the mating block and causes the locking block to disengage from the locking groove when the sealing block moves to a preset position.

[0012] By adopting the above scheme, when the brush retracts to the maximum stroke driven by the first elastic member, the locking block extends out and inserts into the locking groove driven by the second elastic member to achieve automatic locking. When the sealing block is driven inward by external pressure until the driving rod moves the matching block and causes the locking block to disengage from the locking groove, the compressed air chamber generates positive pressure as the sealing block moves. This positive pressure overcomes the elastic force of the first elastic member and causes the brush to extend outward until it is elastically pressed against the filter device.

[0013] Preferably, a mounting ring is fixed to the end of the barrel opposite to the casing, and a positioning ring groove is provided on the mounting ring for partial insertion of the two ends of the filter screen. A connecting structure is provided between the mounting rings for connecting the two while preventing the filter screen from being compressed.

[0014] By adopting the above solution, the connection structure is used to realize the fixed connection between the barrel and the casing while realizing the position limitation of the filter screen.

[0015] Preferably, the connection structure includes through holes circumferentially spaced apart on any one mounting ring, a first mounting column protruding from the other mounting ring and docking with the through hole and having an inner threaded groove, and a first bolt passing through the through hole and threadedly connected to the first mounting column.

[0016] By adopting the above scheme, the first mounting column is abutted against the mounting ring with a through hole and then locked with a first bolt. After the two mounting rings are fixed, the first mounting column can serve as a partition and form a support. The matching spacing generated by the partition will neither squeeze the filter mesh nor prevent the filter mesh from falling out of the positioning ring groove.

[0017] Preferably, a conveying flow channel is formed between the barrel, the connecting rod and the air duct, and is used to spray water in the barrel from the end of the air duct away from the casing. The conveying flow channel includes an inlet annular groove concentric with the air duct, which is arranged inside the air duct at an end close to the casing, injection channels that are evenly spaced in the circumferential direction of the air duct and extend along the diversion direction of the air duct, and a connecting channel arranged in the connecting rod, whose two ends are respectively connected to the inlet annular groove and the interior of the end of the barrel close to the air duct, one end of the inlet annular groove passes through the air duct and the other end is connected to the inlet annular groove.

[0018] By adopting the above scheme, the transmission thread section formed by the combination of the thread and the rotating shaft transports the water passing through the filtering structure to the connecting channel and ejects it out of the guide cover from the injection channel through the merging ring groove. The injection channel is arranged in the guide cover. The ejection of water flow is consistent with the stirring direction of the propeller and does not interfere with each other, and the propulsion performance of the propeller is effectively superimposed.

[0019] Preferably, one end of the connecting rod is integrally connected to the barrel and the other end is sealed and cooperated with the air guide cover through a connecting positioning structure. At least two connecting rods are evenly spaced around the axial direction of the barrel, and a filter cover is fixedly provided between the connecting rods, which can cover the end of the air guide cover close to the casing and intercept foreign matter exceeding a preset size from entering the air guide cover when the connecting rod and the air guide cover are installed.

[0020] By adopting the above scheme, the filter cover, the connecting rod and the barrel are integrated, which plays multiple effects of guiding, supporting and filtering, and is also convenient for subsequent assembly and positioning.

[0021] Preferably, the connection positioning structure includes a mounting arc block integrally arranged at the end of the connecting rod away from the barrel and consistent with the curvature of the air guide cover, a locking structure arranged between the mounting arc block and the air guide cover, and a positioning structure arranged between the filter cover and the air guide cover. The positioning structure includes positioning holes evenly spaced circumferentially on the outer periphery of the filter cover and positioning protrusions evenly spaced circumferentially on the end of the air guide cover, which can be inserted into the positioning holes one by one and the tip faces outward.

[0022] By adopting the above scheme, after the positioning hole and the positioning protrusion are positioned and plugged, the installation stability of the filter cover and the air guide cover is increased. After being locked by the locking structure, the air guide cover, the filter cover and the barrel can be quickly assembled.

[0023] The second objective of the present invention is to provide a submarine operation robot, comprising a robot body, on which the thruster is arranged.

[0024] The present invention has significant technical effects due to the adoption of the above technical scheme: a booster mechanism is added to the conventional propeller propeller, and the booster mechanism adopts the principle of water jet propulsion. The power source is consistent with the propeller and also comes from the rotation of the rotating shaft. Therefore, only one driving motor is required. The fairing guide guides the direction of the water flow stirred by the propeller while guiding the direction of the water spray, ensuring that the thrust direction generated by the water spray is consistent with the thrust direction generated by the propeller stirring, playing a superimposed role, and the sprayed water will not contact the propeller, and the superimposed power effect is more superior. In order to avoid the clogging of the fairing by larger foreign matter, a filtering structure is added, and in order to avoid the long-term overload operation of the rotating shaft caused by the clogging of the filtering structure, an adaptive cleaning component is provided, and the opening of the adaptive cleaning component is positively correlated with the degree of clogging of the filtering structure and the rotation speed of the rotating shaft, that is, when the negative pressure appears inside the filtering structure to exceed the preset value, the adaptive cleaning component is started to clean and dredge the filtering structure. Compared with the existing propeller propeller, the thrust effect of the propeller is effectively improved, and the structural setting is easy to implement and the linkage performance of the structure is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a splitting diagram of a propeller of this embodiment. Figure 1 ; Figure 2 This is a splitting diagram of a propeller of this embodiment. Figure 2 ; Figure 3 is an axonometric view of a propeller of the present embodiment; Figure 4 is a front view of a propeller of the present embodiment; Figure 5 yes Figure 4 AA cross-sectional view; Figure 6 yes Figure 5 A magnified image of A; Figure 7 yes Figure 5 A cross-sectional view of BB; Figure 8 yes Figure 7 A magnified view of B; Fig. 9 yes Figure 7 Cross-sectional view of CC.

[0026] The parts indicated by the numbers in the above drawings are as follows: 1. guide cover; 101. positioning protrusion; 102. second mounting column; 2. second bolt; 3. barrel; 4. first mounting column; 5. connecting rod; 7. conveying flow channel; 701. connecting channel; 702. docking channel; 703. converging annular groove; 704. injection channel; 8. mounting arc block; 801. mounting hole; 9. filter cover; 901. positioning hole; 10. rotating shaft; 1001. guide cover To the groove; 11, propeller; 12, mounting groove; 13, transmission thread; 14, filter screen; 15, first bolt; 16, drive motor; 17, mounting ring; 18, housing; 19, positioning ring groove; 20, through hole; 21, piston block; 211, locking groove; 22, first elastic member; 23, brush; 231, telescopic rod; 232, brush head; 24, second elastic member; 25, locking block; 26, matching block; 27, sealing block; 28, drive rod. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] A subsea operation robot includes a robot body (not shown) and a propeller mounted thereon. The structure of the propeller is as shown in FIG. Figure 1 to Figure 9 As shown, it includes a propeller 11, a fairing 1, a drive motor 16 and a casing 18. The casing 18 is fixedly connected to the robot body, the drive motor 16 is sealed and installed in the casing 18, and the motor shaft of the drive motor 16 is sealed and electrically connected to the rotating shaft 10 after passing through the casing 18. The outer cover of the rotating shaft 10 is provided with a barrel 3 with an opening facing the casing 18, one end of the rotating shaft 10 away from the casing 18 is sealed and extends out of the barrel 3, and four propellers 11 are evenly spaced circumferentially on the portion of the rotating shaft 10 extending out of the barrel 3, the fairing 1 is provided outside the propeller 11 and is fixedly connected to the barrel 3 through a connecting rod 5, and two connecting rods 5 are evenly spaced circumferentially around the fairing 1.

[0029] A transmission thread 13 is provided in the barrel 3 on the rotating shaft 10 along the axial direction of the rotating shaft 10, and is sealed and rotated with the inner wall of the barrel 3. A delivery channel 7 is provided between the connecting rod 5 and the air guide cover 1, and is used to spray the water in the barrel 3 from the end of the air guide cover 1 away from the housing 18 after passing through the connecting rod 5 and the air guide cover 1. The delivery channel 7 includes a converging annular groove 703 which is provided at the end of the air guide cover 1 close to the housing 18 and is concentric with the air guide cover 1, an injection channel 704 which is evenly spaced and distributed in the circumferential direction of the air guide cover 1 and extends along the diversion direction of the air guide cover 1, and a connecting channel 701 provided in the connecting rod 5. The connecting channel 701 One end close to the barrel 3 is internally connected with the end of the barrel 3 away from the casing 18, and the end of the connecting rod 5 close to the air deflector 1 is integrally arranged as a mounting arc block 8 with the same curvature as the air deflector 1. The mounting arc block 8 is provided with a docking channel 702 connected with the connecting channel 701, and the end of the air deflector 1 is provided with a docking port docking with the docking channel 702. A filter cover 9 is fixedly arranged between the connecting rods 5, which can cover the end of the air deflector 1 close to the casing 18 and intercept foreign objects exceeding a preset size from entering the air deflector 1 when the connecting rod 5 and the air deflector 1 are installed. The connecting rod 5, the filter cover 9 and the air deflector 1 are sealed and matched with each other through a connecting positioning structure.

[0030] The connecting positioning structure includes a locking structure arranged between the mounting arc block 8 and the air deflector 1 and a positioning structure arranged between the filter cover 9 and the air deflector 1. The positioning structure includes positioning holes 901 evenly spaced circumferentially on the outer periphery of the filter cover 9 and positioning protrusions 101 evenly spaced circumferentially protruded from the end of the air deflector 1 and capable of being inserted into the positioning holes 901 one by one with the tip facing outward. The locking structure includes mounting holes 801 arranged on both sides of the mounting arc block 8, a second mounting column 102 fixedly protruded on the air deflector 1 and having an internal thread groove, and a second bolt 2 passing through the mounting hole 801 and screwed to the second mounting column 102.

[0031] A filtering structure is provided between the barrel 3 and the housing 18 for supplying water into the barrel 3 and filtering out foreign matter exceeding a preset size at the same time. The barrel 3 and the housing 18 are connected and fixed by a connecting structure. The filtering structure includes an annular filter screen 14. A mounting ring 17 is correspondingly fixed to the end of the barrel 3 opposite to the housing 18. The mounting ring 17 is provided with a recessed positioning ring groove 19 for partially inserting the two ends of the filter screen 14. The connecting structure is provided between the two mounting rings 17. The connecting structure includes through holes 20 uniformly spaced circumferentially on the mounting ring 17 fixed to the housing 18, a first mounting column 4 with an internal thread groove convexly provided circumferentially on the mounting ring 17 fixed to the barrel 3 and connected one-to-one with the through holes 20, and a first bolt 15 passing through the through hole 20 and screwed to the first mounting column 4.

[0032] An adaptive cleaning component is provided on the rotating shaft 10, which is matched with the filter screen 14 in a normal state and is used to clear the filter structure when it is blocked beyond a preset degree. The adaptive cleaning component includes a brush 23 elastically arranged along the radial direction of the rotating shaft 10 between the barrel 3 and the housing 18 on the rotating shaft 10, and a matching structure arranged between the brush 23 and the rotating shaft 10 so that the extension and contraction of the brush 23 is not affected by centrifugal force. The brush 23 includes a brush head 232 located outside the rotating shaft 10 and a telescopic rod 231 that is telescopically matched with the rotating shaft 10. The bristles of the brush head 232 are distributed along the axial extension of the filter device.

[0033] The matching structure includes an "L"-shaped mounting groove 12 opened on the rotating shaft 10, the mounting groove 12 along the radial segment of the rotating shaft 10 can be elastically extended and retracted for the telescopic rod 231, and the mounting groove 12 along the axial segment of the rotating shaft 10 is provided with a sealing block 27 that moves in a sealed manner in response to the change of the external pressure of the rotating shaft 10, and the end of the telescopic rod 231 away from the brush head 232 is fixed with a piston block 21 that moves in a sealed manner in the radial segment of the mounting groove 12, a compressed air cavity is formed between the piston block 21 and the sealing block 27, and a driving gas cavity is provided between the piston block 21 and the radial segment of the mounting groove 12. A first elastic member 22 is provided to keep the brush 23 in a retracted state. The first elastic member 22 is a spring. A limit block is provided at the opening of the radial segment of the mounting groove 12 to limit the piston block 21 from sliding out. Both ends of the first elastic member 22 elastically abut against the limit block and the piston block 21 respectively. A locking structure is provided between the piston block 21 and the inner wall of the radial segment of the mounting groove 12 to automatically lock the brush 23 when it retracts to the maximum stroke. An unlocking member is provided on the sealing block 27 to automatically unlock the locking structure when the sealing block 27 moves to a preset stroke under external pressure.

[0034] The locking structure includes a guide groove 1001 recessed at the radially segmented bottom of the mounting groove 12, a locking block 25 telescopically arranged in the guide groove 1001, and a second elastic member 24 arranged between the locking block 25 and the mounting groove 12 to drive the locking block 25 to be in a partially extended state in the normal state. The second elastic member 24 is a spring, and the two ends of the second elastic member 24 are respectively fixedly connected to the locking block and the bottom of the guide groove. A spring is arranged on the piston block 21 when the piston block 21 retracts to the maximum stroke. A locking groove 211 is provided for the locking block 25 to be automatically inserted therein, and an introduction slope which can automatically lead the locking groove 211 is provided on the locking block 25. A matching block 26 is integrally provided on the locking block 25. When the locking block 25 is plugged into the locking groove 211, the matching block 26 is located between the axial segments of the piston block 21 and the mounting groove 12. A driving rod 28 is convexly provided at one end of the sealing block 27 close to the locking block 25. When the sealing block 27 moves to a preset position, the matching block 26 is pressed against and the locking block 25 is disengaged from the locking groove 211.

[0035] This solution adds a booster mechanism to the conventional propeller propeller. The booster mechanism adopts the principle of water jet propulsion. Its power source is consistent with the propeller 11 and also comes from the rotation of the shaft 10. Only one drive motor 16 is required. The fairing hood 1 guides the direction of the water flow stirred by the propeller 11 while guiding the direction of the water spray, ensuring that the thrust direction generated by the water spray is consistent with the thrust direction generated by the stirring of the propeller 11, playing a role of thrust superposition, and the sprayed water will not contact the propeller 11, and the superimposed power effect is more superior. In order to prevent the inside of the fairing hood 1 from being blocked by larger foreign matter, a filtering structure is added. In order to avoid long-term overload operation of the shaft 10 caused by blockage of the filtering structure, an adaptive cleaning component is provided. The adaptive cleaning component The opening is positively correlated with the blockage degree of the filter 14 and the rotation speed of the shaft 10, that is, when the negative pressure inside the filter 14 exceeds the preset value, the sealing block 27 moves inward under the action of the negative pressure, and the driving rod 28 moves synchronously to contact and press the matching block 26 to retreat, and the locking block 25 and the matching block 26 retreat synchronously to disengage from the locking groove 211. The positive pressure in the compressed air chamber increases with the movement of the sealing block 27. When the locking block 25 is unlocked from the locking groove 211, the increased positive pressure in the compressed air chamber overcomes the pulling force of the first elastic member 22 and causes the telescopic rod 231 to extend outward until the bristles of the brush head 232 are elastically pressed against the filter 14. With the rotation of the shaft 10, the brush head 232 rotates circumferentially around the inner side of the filter 14 to evenly clean and dredge the entire filter 14.

[0036] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A propeller, comprising a housing (18), a rotating shaft (10) located outside the housing (18), and a propeller (11) circumferentially spaced apart and arranged on an end of the rotating shaft (10) away from the housing (18), a driving motor (16) for driving the rotating shaft (10) to rotate is arranged in the housing (18), and a shroud (1) is arranged outside the propeller (11), characterized in that: A boost mechanism is provided between the housing (18), the rotating shaft (10) and the air guide cover (1), the boost mechanism comprising a barrel (3) located between the housing (18) and the air guide cover (1) and with its opening facing away from the air guide cover (1), and a transmission thread (13) which is spirally arranged outside the rotating shaft (10) along its axial direction in the barrel (3) and is rotationally sealed with the inner wall of the barrel (3). The air guide cover (1) is fixedly connected to the barrel (3) via a connecting rod (5). A filtering structure is provided between the barrel (3) and the housing (18) for allowing water to enter and intercepting foreign matter outside a preset size. The filtering structure comprises an annular filtering screen (14). A filter is provided on the rotating shaft (10) so as to be in contact with the filtering screen (14) in a normal state. 4) An adaptive cleaning component that automatically clears the filter (14) when the filter (14) is blocked to a degree exceeding a preset level, the adaptive cleaning component comprising a brush (23) elastically and sealably arranged on the rotating shaft (10) between the barrel (3) and the housing (18) along the radial direction of the rotating shaft (10), and a first elastic member (22) that drives the brush (23) to be in a retracted state in a normal state, the brush (23) sealably and sealably extends in an L-shaped mounting groove (12) that is arranged through the rotating shaft (10), when the filter (14) is blocked to a degree exceeding a preset level, the negative pressure inside the filter (14) gradually increases and drives the brush to gradually extend until it elastically abuts against the filter (14).

2. A propeller according to claim 1, characterized in that: A matching structure is provided between the brush (23) and the rotating shaft (10) so that the extension and retraction of the brush (23) is not affected by centrifugal force, and the bristles of the brush (23) are distributed and extended along the axial direction of the filter screen (14).

3. A propeller according to claim 2, characterized in that: The matching structure comprises a sealing block (27) which is arranged in a radial segment of the mounting groove (12) and moves in a sealing manner as the pressure outside the rotating shaft (10) changes; the brush (23) is provided with a piston block (21) which moves in a sealing manner in the radial segment of the mounting groove (12); a compressed air cavity is formed between the piston block (21) and the sealing block (27); a locking structure which is automatically locked when the brush (23) retracts to a maximum stroke is arranged between the piston block (21) and the inner wall of the radial segment; and an unlocking member which automatically unlocks the locking structure when the sealing block (27) moves to a preset stroke under the drive of external pressure is arranged on the sealing block (27).

4. A propeller according to claim 3, characterized in that: The locking structure comprises a locking block (25) telescopically arranged at the radially segmented bottom of the mounting groove (12), a locking groove (211) arranged on the piston block (21) and capable of being inserted into the locking block (25) when the piston block (21) moves to a preset stroke, a matching block (26) integrally arranged on the locking block (25), a second elastic member (24) for driving the locking block (25) to be in an extended state is arranged between the locking block (25) and the mounting groove (12), and a driving rod (28) is convexly arranged at one end of the sealing block (27) close to the locking block (25) for pressing the matching block (26) and causing the locking block (25) to be separated from the locking groove (211) when the sealing block (27) moves to a preset position.

5. A propeller according to claim 1, characterized in that: A mounting ring (17) is fixed to one end of the barrel (3) opposite to the housing (18), and a positioning ring groove (19) is provided on the mounting ring (17) for partially inserting two ends of the filter screen (14). A connecting structure is provided between the mounting rings (17) for connecting the two and preventing the filter screen (14) from being compressed.

6. A propeller according to claim 5, characterized in that: The connection structure comprises through holes (20) circumferentially spaced apart on any one of the mounting rings (17), a first mounting column (4) protruding from another mounting ring (17) and docking with the through holes (20) and having an inner thread groove, and a first bolt (15) passing through the through holes (20) and being threadedly connected to the first mounting column (4).

7. A propeller according to claim 1, characterized in that: A delivery channel (7) is formed between the barrel (3), the connecting rod (5) and the shroud (1) for spraying water in the barrel (3) from one end of the shroud (1) away from the housing (18). The delivery channel (7) comprises an inlet annular groove (703) arranged inside the shroud (1) at one end close to the housing (18) and concentric with the shroud (1), an injection channel (704) evenly spaced in the circumferential direction of the shroud (1) and extending along the flow diversion direction of the shroud (1), and a connecting channel (701) arranged inside the connecting rod (5) and having two ends connected to the inlet annular groove (703) and the inside of one end of the barrel (3) close to the shroud (1), one end of the inlet annular groove (703) passes through the shroud (1) and the other end is connected to the inlet annular groove (703).

8. A propeller according to claim 7, characterized in that: One end of the connecting rod (5) is integrally connected to the barrel (3) and the other end is sealed and matched with the air guide cover (1) via a connecting positioning structure. At least two connecting rods (5) are evenly spaced around the axial direction of the barrel (3). A filter cover (9) is fixedly arranged between the connecting rods (5) and is capable of covering one end of the air guide cover (1) close to the casing (18) and intercepting foreign matter exceeding a preset size from entering the air guide cover (1) when the connecting rods (5) and the air guide cover (1) are installed.

9. A propeller according to claim 8, characterized in that: The connection positioning structure comprises a mounting arc block (8) which is integrally arranged at one end of the connecting rod (5) away from the barrel (3) and has the same arc as the air guide cover (1), a locking structure arranged between the mounting arc block (8) and the air guide cover (1), and a positioning structure arranged between the filter cover (9) and the air guide cover (1), wherein the positioning structure comprises positioning holes (901) which are evenly spaced in the circumferential direction of the outer periphery of the filter cover (9), and positioning protrusions (101) which are evenly spaced in the circumferential direction of the end of the air guide cover (1) and can be inserted into the positioning holes (901) one by one and have their tips facing outwards.

10. A submarine operation robot, comprising a robot body, characterized in that: The robot body is provided with a thruster as described in any one of claims 1 to 9.

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