A thruster and a subsea operation robot

Abstract

The present invention relates to the field of thrusters, and discloses a thruster and a subsea operation robot, which include a housing and a rotating shaft installed with a propeller. A driving motor for driving the rotating shaft to rotate is arranged inside the housing. A guide cover is provided outside the propeller. A boosting mechanism is arranged between the housing, the rotating shaft and the guide cover. The boosting mechanism includes a cylinder and a transmission thread that is spirally arranged along the axial direction of the rotating shaft outside the rotating shaft and is rotationally and sealingly matched with the inner wall of the cylinder inside the cylinder. The guide cover is fixedly connected to the cylinder through a connecting rod. A conveying channel is formed between the cylinder, the connecting rod and the guide cover to spray the water inside the cylinder from one end of the guide cover away from the housing. A filtering structure is arranged between the cylinder and the housing. An adaptive cleaning component is arranged on the rotating shaft, which is spaced from the filtering structure under normal conditions and automatically dredges after the filtering structure is blocked beyond a preset range. The thrust effect of this thruster is effectively improved, the structure is easy to implement, and the linkage performance is better.

Description

Technical Field

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

[0002] An underwater thruster is a power mechanism of an underwater robot and an important component of the underwater robot. A water jet thruster with the publication number of CN216003032U is of an integral one-piece design. A motor is provided at the front part, the motor transmission shaft and the propeller shaft are connected through a coupling in the middle, and a guide vane assembly and a tail nozzle are provided at the rear part; an electric motor fixing base, an electric motor fixing piece and an electric motor cover are provided outside the motor. The front end of the motor is fixed on the electric motor fixing base, and the rear end is fixed on the electric motor fixing bottom piece. An inlet water cover is provided outside the coupling. The inlet water cover is in an overall conical shape, and strip-shaped holes are formed on half of the surface of the cone facing downwards.

[0003] The inlet water cover is distributed in a grid shape, the area of the strip-shaped holes is large, the ability to intercept foreign objects is weak, and it cannot be automatically dredged after being blocked, which easily leads to equipment failure. Summary of the Invention

[0004] In view of the disadvantage that the thrust of the existing propeller thruster needs to be improved, the first object of the present invention is to provide a thruster with good water inlet interception performance and capable of automatically dredging water inlet blockage.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0006] A thruster includes a housing, a rotating shaft located outside the housing, and a propeller circumferentially and spacedly arranged at one end of the rotating shaft away from the housing. A driving motor for driving the rotating shaft to rotate is arranged inside the housing. A guide vane cover is provided outside the propeller. The guide vane cover is fixedly connected to the housing through a connecting rod. A boosting mechanism is arranged between the housing, the rotating shaft and the guide vane cover. The boosting mechanism includes a cylinder located between the housing and the guide vane cover and having an opening facing away from the guide vane cover, and a transmission thread spirally arranged along the axial direction of the rotating shaft outside the rotating shaft in the cylinder and rotatably and sealingly matched with the inner wall of the cylinder. The guide vane cover is fixedly connected to the cylinder through a connecting rod. A filtering structure for allowing water to enter while intercepting foreign objects outside a preset size is arranged between the cylinder and the housing. The filtering structure includes an annular filter net. An adaptive cleaning assembly is arranged on the rotating shaft and is spaced from the filter net in a normal state and automatically dredges when the filter net is blocked beyond a preset degree. The adaptive cleaning assembly includes a brush elastically and sealingly telescoping in the radial direction of the rotating shaft between the cylinder and the housing on the rotating shaft and a first elastic member for driving the brush to be in a retracted state in a normal state. The brush is sealingly telescoped in a mounting groove penetrating through the rotating shaft and in an "L" shape. When the filter net is blocked beyond a preset degree, the negative pressure inside the filter net gradually increases and drives the brush to gradually extend until it elastically abuts against the filter net.

[0007] With the above solution, the thruster has the dual functions of water jet propulsion and propeller propulsion, and replaces the grid-type water inlet cover with a filter screen method, significantly increasing 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 degree of blockage of the filter screen and the rotation speed of the rotating shaft. Due to the structure of using a transmission thread for water supply, when the filter screen is blocked beyond the preset range, the transmission thread unidirectionally transmits the water in the filter screen towards the deflector cover direction. When the amount of transmitted water is greater than the water inflow, the negative pressure in the internal space of the filter screen will gradually increase. When the negative pressure overcomes the elastic force of the first elastic member, the brush will move outward and seal until it elastically abuts against the filter screen. As the rotating shaft rotates, the brush will revolve around the rotating shaft to fully clean the filter screen. When the filter screen is gradually unblocked, the pressure inside the filter screen gradually returns to the normal state, and the brush will automatically retract again under the reset action of the first elastic member, thereby reducing the increase in the load on the drive motor caused by the brush abutting against the filter screen. Therefore, the thruster has the dual propulsion effects of propeller propulsion and water jet propulsion, significantly improves the filtering performance of the inlet water, and also has the function of automatically unblocking the inlet blockage.

[0008] Preferably, a matching structure that makes the telescopic movement of the brush not affected by centrifugal force is provided between the brush and the rotating shaft, and the bristles of the brush are distributed along the axial direction of the filter screen.

[0009] With the above solution, since the extending direction of the brush is the same as the centrifugal force generated by the rotation of the rotating shaft on the brush, and the magnitude of the centrifugal force is positively correlated with the rotation speed of the rotating shaft, in order to prevent the centrifugal force from exceeding the pulling force that limits the extension of the brush when the rotating shaft rotates at a high speed, it is necessary to add a matching structure to ensure that the brush will not be misextended and abut against the filtering device, resulting in an increase in the load on the rotating shaft.

[0010] Preferably, the matching structure includes a sealing block that moves in a sealed manner along the radial segment of the installation groove along the radial direction of the rotating shaft as the external pressure of the rotating shaft changes. The brush has a piston block that moves in a sealed manner in the radial segment of the installation groove. A compressed air chamber is formed between the piston block and the sealing block. A locking structure that automatically locks when the brush retracts to the maximum stroke is provided between the piston block and the inner wall of the radial segment. An unlocking member that automatically unlocks the locking structure when the sealing block moves to the preset stroke under the drive of the external pressure is provided on the sealing block.

[0011] With the above solution, 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 the external pressure. When the brush is in the normal state, it is driven by the first elastic member to retract to the maximum stroke and is locked with the rotating shaft under the locking of the locking structure. Only when the sealing block is affected by the external pressure and moves to the preset stroke can the unlocking member be triggered to unlock the locking structure, so that the brush extends under the drive of the compressed air chamber with increasing pressure and presses against the filtering device, and continuously cleans and unblocks the filtering device as the rotating shaft rotates.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] With the above solution, the transmission thread section formed by the combination of the thread and the rotating shaft conveys the water passing through the filtering structure into the connection channel and sprays it out of the deflector through the converging annular groove from the spraying channel. The spraying channel is arranged inside the deflector. The spraying direction of the water flow is the same as the stirring direction of the propeller and they do not interfere with each other, so that the propulsion performance of the thruster is effectively superimposed.

[0020] Preferably, one end of the connecting rod is integrally connected to the barrel, and the other end is hermetically connected and cooperated with the deflector through a connection positioning structure. At least two connecting rods are evenly spaced around the axial direction of the barrel. A filter cover is fixedly arranged between the connecting rods, which can cover one end of the deflector close to the casing and intercept foreign objects exceeding a preset size from entering the deflector when the connecting rod is installed with the deflector.

[0021] With the above solution, the filter cover, the connecting rod and the barrel are integrally arranged, which has multiple effects of guiding flow, supporting and filtering, and also facilitates subsequent assembly and positioning.

[0022] Preferably, the connection positioning structure includes an installation arc block integrally arranged at the end of the connecting rod away from the barrel and having the same radian as the deflector, a locking structure arranged between the installation arc block and the deflector, and a positioning structure arranged between the filter cover and the deflector. 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 deflector and capable of being respectively inserted into the positioning holes with the tips facing outwards.

[0023] With the above solution, after the positioning holes and the positioning protrusions are inserted and positioned, the installation stability of the filter cover and the deflector is increased. After being locked by the locking structure, the rapid assembly of the deflector, the filter cover and the barrel can be realized quickly.

[0024] The second object of the present invention is to provide a subsea operation robot, including a robot body, and the thruster described above is arranged on the robot body.

[0025] Due to the adoption of the above technical solutions, the present invention has remarkable technical effects: a boosting mechanism is added to a conventional propeller-type thruster. The boosting mechanism adopts the principle of water jet propulsion, and the power source is the same as that of the propeller, which also comes from the rotation of the rotating shaft. Therefore, only one driving motor is required. While the fairing guides the direction of the water flow stirred by the guiding propeller, it also guides the water jet direction to ensure that the thrust direction generated by the water jet is the same as the thrust direction generated by the stirring of the propeller, playing a superimposing role, and the ejected water does not contact the propeller, and the superimposed power effect is more excellent. To avoid the inside of the fairing being blocked by larger foreign objects, a filtering structure is added. And to avoid the rotating shaft running overloaded for a long time due to the blockage of the filtering structure, an adaptive cleaning component is set. The activation of the adaptive cleaning component is positively correlated with the degree of blockage of the filtering structure and the rotation speed of the rotating shaft. That is, when the negative pressure inside the filtering structure exceeds the preset value, the adaptive cleaning component starts to clean and dredge the filtering structure. Compared with the existing propeller thruster, the thrust effect of this thruster 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

[0026] Figure 1 is the disassembly of a thruster according to this embodiment Figure 1 ;

[0027] Figure 2 is the disassembly of a thruster according to this embodiment Figure 2 ;

[0028] Figure 3 is the axonometric view of a thruster according to this embodiment;

[0029] Figure 4 is the front view of a thruster according to this embodiment;

[0030] Figure 5 is Figure 4 the sectional view taken along A-A of;

[0031] Figure 6 is Figure 5 the enlarged view of A of;

[0032] Figure 7 is Figure 5 the sectional view taken along B-B of;

[0033] Figure 8 is Figure 7 the enlarged view of B of;

[0034] Figure 9 is Figure 7 the sectional view taken along C-C of.

[0035] The names of the parts referred to by each digital label in the above drawings are as follows: 1. fairing; 101. positioning protrusion; 102. second mounting post; 2. second bolt; 3. barrel; 4. first mounting post; 5. connecting rod; 7. conveying 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. guiding groove; 11. propeller; 12. mounting groove; 13. transmission thread; 14. filter net; 15. first bolt; 16. drive motor; 17. mounting ring; 18. housing; 19. positioning annular 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. fitting block; 27. sealing block; 28. drive rod. Detailed implementation manners

[0036] The present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0037] An underwater operation robot includes a robot body (not shown) and a thruster mounted thereon. The structure of the thruster is as shown in Figures 1 to 9 Figure 10, and includes a propeller 11, a fairing 1, a drive motor 16 and a housing 18. The housing 18 is fixedly connected to the robot body. The drive motor 16 is hermetically installed in the housing 18. The motor shaft of the drive motor 16 hermetically passes through the housing 18 and is electrically connected and matched with the rotating shaft 10. A barrel 3 with an opening facing the housing 18 is sleeved outside the rotating shaft 10. One end of the rotating shaft 10 away from the housing 18 hermetically extends outside the barrel 3, and four propellers 11 are circumferentially and evenly spaced on the part of the rotating shaft 10 extending outside the barrel 3. The fairing 1 covers the propeller 11 and is fixedly connected to the barrel 3 through a connecting rod 5. Two connecting rods 5 are circumferentially and evenly spaced around the circumference of the fairing 1.

[0038] Inside the barrel 3, a transmission thread 13 that is hermetically and rotationally fitted with the inner wall of the barrel 3 is spirally arranged along the axial direction of the rotating shaft 10 on the rotating shaft 10. A conveying flow channel 7 is provided between the connecting rod 5 and the diversion cover 1 to spray the water inside the barrel 3 out from one end of the diversion cover 1 away from the machine housing 18 after passing through the connecting rod 5 and the diversion cover 1. The conveying flow channel 7 includes a converging annular groove 703 that is concentric with the diversion cover 1 and is arranged at one end close to the machine housing 18 inside the diversion cover 1, injection channels 704 that are circumferentially and evenly spaced inside the diversion cover 1 and extend along the diversion direction of the diversion cover 1, and a connecting channel 701 arranged inside the connecting rod 5. One end of the connecting channel 701 close to the barrel 3 is internally communicated with the inside of the end of the barrel 3 away from the machine housing 18. One end of the connecting rod 5 close to the diversion cover 1 is integrally formed into an installation arc block 8 with the same radian as the diversion cover 1. A docking channel 702 communicated with the connecting channel 701 is provided inside the installation arc block 8. A docking port for docking with the docking channel 702 is provided at the end of the diversion cover 1. A filter cover 9 is fixedly arranged between the connecting rods 5, which can cover one end of the diversion cover 1 close to the machine housing 18 and intercept foreign objects exceeding a preset size from entering the diversion cover 1 when the connecting rod 5 and the diversion cover 1 are installed. The connecting rod 5, the filter cover 9 and the diversion cover 1 are hermetically connected and fitted through a connection and positioning structure.

[0039] The connection and positioning structure includes a locking structure arranged between the installation arc block 8 and the diversion cover 1 and a positioning structure arranged between the filter cover 9 and the diversion cover 1. The positioning structure includes positioning holes 901 that are circumferentially and evenly spaced on the outer periphery of the filter cover 9 and positioning protrusions 101 that are circumferentially and evenly spaced and protrude from the end of the diversion cover 1 and can be inserted into the positioning holes 901 one by one with the tips facing outwards. The locking structure includes installation holes 801 arranged on both sides of the installation arc block 8, second installation posts 102 that are fixedly protruded on the diversion cover 1 and have internal thread grooves, and second bolts 2 that pass through the installation holes 801 and are screwed with the second installation posts 102.

[0040] A filtering structure for filtering out foreign objects exceeding a preset size while supplying water into the barrel 3 is arranged between the barrel 3 and the machine housing 18. The barrel 3 and the machine housing 18 are fixedly connected through a connection structure. The filtering structure includes an annular filter net 14. One end of the barrel 3 opposite to the machine housing 18 is correspondingly fixed with an installation ring 17. A positioning ring groove 19 for partially inserting both ends of the filter net 14 is recessed on the installation ring 17. The connection structure is arranged between the two installation rings 17. The connection structure includes through holes 20 that are circumferentially and evenly spaced on the installation ring 17 fixed to the machine housing 18, first installation posts 4 that are circumferentially protruded on the installation ring 17 fixed to the barrel 3 and are docked with the through holes 20 one by one and have internal thread grooves, and first bolts 15 that pass through the through holes 20 and are screwed with the first installation posts 4.

[0041] An adaptive cleaning component is provided on the rotating shaft 10, which is spaced from the filter screen 14 in the normal state and dredges when the filter structure is blocked beyond a preset degree. The adaptive cleaning component includes a brush 23 elastically telescoping radially along the rotating shaft 10 between the barrel 3 and the housing 18 on the rotating shaft 10, and a matching structure provided between the brush 23 and the rotating shaft 10 to make the telescoping of the brush 23 unaffected by centrifugal force. The brush 23 includes a brush head 232 outside the rotating shaft 10 and a telescopic rod 231 telescopically matched with the rotating shaft 10. The bristles of the brush head 232 extend along the axial direction of the filtering device.

[0042] The matching structure includes an "L"-shaped installation groove 12 opened on the rotating shaft 10. The section of the installation groove 12 along the radial direction of the rotating shaft 10 is available for the telescopic rod 231 to elastically expand and contract, and a sealing block 27 that moves sealingly under the change of external pressure outside the rotating shaft 10 is arranged in the section of the installation groove 12 along the axial direction of the rotating shaft 10. A piston block 21 that moves sealingly in the radial section of the installation groove 12 is fixed at one end of the telescopic rod 231 away from the brush head 232. A compressed air chamber is formed between the piston block 21 and the sealing block 27. A first elastic member 22 that drives the brush 23 to be in a retracted state is arranged between the piston block 21 and the radial section of the installation groove 12. The first elastic member 22 is a spring. A limiting block for restricting the piston block 21 from sliding out is arranged at the opening of the radial section of the installation groove 12. The two ends of the first elastic member 22 are elastically abutted and matched with the limiting block and the piston block 21 respectively. A locking structure that automatically locks when the brush 23 retracts to the maximum stroke is arranged between the piston block 21 and the inner wall of the radial section of the installation groove 12. An unlocking member that 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.

[0043] The locking structure includes a guiding groove 1001 recessed at the bottom of the radial section of the installation groove 12, a locking block 25 telescopically arranged in the guiding groove 1001, and a second elastic member 24 arranged between the locking block 25 and the installation groove 12 to drive the locking block 25 to be in a partially protruding state in the normal state. The second elastic member 24 is a spring. The two ends of the second elastic member 24 are respectively fixedly connected with the locking block and the bottom of the guiding groove. A locking groove 211 into which the locking block 25 can automatically insert when the piston block 21 retracts to the maximum stroke is arranged on the piston block 21. An introducing inclined surface for automatically introducing into the locking groove 211 is arranged on the locking block 25. A matching block 26 is integrally arranged on the locking block 25. When the locking block 25 is inserted into the locking groove 211, the matching block 26 is located between the piston block 21 and the axial section of the installation groove 12. A driving rod 28 that presses the matching block 26 and makes the locking block 25 disengage from the locking groove 211 when the sealing block 27 moves to a preset position is protruded at one end of the sealing block 27 close to the locking block 25.

[0044] In this solution, a boosting mechanism is added to a conventional propeller-type thruster. The boosting mechanism adopts the principle of water jet propulsion, and its power source is the same as that of the propeller 11, which also comes from the rotation of the rotating shaft 10. Only one driving motor 16 is required. While the fairing 1 guides the direction of the water flow stirred by the guiding propeller 11, it also guides the water jet direction at the same time, ensuring that the thrust direction generated by the water jet is the same as the thrust direction generated by the stirring of the propeller 11, playing a role of thrust superposition, and the ejected water will not contact the propeller 11, and the superposed power effect is more superior. To avoid the inside of the fairing 1 being blocked by larger foreign objects, a filtering structure is added. And to avoid the rotating shaft 10 running with overload for a long time due to the blockage of the filtering structure, an adaptive cleaning component is set. The opening of the adaptive cleaning component is positively correlated with the blockage degree of the filter net 14 and the rotation speed of the rotating shaft 10. That is, when the negative pressure inside the filter net 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 mating block 26 to retreat. The locking block 25 and the mating block 26 retreat synchronously to disengage from the locking groove 211. The positive pressure in the compressed air chamber continuously increases as the sealing block 27 moves. 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 makes the telescopic rod 231 extend outward until the bristles of the brush head 232 elastically press against the filter net 14. As the rotating shaft 10 rotates, the brush head 232 rotates circumferentially along the inner side of the filter net 14, evenly cleaning and dredging the entire filter net 14.

[0045] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and refinements made 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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