Obstacle removing propeller, water surface monitoring robot and position switching method of intercepting mesh enclosure

Abstract

The invention discloses an obstacle removing propeller, a water surface monitoring robot and a position switching method of an intercepting mesh enclosure, the obstacle removing propeller comprises a propeller body, the intercepting mesh enclosure and a transfer mechanism, and the transfer mechanism is fixedly connected with the intercepting mesh enclosure; and the driving device is used for driving the intercepting mesh enclosure to move in the length direction of the propeller body and to lift in the height direction, so that the intercepting mesh enclosure covers the water inlet of the propeller body or the water outlet of the propeller body. According to the obstacle removing propeller, obstacles on the water surface can be prevented from entering the propeller body, and the intercepting net cover can be cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of water surface environment monitoring, and particularly relates to a debris-clearing thruster, a water surface monitoring robot, and a method for switching the positions of an interception net cover. Background Art

[0002] Water surface environment monitoring cruise ships are divided into unmanned monitoring cruise ships and manned monitoring cruise ships. Unmanned monitoring cruise ships are lightweight and flexible, while manned monitoring cruise ships have stronger carrying capacity and endurance. These cruise ships have rich functions, can monitor water quality, detect key indicators such as water temperature and ammonia nitrogen; use equipment such as side-scan sonar to investigate pollution sources and lock sewage outlets; evaluate changes in the water ecosystem, and can also collect hydrological and meteorological data.

[0003] The thruster is the core component for the travel of a water surface environment monitoring cruise ship. Dual thrusters can generate different thrusts respectively, making the hull subject to uneven forces and generating a steering moment, which is convenient for the hull to turn. Its performance directly affects the navigation efficiency, stability, and reliability of the ship.

[0004] However, in complex waters, such as when there are obstacles such as fish, a large number of aquatic plants, and floating objects, these obstacles are likely to enter the thruster, resulting in problems such as entanglement and blockage, which in turn lead to a decrease in the ship's power and even the inability to travel normally. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a debris-clearing thruster, a water surface monitoring robot, and a method for switching the positions of an interception net cover in view of the above deficiencies in the prior art. The debris-clearing thruster can prevent obstacles on the water surface from entering the thruster body and can clean the interception net cover.

[0006] To solve the above problems, the present invention adopts the following technical solutions:

[0007] A debris-clearing thruster includes a thruster body, an interception net cover, and a transfer mechanism. The transfer mechanism is fixedly connected to the interception net cover and is used to drive the interception net cover to move along the length direction of the thruster body and to move up and down along the height direction, so as to cover the interception net cover at the water inlet of the thruster body or the water outlet of the thruster body.

[0008] Preferably, the transfer mechanism includes a linear drive assembly, a telescopic rod, a guide plate, and a limiting rod. The guide plate is provided with a guide groove, which includes two horizontal sections and two lifting sections. The four are interconnected to form an annular groove structure. The two horizontal sections are arranged along the horizontal direction, and the two lifting sections are inclined. There are two groups of guide plates, which are the first guide plate and the second guide plate respectively. The first guide plate and the second guide plate are arranged oppositely along the vertical direction. The telescopic rod is arranged along the vertical direction. Its top end is connected to the output end of the linear drive assembly, and its bottom end is connected to the intercepting net cover and can be telescoped along the vertical direction. The telescopic rod is also connected to the limiting rod. The limiting rod is arranged along the horizontal direction, and its two ends are respectively inserted into the guide grooves of the first guide plate and the second guide plate. The linear drive assembly is used to provide a driving force along the length direction of the thruster body, so as to drive the driving rod and the limiting rod to move along the guide groove, and then drive the intercepting net cover to move up and down and move linearly along the length direction of the thruster body, so as to cover the intercepting net cover on the water inlet or the water outlet of the thruster body.

[0009] Preferably, there are two thruster bodies, and the two thruster bodies are respectively installed on both sides of the hull. There are two intercepting net covers, and the two intercepting net covers are respectively covered on the two thruster bodies.

[0010] Preferably, the telescopic rod includes a vertically arranged drive tube and a horizontally arranged connecting rod. The drive tube can be telescoped along the vertical direction. One end of it is connected to the output end of the linear drive assembly, and the other end is fixedly connected to the connecting rod. The two ends of the connecting rod are respectively fixedly connected to the two intercepting net covers.

[0011] Preferably, the obstacle-clearing thruster further includes a flipping mechanism. The flipping mechanism includes a housing and a spring. The housing is provided with a first spiral opening, and the outer wall of the drive tube is provided with a first spiral part. The housing is spirally connected to the first spiral part through the first spiral opening, so as to be sleeved on the drive tube. And a limiting hole is provided on the side wall of the housing. The limiting rod passes through the limiting hole. The spring is sleeved on the outer wall of the drive tube, and its two ends respectively abut against the housing and the limiting rod. The limiting rod and the drive tube are rotatably connected through a bearing. An extrusion plate is provided on the first guide plate. When the limiting rod moves in the horizontal section below the guide groove, the extrusion plate is located on the movement path of the housing and presses the housing downward, and drives the drive tube to rotate 180°, and then drives the two intercepting net covers to rotate 180°.

[0012] Preferably, the flip mechanism also includes a locking assembly, which includes a support frame, a first rotating column, a second rotating column, a first gear, a second gear, a first torsion spring and a second torsion spring, the support frame is fixedly mounted on a limiting rod close to the second guide plate, the first rotating column and the second rotating column are respectively rotatably mounted on both sides of the support frame, the first gear is mounted on the first rotating column, the second gear is mounted on the second rotating column, and the first gear and the second gear are meshed with each other, the first torsion spring and the second torsion spring are respectively sleeved on the first rotating column and the second rotating column, and the two ends of the first torsion spring and the second torsion spring are respectively abutted against the limiting rod and the support frame, the first torsion spring and the second torsion spring have the function of moving the first rotating column and the second rotating column toward opposite directions. The first and second rotating columns are respectively provided with a first paddle and a second paddle according to the force of the first torsion spring and the second torsion spring, so that the first paddle and the second paddle rotate in directions away from each other, and the mutual engagement of the first gear and the second gear ensures that the first paddle and the second paddle are symmetrical about the center line of the locking assembly. When the cover shell is not pressed down, the top of the cover shell is higher than the first paddle, the first paddle is against the side wall of the cover shell and is in a semi-open state, and the second paddle is also in a semi-open state. After the extrusion plate squeezes the cover shell downward, the top of the cover shell is lower than the first paddle, and the first torsion spring continues to drive the first rotating column to rotate, so that the first paddle continues to rotate to the top of the cover shell and is pressed against the cover shell, thereby completing the locking.

[0013] Preferably, a limiting protrusion is provided in the tooth groove of the first gear and / or the second gear. When the tooth grooves of the first gear and the second gear having the limiting protrusion are engaged with each other, the first gear and the second gear can no longer rotate relative to each other in this direction. At this time, the first paddle and the second paddle are located on the same straight line and face opposite directions.

[0014] Preferably, an unlocking piece is provided on the second guide plate, and when the limiting rod moves in the horizontal section below the guide groove, the unlocking piece is located on the movement path of the second paddle, and the first paddle and the second paddle are located on the same straight line and in opposite directions, the end of the second paddle will touch the unlocking piece, and the unlocking piece drives the second paddle and the first paddle to rotate in a direction approaching each other, so that the first paddle leaves the top of the cover shell, and the cover shell rebounds upward under the action of the spring, thereby completing the unlocking.

[0015] The present invention also provides a water surface monitoring robot, including a hull and the above-mentioned obstacle removal propeller, two propeller bodies are fixedly installed under the hull, and a accommodating cavity is provided at the bottom of the hull, and the transfer mechanism and the flipping mechanism are both installed in the accommodating cavity.

[0016] The present invention also provides a method for switching the position of the interception net cover. By using the above-mentioned obstacle-clearing thruster, the method is as follows: When the interception net cover covers the water inlet of the thruster body, the interception net cover is in the interception state. When the interception net cover covers the water outlet of the thruster body, the interception net cover is in the cleaning state; When the interception net cover switches from the interception state to the cleaning state, the transfer mechanism drives the interception net cover to first move in a direction away from the water inlet of the thruster body, then drives the interception net cover to move downward to below the thruster body, then drives the interception net cover to move in the direction of the water outlet of the thruster body, then drives the interception net cover to move upward to a position aligned with the water outlet of the thruster body, and finally drives the interception net cover to cover the water outlet of the thruster body; When the interception net cover switches from the cleaning state to the interception state, the transfer mechanism drives the interception net cover to first move in a direction away from the water outlet of the thruster body, then drives the interception net cover to move downward to below the thruster body, then drives the interception net cover to move in the direction of the water inlet of the thruster body, then drives the interception net cover to move upward to a position aligned with the water inlet of the thruster body, and finally drives the interception net cover to cover the water inlet of the thruster body.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] (1) In the present invention, an interception net cover is provided at the water inlet of the thruster body. The interception net cover can effectively prevent obstacles such as fish, aquatic plants, and floating objects on the water surface from entering the thruster body, thereby effectively avoiding the entanglement of the obstacles with the thruster body and improving the navigation efficiency, stability, and reliability of the ship.

[0019] (2) In the present invention, the obstacle-clearing thruster further has a transfer mechanism. The transfer mechanism can drive the interception net cover to move along the length direction of the thruster body and to move up and down along the height direction, so as to cover the interception net cover on the water inlet or the water outlet of the thruster body. When the interception net cover covers the water inlet of the thruster body, it is used to intercept obstacles on the water surface; when the interception net cover covers the water outlet of the thruster body, it is used to wash and clean the interception net cover.

[0020] (3) In the present invention, the obstacle-clearing thruster further has a flipping mechanism. When the interception net cover switches from the interception state to the cleaning state, the interception net cover can be flipped 180° and then covered on the water outlet of the thruster body. The cross-section of the interception net cover with obstacles wound thereon is located on the side away from the water outlet of the thruster body. After such flipping, the water flow ejected from the water outlet can effectively backwash the interception net cover and wash away the obstacles wound on the cross-section of the interception net cover. Description of the Drawings

[0021] Figure 1 is a schematic diagram of the structure of the water surface monitoring robot in Example 2; Figure 2 is a schematic structural diagram of the limiting rod of the obstacle removal thruster in Example 1 being located in the horizontal section above the guide groove; Figure 3 is a schematic structural diagram of the limiting rod of the obstacle removal propeller in Example 1 being located in the horizontal section below the guide groove; Figure 4 yes Figure 2 A partial enlarged view of point B in the middle; Figure 5 yes Figure 3 A partial enlarged view of point C in the middle; Figure 6 yes Figure 5 A partial enlarged view of point D in the middle; Figure 7 is a schematic structural diagram of the locking assembly in Example 1; Figure 8 is a schematic diagram of the front structure of the guide plate in Example 1; Figure 9 is a front structural schematic diagram of the bottom of the extrusion rod in Example 1; Figure 10 is a schematic diagram of the cooperation between the limiting rod and the limiting hole in Example 1; Figure 11 Schematic diagram of the contact between the extrusion plate and the cover shell in Example 1.

[0022] In the figure: 100-hull, 200-thruster body, 210-water inlet, 220-drainage outlet, 300-interception net, 410-linear drive assembly, 420-telescopic rod, 421-drive pipe, 422-connecting rod, 430-first guide plate, 431-guide groove, 432-horizontal section, 433-lifting section, 440-second guide plate, 450-limiting rod, 451-bearing, 460-core shaft, 500 - flip mechanism, 510- cover, 511- first spiral mouth, 512- limiting hole, 513- mounting frame, 514- roller, 520- spring, 530- extrusion plate, 600- support frame, 610- first rotating column, 620- second rotating column, 630- first gear, 640- second gear, 650- first torsion spring, 660- second torsion spring, 670- first paddle, 680- second paddle, 700- unlocking piece. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts belong to the scope of the present invention.

[0024] In the description of the present invention, it should be noted that the terms such as "upper" indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience and simplification of 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 cannot be understood as a limitation to the present invention.

[0025] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "connected", "arranged", "installed", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0027] Embodiment 1

[0028] As Figures 1 - 11 shown, this embodiment discloses a clearance propeller, including a propeller body 200, an interception net cover 300, and a transfer mechanism. The propeller body 200 is fixedly installed at the bottom of the hull 100 and is used to provide power for the forward movement of the hull 100. The transfer mechanism is fixed on the hull 100 and is fixedly connected to the interception net cover 300, and is used to drive the interception net cover 300 to move along the length direction of the propeller body 200 and to move up and down along the height direction, so as to cover the interception net cover 300 on the water inlet 210 of the propeller body 200 or the water outlet 220 of the propeller body 200.

[0029] As Figure 1 , Figure 2As shown in the figure, specifically, the water inlet 210 and the water outlet 220 of the thruster body 200 in this embodiment are both circular. Water flows into the thruster body 200 from the water inlet 210 and flows out from the water outlet 220 of the thruster body 200. Correspondingly, the intercepting net cover 300 is also a circular mesh structure, which is used to cover the water inlet 210 of the thruster body 200, so as to prevent obstacles such as fish, aquatic plants, and floating objects in the water from entering the thruster body 200, and further avoid the obstacles from winding / clogging the thruster body 200.

[0030] Furthermore, the intercepting net cover 300 has two working states: intercepting and cleaning. When the intercepting net cover 300 covers the water inlet 210 of the thruster body 200, the intercepting net cover 300 is in the intercepting state. At this time, the intercepting net cover 300 is used to intercept obstacles such as aquatic plants and floating objects in the water to prevent them from entering the thruster body 200. When the intercepting net cover 300 covers the water outlet 220 of the thruster body 200, the intercepting net cover 300 is in the cleaning state. At this time, the water flow ejected from the water outlet 220 is used to wash the intercepting net cover 300, so as to remove the impurities adhered to its surface.

[0031] When the intercepting net cover 300 switches positions between the intercepting state and the cleaning state, it only needs to drive the intercepting net cover 300 to move along the length direction of the thruster body 200 and to move up and down along the height direction through the transfer mechanism.

[0032] Considering that the existing transfer mechanisms (such as robotic arms) have problems such as being heavy, expensive, and not applicable to small unmanned cruise ships, the transfer mechanism in this embodiment is improved.

[0033] As Figure 2 、 Figure 8 shown, specifically, the transfer mechanism includes a linear drive assembly 410, a telescopic rod 420, a guide plate, and a limiting rod 450. The guide plate is provided with a guide groove 431, which includes two horizontal sections 432 and two lifting sections 433. The four are connected to form an annular groove structure. The two horizontal sections 432 are arranged along the horizontal direction, and the two lifting sections 433 are inclined. The four form a parallelogram shape arranged in a vertical plane.

[0034] As Figure 2 、 Figure 3As shown in the figure, further, there are two sets of guide plates, namely the first guide plate 430 and the second guide plate 440. The first guide plate 430 and the second guide plate 440 are arranged oppositely along the vertical direction (the sides of the first guide plate 430 and the second guide plate 440 with the guide grooves 431 face each other). The telescopic rod 420 is arranged along the vertical direction, its top end is connected to the output end of the linear drive assembly 410, and its bottom end is connected to the interception net cover 300 and can be telescoped along the vertical direction. The telescopic rod 420 is also connected to the limiting rod 450. The limiting rod 450 is arranged along the horizontal direction and is perpendicular to the vertical planes where the first guide plate 430 and the second guide plate 440 are located. Both ends of the limiting rod 450 are inserted into the guide grooves 431 of the first guide plate 430 and the second guide plate 440. The linear drive assembly 410 is used to provide a driving force along the length direction of the thruster body 200, so as to drive the limiting rod 450 to move along the track of the guide groove 431, and then drive the driving rod to move synchronously with it, and finally drive the interception net cover 300 to perform a lifting motion and a linear motion along the length direction of the thruster body 200, so as to cover the interception net cover 300 on the water inlet 210 of the thruster body 200 or the water outlet 220 of the thruster body 200.

[0035] As Figure 1 shown, specifically, when the interception net cover 300 switches from the interception state to the cleaning state. At this time, the interception net cover 300 is covered on the water inlet 210 on the left side of the thruster body 200. The linear drive assembly 410 first drives the interception net cover 300 to move horizontally to the left away from the water inlet 210 on the left side of the thruster body 200 (as Figure 8 shown, in this process, the limiting rod 450 moves to the left in the horizontal section 432 above the guide groove 431 until it reaches the left lifting section 433). Due to the fact that the left lifting section 433 is inclined (the component force of the horizontal force of the linear drive assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and under the action of the self-gravity of the telescopic rod 420, the limiting rod 450, and the interception net cover 300, the limiting rod 450 moves from the top to the bottom of the left lifting section 433. At this time, the telescopic rod 420 extends, and the interception net cover 300 moves below the thruster body 200.

[0036] Then, the linear drive assembly 410 drives the interception net cover 300 to move linearly to the right (move in the direction of the water outlet 220 of the thruster body 200). As Figure 8As shown, during this process, the limiting rod 450 moves rightward in the horizontal section 432 located below the guiding groove 431 until it reaches the right lifting section 433. Since the right lifting section 433 is inclined, the vertical component of the horizontal force of the linear drive assembly 410 will drive the limiting rod 450 to move upward along the right lifting section 433 to its top. At this time, the telescopic rod 420 retracts upward, and the intercepting net cover 300 moves to a height aligned with the drain outlet of the thruster body 200. Then the linear drive assembly 410 drives the intercepting net cover 300 to move linearly to the left, so that the intercepting net cover 300 covers the drain outlet 220 of the thruster body 200.

[0037] As Figure 2 , Figure 3 shown, in this embodiment, there are two thruster bodies 200, and the two thruster bodies 200 are respectively installed on both sides of the hull 100. Correspondingly, there are also two intercepting net covers 300, and the two intercepting net covers 300 respectively cover the two thruster bodies 200. The two thruster bodies 200 are used to provide power for the navigation of the hull 100, and can generate different thrusts respectively, so as to generate a steering moment, and thus facilitate the turning of the hull 100.

[0038] Further, the telescopic rod 420 includes a vertically arranged drive tube 421 and a horizontally arranged connecting rod 422. The drive tube 421 can be telescoped along the vertical direction. One end of it is connected to the output end of the linear drive assembly 410, and the other end is fixedly connected to the connecting rod 422. Both ends of the connecting rod 422 are fixedly connected to the two intercepting net covers 300.

[0039] Optionally, a core shaft 460 can also be arranged between the drive tube 421 and the linear drive assembly 410. The diameter of the core shaft 460 is smaller than that of the drive tube 421, and the inside of the drive tube 421 is a cavity. One end of the core shaft 460 is connected to the output end of the linear drive assembly 410, and the top of the drive tube 421 is sleeved on the other end of the core shaft 460. The drive tube 421 and the core shaft 460 can move relatively in the up and down direction to realize the telescopic function of the drive tube 421.

[0040] Specifically, the drive tube 421 is arranged along the vertical direction, the connecting rod 422 is arranged along the horizontal direction, the midpoints of the drive tube 421 and the connecting rod 422 are connected, the drive tube 421 and the connecting rod 422 form a T shape, and both ends of the connecting rod 422 are connected to the two intercepting net covers 300. When the linear drive assembly 410 drives the drive tube 421 and the limiting rod 450 to move, the intercepting net cover 300 is driven to move.

[0041] As Figure 4 , Figure 5As shown, in this embodiment, to solve the problem that impurities on the intercepting surface of the intercepting net cover 300 are not thoroughly removed in the clean state, the obstacle clearing pusher further includes a flipping mechanism 500, and the flipping mechanism 500 includes a housing 510 and a spring 520. The housing 510 is a semi-enclosed structure with an open bottom. A first spiral port 511 is provided at the top of the housing 510, and a first spiral part is provided on the outer wall of the driving tube 421. The housing 510 is spirally connected to the first spiral part through the first spiral port 511, and thus is sleeved on the driving tube 421. And limiting holes 512 are provided on both side walls of the housing 510. The middle of the limiting rod 450 is a connecting part, and both sides are rod parts. And a bearing 451 is provided on the connecting part of the limiting rod 450. The driving tube 421 and the limiting rod 450 are rotatably connected through the bearing 451. The connecting part of the limiting rod 450 is located inside the housing 510, and the rod parts on both sides pass through the limiting holes 512 on both sides, and then are respectively inserted into the guiding grooves 431 of the first guiding plate 430 and the second guiding plate 440.

[0042] Wherein, the spring 520 is sleeved on the outer wall of the driving tube 421, and its two ends respectively abut against the housing 510 and the limiting rod 450. An extrusion plate 530 is provided on the first guiding plate 430. When the limiting rod 450 moves in the guiding groove 431 below, the extrusion plate 530 is located on the moving path of the housing 510. When the extrusion plate 530 contacts the housing 510, the extrusion plate 530 will contact and extrude the top of the housing 510, so that the housing 510 moves downward relative to the limiting rod 450. Since the housing 510 and the driving tube 421 are spirally connected, the driving tube 421 will rotate at this time, and it is ensured that the rotation angle of the driving tube 421 is 180°, thereby driving the two intercepting net covers 300 to rotate 180°. When the intercepting net cover 300 is in the intercepting state, many sundries in the water will adhere and wind around the intercepting surface of the intercepting net cover 300 (the side opposite to the direction in which the water flows into the pusher body 200). If the intercepting net cover 300 is not flipped by 180°, when the intercepting net cover 300 is in the clean state, the intercepting surface of the intercepting net cover 300 will be close to the drain port 220 of the pusher body 200. At this time, the water flow direction is from the water inlet 210 of the pusher to the drain port 220, which is the same as the water flow direction when the intercepting net cover 300 is in the intercepting state. Such a water flow direction flushing will not be able to wash the sundries on the intercepting net cover 300 clean, because such a flushing direction will cause the sundries wound around the intercepting surface of the intercepting net cover 300 to be pressed closer and closer to the intercepting surface of the intercepting net cover 300. Therefore, flipping the intercepting net cover 300 by 180° will make the intercepting surface of the intercepting net cover 300 located on the side far from the drain port 220. In this way, the jet water flow of the drain port 220 will more easily wash away the sundries wound or attached to the intercepting net cover 300.

[0043] Such as Figure 9 、Figure 11 As shown, specifically, the bottom of the extrusion plate 530 is an inverted triangular structure. An installation frame 513 is provided at the top of the housing 510. A roller 514 is installed in the installation frame 513. The bottom inclined surface of the extrusion plate 530 contacts the roller 514 to exert extrusion on the housing 510. The housing 510 contacts the extrusion plate 530 through the roller 514, which can effectively reduce the friction between the extrusion plate 530 and the housing 510. Among them, the contact surfaces of the extrusion plate 530 and the roller 514 are both smooth surfaces.

[0044] As Figure 5 shown, Figure 7 As shown, further, the flipping mechanism 500 further includes a locking component. The locking component includes a support frame 600, a first rotating column 610, a second rotating column 620, a first gear 630, a second gear 640, a first torsion spring 650, and a second torsion spring 660. The support frame 600 is fixedly installed on the limiting rod 450 near the second guide plate 440, and the support frame 600 is a T-shaped structure, including a horizontal rod and a vertical rod. The first rotating column 610 and the second rotating column 620 are installed at both ends of the horizontal rod of the support frame 600 and are symmetrically distributed along the vertical rod. And the first rotating column 610 and the second rotating column 620 are respectively rotatably connected to the support frame 600.

[0045] Further, the first gear 630 is installed on the first rotating column 610 and is located above the horizontal rod of the support frame 600. The second gear 640 is installed on the second rotating column 620 and is located above the horizontal rod of the support frame 600. Among them, the first gear 630 and the second gear 640 are at the same height, and the first gear 630 and the second gear 640 mesh with each other. The first torsion spring 650 and the second torsion spring 660 are respectively sleeved on the first rotating column 610 and the second rotating column 620, and both ends of the first torsion spring 650 and the second torsion spring 660 respectively abut against the top of the limiting rod 450 and the bottom of the horizontal rod of the support frame 600. The first torsion spring 650 and the second torsion spring 660 have a force to rotate the first rotating column 610 and the second rotating column 620 in opposite directions. First sliders 670 and second sliders 680 are respectively provided at the tops of the first rotating column 610 and the second rotating column 620. Among them, the first slider 670 is perpendicular to the first rotating column 610, and the second slider 680 is perpendicular to the second rotating column 620. The forces of the first torsion spring 650 and the second torsion spring 660 cause the first slider 670 and the second slider 680 to rotate in a direction away from each other, so that the first slider 670 and the second slider 680 have a tendency to expand relatively. However, due to the meshing of the first gear 630 and the second gear 640, it will always be ensured that the first slider 670 and the second slider 680 are symmetric about the horizontal rod of the support frame 600, that is, the opening degrees of the first slider 670 and the second slider 680 always remain the same.

[0046] When the housing 510 is not in contact with the pressing plate 530, the housing 510 is not pressed down. At this time, the top of the housing 510 is higher than the first flap 670, and the first flap 670 abuts against the side wall of the housing 510. Due to the obstruction of the side wall of the housing 510, the first flap 670 cannot be fully unfolded and is in a semi-open state. Due to the meshing of the first gear 630 and the second gear 640, the second flap 680 is also in a semi-open state.

[0047] After the pressing plate 530 comes into contact with the housing 510, the housing 510 moves downward. At this time, the top of the housing 510 is lower than the first flap 670. Without the obstruction of the side wall of the housing 510, the first torsion spring 650 continues to drive the first rotating column 610 to rotate, so that the first flap 670 continues to rotate above the housing 510 and presses tightly on the housing 510 to prevent the acting force of the spring 520 from rebounding the housing 510, thereby completing the locking. When in the locked state, the interception net cover 300 always maintains the flipped state.

[0048] Furthermore, a limiting bump is provided in a tooth groove of the first gear 630 and / or the second gear 640. Among them, the limiting bump can be provided in the tooth groove of one gear, or limiting bumps can be provided in the tooth grooves of both gears. And when the tooth grooves of the first gear 630 and the second gear 640 having the limiting bumps are engaged with each other, the first gear 630 and the second gear 640 cannot rotate relative to each other in this direction. At this time, the first flap 670 and the second flap 680 are located on the same straight line and face in opposite directions, that is, the first flap 670 and the second flap 680 are in a fully open state. The function of setting the limiting bump is to keep the first flap 670 and the second flap 680 in a fully open state, so as to maintain the locked state.

[0049] Such as Figure 6As shown, an unlocking member 700 is provided on the second guide plate 440. When the limiting rod 450 moves within the horizontal section below the guide groove 431, the unlocking member 700 is located on the movement path of the second flap 680. The first flap 670 and the second flap 680 are on the same straight line and face in opposite directions (i.e., when the first flap 670 and the second flap 680 are in the fully open state). The end of the second flap 680 will touch the unlocking member 700, and the unlocking member 700 drives the second flap 680 and the first flap 670 to rotate towards each other. At this time, the first gear 630 and the second gear 640 rotate in the opposite direction to the first flap 670. The first flap 670 leaves the top of the housing 510, and the housing 510 rebounds upward under the action of the spring 520, driving the drive tube 421 to flip 180° in the reverse direction, thereby driving the interception net cover 300 to rotate 180°, thus completing the unlocking. It should be noted that only when the second flap 680 is in the fully open state will the second flap 680 contact the unlocking member 700.

[0050] Furthermore, the circular edge of the interception net cover 300 presents an enlarged shape outward, so as to facilitate the interception net cover 300 to cover the drainage port 220 and the water inlet 210 of the thruster body 200.

[0051] The working process of the obstacle-clearing thruster in this embodiment is as follows:

[0052] As Figure 1 、 Figure 8 shown, when the interception net cover 300 switches from the interception state to the cleaning state:

[0053] At this time, the interception net cover 300 covers the water inlet 210 on the left side of the thruster body 200. The linear drive assembly 410 first drives the drive tube 421 and the limiting rod 450 to move linearly to the left within the horizontal section 432 above the guide groove 431, thereby driving the interception net cover 300 to disengage from the water inlet 210 of the thruster body 200. During this process, the limiting rod 450 moves to the left within the horizontal section 432 above the guide groove 431 until it reaches the left lifting section 433. Due to the fact that the left lifting section 433 is inclined (the component force of the horizontal force of the linear drive assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the trajectory of the lifting section 433) and the self-gravity of the drive tube, the limiting rod 450, and the interception net cover 300, the limiting rod 450 moves from the top to the bottom of the left lifting section 433, the drive tube 421 extends downward, and the interception net cover 300 moves below the thruster body 200.

[0054] Then, the linear drive assembly 410 drives the drive tube 421 and the limiting rod 450 to move linearly from left to right along the lower horizontal section 432 of the guiding groove 431, thereby driving the interception net cover 300 to move linearly to the right (in the direction towards the drain port 220 of the thruster body 200). As Figure 8 shown, during this process, the limiting rod 450 moves to the right within the lower horizontal section 432 of the guiding groove 431. Among them, the pressing plate 530 is installed on one side of the first guiding plate 430 close to the drain port of the thruster body 200, and the unlocking member 700 is installed on one side of the second guiding plate 440 close to the water inlet of the thruster body 200. Therefore, when the limiting rod 450 moves from left to right within the lower horizontal section 432 of the guiding groove 431, it will first pass by the unlocking member 700. However, since the housing 510 is not pressed down at this time, the first flap 670 is in a semi-expanded state blocked by the side wall of the housing 510, and the second flap 680 is also in a semi-expanded state. Therefore, at this time, the second flap 680 will not contact the unlocking member 700 (only when the second flap 680 is fully expanded, the second flap 680 will contact the unlocking member 700). The limiting rod 450 continues to move to the right within the lower horizontal section 432 of the guiding groove 431, and the roller 514 at the top of the housing 510 starts to contact the top of the inclined surface on the triangular side at the bottom of the limiting rod 450. With the further relative movement of the two, the roller 514 moves along this inclined surface to the lowest point of the triangle at the bottom of the limiting rod 450, and the limiting rod 450 presses the housing 510 down by a certain distance. At this time, the housing 510 slides relatively with the limiting rod 450 through the limiting hole 512, and the drive tube 421 rotates 180°, thereby driving the two interception net covers 300 to rotate 180°. At the same time, due to the downward pressure of the housing 510, the top of the housing 510 is lower than the height of the first flap 670, and the first flap 670 is fully expanded under the action of the first torsion spring 650, and the second flap 680 is also in a fully expanded state. The first flap 670 presses tightly on the top of the housing 510 to prevent the housing 510 from rebounding upward, thereby completing the flipping and locking of the interception net cover 300, and further ensuring that the interception net cover 300 can maintain the flipped state.

[0055] The linear drive assembly 410 continues to drive the drive tube 421 and the limiting rod 450 to move linearly from left to right along the lower horizontal section 432 of the guiding groove 431 until it reaches the junction with the right lifting section 433. Since the right lifting section 433 is inclined, the vertical component of the horizontal force of the linear drive assembly 410 will drive the limiting rod 450 to move upward along the right lifting section 433 to its top. At this time, the drive tube 421 retracts upward, and the intercepting net cover 300 moves to a height aligned with the drainage opening of the thruster body 200. Then, the linear drive assembly 410 drives the intercepting net cover 300 to move linearly to the left, so that the intercepting net cover 300 covers the drainage opening 220 of the thruster body 200. In this way, the flipped intercepting net cover 300 covers the drainage opening 220 of the thruster body 200.

[0056] As Figure 1 , Figure 8 shown, when the intercepting net cover 300 switches from the cleaning state to the intercepting state:

[0057] At this time, the intercepting net cover 300 covers the drainage opening 220 on the right side of the thruster body 200. The linear drive assembly 410 first drives the drive tube 421 and the limiting rod 450 to move linearly to the right in the horizontal section 432 above the guiding groove 431, thereby driving the intercepting net cover 300 to separate from the drainage opening 220 of the thruster body 200. During this process, the limiting rod 450 moves to the right in the horizontal section 432 above the guiding groove 431 until it reaches the right lifting section 433. Since the right lifting section 433 is inclined (the vertical component of the horizontal force of the linear drive assembly 410 can also drive the limiting rod 450 to move along the trajectory of the lifting section 433) and under the action of the self-gravity of the drive tube 421, the limiting rod 450, and the intercepting net cover 300, the limiting rod 450 moves from the top to the bottom of the right lifting section 433, the drive tube 421 extends downward, and the intercepting net cover 300 moves below the thruster body 200.

[0058] Then, the linear drive assembly 410 drives the drive tube 421 and the limiting rod 450 to move linearly to the left along the lower horizontal section 432 of the guiding groove 431, thereby driving the intercepting net cover 300 to move linearly to the left (movement in the direction of the water inlet 210 of the thruster body 200). As Figure 8As shown, during this process, the limiting rod 450 moves leftward within the horizontal section 432 located below the guiding groove 431. Among them, the extrusion plate 530 is installed on one side of the first guiding plate 430 close to the drain port 220 of the thruster body 200, and the unlocking member 700 is installed on one side of the second guiding plate 440 close to the water inlet 210 of the thruster body 200. Therefore, when the limiting rod 450 moves from right to left within the horizontal section 432 located below the guiding groove 431, it will first pass by the extrusion plate 530. However, at this time, the cover 510 is in a locked state. Therefore, the extrusion plate 530 and the cover 510 will not come into contact. The limiting rod 450 continues to move leftward within the horizontal section 432 located below the guiding groove 431 until it contacts the unlocking member 700. Since it is in a locked state at this time, the first flap 670 and the second flap 680 are in a fully deployed state, and the second flap 680 will contact the unlocking member 700. The unlocking member 700 drives the second flap 680 to rotate, and then drives the first flap 670 to rotate, causing the first flap 670 and the second flap 680 to rotate towards each other, so that the first flap 670 leaves the top of the cover 510, and the cover 510 rebounds upward under the action of the spring 520, thus completing the unlocking. At this time, the drive tube 421 rotates 180°, thereby driving the interception net cover 300 to rotate 180°.

[0059] The linear drive assembly 410 continues to drive the drive tube 421 and the limiting rod 450 to move linearly from right to left along the horizontal section 432 below the guiding groove 431 until it reaches the junction with the left lifting section 433. Since the left lifting section 433 is inclined, the vertical component of the horizontal force of the linear drive assembly 410 will drive the limiting rod 450 to move upward along the left lifting section 433 to its top. At this time, the drive tube 421 retracts upward, and the interception net cover 300 moves to the height aligned with the thruster body 200. The linear drive assembly 410 then drives the interception net cover 300 to move linearly to the right, so that the interception net cover 300 covers the water inlet 210 of the thruster body 200. In this way, the rotated interception net cover 300 covers the water inlet 210 of the thruster body 200.

[0060] In this embodiment, an intercepting net cover 300 is provided at the water inlet 210 of the thruster body 200. The intercepting net cover 300 can effectively prevent obstacles such as fish, aquatic plants, and floating objects on the water surface from entering the thruster body 200, thereby effectively avoiding the entanglement of the obstacles with the thruster body 200, and improving the navigation efficiency, stability, and reliability of the ship. Moreover, the obstacle-removing thruster further has a transfer mechanism, which can drive the intercepting net cover 300 to move along the length direction of the thruster body 200 and to move up and down along the height direction, so as to cover the intercepting net cover 300 on the water inlet 210 or the water outlet 220 of the thruster body 200. When the intercepting net cover 300 is covered on the water inlet 210 of the thruster body 200, it is used to intercept obstacles on the water surface; when the intercepting net cover 300 is covered on the water outlet 220 of the thruster body 200, it is used to wash and clean the intercepting net cover 300. In addition, the obstacle-removing thruster further has a flipping mechanism 500. When the intercepting net cover 300 is switched from the intercepting state to the cleaning state, the intercepting net cover 300 can be flipped 180° and then covered on the water outlet 220 of the thruster body 200. The intercepting surface of the intercepting net cover 300 with obstacles wound thereon is located on the side away from the water outlet 220 of the thruster body 200. After such flipping, the water flow ejected from the water outlet 220 can effectively backwash the intercepting net cover 300, washing away the obstacles wound on the intercepting surface of the intercepting net cover 300, and no additional cleaning equipment is required, reducing the maintenance cost.

[0061] Embodiment 2

[0062] As Figure 1 shown, this embodiment discloses a water surface monitoring robot, which includes a hull 100 and also includes the obstacle-removing thruster in Embodiment 1. Two thruster bodies 200 are fixedly installed below the hull 100, and a receiving cavity is provided at the bottom of the hull 100. Both the transfer mechanism and the flipping mechanism 500 are installed in the receiving cavity.

[0063] Specifically, the water surface monitoring robot further includes a PLC control component. The receiving cavity is used to accommodate other parts of the obstacle-removing thruster except the thruster body 200. The linear driving component 410 is a servo driving component, and the PLC control component is electrically connected to the linear driving component 410 for periodically controlling the start of the linear driving component 410 to clean the intercepting net cover 300.

[0064] In this embodiment, an intercepting net cover 300 is provided at the water inlet 210 of the thruster body 200 of the water surface monitoring robot. The intercepting net cover 300 can effectively prevent obstacles such as fish, aquatic plants, and floating objects on the water surface from entering the thruster body 200, thereby effectively avoiding the entanglement of the obstacles with the thruster body 200, and improving the navigation efficiency, stability, and reliability of the ship. In addition, a transfer mechanism and a flipping mechanism 500 are also provided, which can periodically clean the intercepting net cover 300.

[0065] Example 3

[0066] This embodiment discloses a method for switching the position of the interception net cover 300. The obstacle clearing thruster in Embodiment 1 is adopted, and the method is as follows:

[0067] When the interception net cover 300 covers the water inlet 210 of the thruster body 200, the interception net cover 300 is in the interception state. When the interception net cover 300 covers the water outlet of the thruster body 200, the interception net cover 300 is in the cleaning state;

[0068] When the interception net cover 300 switches from the interception state to the cleaning state, the transfer mechanism drives the interception net cover 300 to first move in a direction away from the water inlet 210 of the thruster body 200, then drives the interception net cover 300 to move downward below the thruster body 200, then drives the interception net cover 300 to move in the direction of the drain outlet 220 of the thruster body 200, then drives the interception net cover 300 to move upward to a position aligned with the thruster body 200, and finally drives the interception net cover 300 to cover the drain outlet 220 of the thruster body 200;

[0069] When the interception net cover 300 switches from the cleaning state to the interception state, the transfer mechanism drives the interception net cover 300 to first move in a direction away from the drain outlet 220 of the thruster body 200, then drives the interception net cover 300 to move downward below the thruster body 200, then drives the interception net cover 300 to move in the direction of the water inlet 210 of the thruster body 200, then drives the interception net cover 300 to move upward to a position aligned with the thruster body 200, and finally drives the interception net cover 300 to cover the water inlet 210 of the thruster body 200.

[0070] Specifically, as Figure 1 、 Figure 8 shown, when the interception net cover 300 switches from the interception state to the cleaning state:

[0071] At this time, the interception net cover 300 is arranged at the water inlet 210 on the left side of the thruster body 200. The linear drive assembly 410 first drives the drive tube 421 and the limiting rod 450 to move linearly to the left in the horizontal section 432 above the guiding groove 431, thereby driving the interception net cover 300 to separate from the water inlet 210 of the thruster body 200. During this process, the limiting rod 450 moves to the left in the horizontal section 432 above the guiding groove 431 until it reaches the left lifting section 433. Since the left lifting section 433 is inclined (the component force of the horizontal force of the linear drive assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and under the action of the self-gravity of the drive tube 421, the limiting rod 450, and the interception net cover 300, the limiting rod 450 moves from the top to the bottom of the left lifting section 433, the drive tube 421 extends downward, and the interception net cover 300 moves below the thruster body 200.

[0072] Then, the linear drive assembly 410 drives the drive tube 421 and the limiting rod 450 to move linearly from left to right along the lower horizontal section 432 of the guiding groove 431, thereby driving the interception net cover 300 to move linearly to the right (movement direction towards the drain port 220 of the thruster body 200). As Figure 8As shown, during this process, the limiting rod 450 moves rightward within the horizontal section 432 located below the guiding groove 431. Among them, the extrusion plate 530 is installed on one side of the first guiding plate 430 close to the drain port 220 of the thruster body 200, and the unlocking member 700 is installed on one side of the second guiding plate 440 close to the water inlet 210 of the thruster body 200. Therefore, when the limiting rod 450 moves from left to right within the horizontal section 432 located below the guiding groove 431, it will first pass by the unlocking member 700. However, since the housing 510 is not pressed down at this time, the first flap 670 is in a semi-expanded state blocked by the side wall of the housing 510, and the second flap 680 is also in a semi-expanded state. So, at this time, the second flap 680 will not contact the unlocking member 700 (only when the second flap 680 is fully expanded will the second flap 680 contact the unlocking member 700). The limiting rod 450 continues to move rightward within the horizontal section 432 located below the guiding groove 431, and the roller 514 at the top of the housing 510 starts to contact the top of the inclined surface on the triangular side at the bottom of the limiting rod 450. With the further relative movement of the two, the roller 514 moves along this inclined surface to the lowest point of the triangle at the bottom of the limiting rod 450, and the limiting rod 450 presses the housing 510 downward by a certain distance. At this time, the housing 510 slides relative to the limiting rod 450 through the limiting hole 512, driving the drive tube 421 to rotate 180°, thereby driving the two intercepting mesh covers 300 to rotate 180°. At the same time, due to the downward pressing of the housing 510, the top of the housing 510 is lower than the height of the first flap 670, and the first flap 670 is fully expanded under the action of the first torsion spring 650, and the second flap 680 is also in a fully expanded state. The first flap 670 presses tightly on the top of the housing 510 to prevent the housing 510 from rebounding upward, thereby completing the flip locking of the intercepting mesh cover 300, and further ensuring that the intercepting mesh cover 300 can maintain the flipped state.

[0073] The linear drive assembly 410 continues to drive the drive tube 421 and the limiting rod 450 to move linearly from left to right along the horizontal section 432 below the guiding groove 431 until it reaches the junction with the right lifting section 433. Since the right lifting section 433 is inclined, the vertical component of the horizontal force of the linear drive assembly 410 will drive the limiting rod 450 to move upward along the right lifting section 433 to its top. At this time, the drive tube 421 retracts upward, and the intercepting mesh cover 300 moves to the height aligned with the thruster body 200. The linear drive assembly 410 then drives the intercepting mesh cover 300 to move linearly to the left so that the intercepting mesh cover 300 covers the drain port 220 of the thruster body 200. In this way, the flipped intercepting mesh cover 300 covers the drain port 220 of the thruster body 200.

[0074] As Figure 1 、 Figure 8As shown, when the interception net cover 300 switches from the cleaning state to the interception state:

[0075] At this time, the interception net cover 300 covers the drain port 220 on the right side of the thruster body 200. The linear drive assembly 410 first drives the drive tube 421 and the limiting rod 450 to move linearly to the right in the horizontal section 432 above the guiding groove 431, thereby driving the interception net cover 300 to separate from the drain port 220 of the thruster body 200. During this process, the limiting rod 450 moves to the right in the horizontal section 432 above the guiding groove 431 until it reaches the right lifting section 433. Since the right lifting section 433 is inclined (the component force of the horizontal force of the linear drive assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the trajectory of the lifting section 433) and under the action of the self-gravity of the drive tube 421, the limiting rod 450, and the interception net cover 300, the limiting rod 450 moves from the top to the bottom of the right lifting section 433, the drive tube 421 extends downward, and the interception net cover 300 moves below the thruster body 200.

[0076] Then, the linear drive assembly 410 drives the drive tube 421 and the limiting rod 450 to move linearly to the left along the lower horizontal section 432 of the guiding groove 431, thereby driving the interception net cover 300 to move linearly to the left (movement in the direction of the water inlet 210 of the thruster body 200). As Figure 8 shown, during this process, the limiting rod 450 moves to the left in the horizontal section 432 below the guiding groove 431. Among them, the extrusion plate 530 is installed on one side of the first guiding plate 430 close to the drain port 220 of the water inlet 210 of the thruster body 200, and the unlocking member 700 is installed on one side of the second guiding plate 440 close to the water inlet 210 of the thruster body 200. Therefore, when the limiting rod 450 moves from right to left in the horizontal section 432 below the guiding groove 431, it will first pass through the extrusion plate 530. However, at this time, the housing 510 is in the locked state, so the extrusion plate 530 and the housing 510 will not come into contact. The limiting rod 450 continues to move to the left in the horizontal section 432 below the guiding groove 431 until it contacts the unlocking member 700. Since it is in the locked state at this time, the first flap 670 and the second flap 680 are in the fully unfolded state, and the second flap 680 will contact the unlocking member 700. The unlocking member 700 drives the second flap 680 to rotate, and then drives the first flap 670 to rotate, so that the first flap 670 and the second flap 680 rotate towards each other, so that the first flap 670 leaves the top of the housing 510, and the housing 510 rebounds upward under the action of the spring 520, thereby completing the unlocking. At this time, the drive tube 421 rotates 180°, thereby driving the interception net cover 300 to rotate 180°.

[0077] The linear drive assembly 410 continues to drive the drive tube 421 and the limiting rod 450 to move linearly from right to left along the lower horizontal section 432 of the guiding groove 431 until it reaches the junction with the left lifting section 433. Since the left lifting section 433 is inclined, the vertical component of the horizontal force of the linear drive assembly 410 will drive the limiting rod 450 to move upward along the left lifting section 433 to its top. At this time, the drive tube 421 retracts upward, and the intercepting net cover 300 moves to the height aligned with the thruster body 200. The linear drive assembly 410 then drives the intercepting net cover 300 to move linearly to the right so that the intercepting net cover 300 covers the water inlet 210 of the thruster body 200. In this way, the rotated intercepting net cover 300 covers the water inlet 210 of the thruster body 200.

[0078] The position switching method of the intercepting net cover in this embodiment can conveniently switch the position of the intercepting net cover between the water inlet and the water outlet of the thruster body, which can not only prevent sundries from entering the inside of the thruster body when it sails in complex waters, but also clean the intercepting net cover regularly.

[0079] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principle of the present invention. However, the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims

1. An obstacle removal propeller, characterized in that: It includes the propeller body, interception net cover and transfer mechanism. The transfer mechanism is fixedly connected to the interception mesh cover and is used to drive the interception mesh cover to move along the length direction of the propeller body and to move up and down along the height direction, so that the interception mesh cover is placed at the water inlet of the propeller body or the drain outlet of the propeller body.

2. The obstacle removal propeller according to claim 1, characterized in that: The transfer mechanism includes a linear drive assembly, a telescopic rod, a guide plate and a limiting rod. The guide plate is provided with a guide groove, which includes two horizontal sections and two lifting sections. The four are interconnected to form an annular groove structure. The two horizontal sections are arranged along the horizontal direction, and the two lifting sections are arranged obliquely. The guide plate is provided with two groups, and the two groups of guide plates are respectively a first guide plate and a second guide plate. The first guide plate and the second guide plate are arranged opposite to each other along the vertical direction. The telescopic rod is arranged along the vertical direction, the top end of which is connected to the output end of the linear drive assembly, and the bottom end is connected to the intercepting net cover, and can be telescopic along the vertical direction. The telescopic rod is also connected to the limiting rod, and the limiting rod is arranged along the horizontal direction, and the two ends of the limiting rod are respectively inserted into the guide grooves of the first guide plate and the second guide plate. The linear drive assembly is used to provide a driving force along the length direction of the propeller body, thereby driving the telescopic rod and the limiting rod to move along the guide groove, and then driving the intercepting net cover to perform lifting and lowering movements and linear movements along the length direction of the propeller body, so as to set the intercepting net cover at the water inlet of the propeller body or the drain outlet of the propeller body.

3. The obstacle removal propeller according to claim 2, characterized in that: There are two propeller bodies, which are respectively mounted on both sides of the hull; there are two interception net covers, which are respectively mounted on the two propeller bodies.

4. The obstacle removal propeller according to claim 3, characterized in that: The telescopic rod includes a vertically arranged driving tube and a horizontally arranged connecting rod. The driving tube can be telescoped in the vertical direction, one end of which is connected to the output end of the linear driving component, and the other end is fixedly connected to the connecting rod. The two ends of the connecting rod are respectively fixedly connected to two intercepting net covers.

5. The obstacle removal propeller according to claim 4, characterized in that: It also includes a flipping mechanism, which includes a cover and a spring. The cover shell is provided with a first spiral opening, the outer wall of the driving tube is provided with a first spiral portion, the cover shell is spirally connected with the first spiral portion through the first spiral opening, so as to be sleeved on the driving tube, and a limiting hole is provided on the side wall of the cover shell, the limiting rod passes through the limiting hole, the spring is sleeved on the outer wall of the driving tube, and the two ends of the spring are respectively abutted against the cover shell and the limiting rod, The limiting rod is rotatably connected to the driving tube via a bearing. An extrusion plate is provided on the first guide plate. When the limiting rod moves in the horizontal section below the guide groove, the extrusion plate is located on the movement path of the cover shell, and squeezes the cover shell downward, and drives the driving tube to rotate 180°, thereby driving the two intercepting mesh covers to rotate 180°.

6. The obstacle removal propeller according to claim 5, characterized in that: The flip mechanism further includes a locking assembly, which includes a support frame, a first rotating column, a second rotating column, a first gear, a second gear, a first torsion spring, and a second torsion spring. The support frame is fixedly mounted on a limiting rod close to the second guide plate, the first rotating column and the second rotating column are rotatably mounted on both sides of the support frame, the first gear is mounted on the first rotating column, the second gear is mounted on the second rotating column, and the first gear and the second gear are meshed with each other, the first torsion spring and the second torsion spring are respectively sleeved on the first rotating column and the second rotating column, and both ends of the first torsion spring and the second torsion spring are respectively abutted against the limiting rod and the support frame, the first torsion spring and the second torsion spring have a force to rotate the first rotating column and the second rotating column in opposite directions, A first paddle and a second paddle are respectively provided on the top of the first rotating column and the second rotating column, and the first torsion spring and the second torsion spring act to rotate the first paddle and the second paddle in a direction away from each other, and the first gear and the second gear are meshed with each other to ensure that the first paddle and the second paddle are symmetrical about the center line of the locking assembly. When the cover is not pressed down, the top of the cover is higher than the first paddle, the first paddle is close to the side wall of the cover and is in a semi-open state, and the second paddle is also in a semi-open state. After the extrusion plate squeezes the cover shell to move downward, the top of the cover shell is lower than the first paddle, and the first torsion spring continues to drive the first rotating column to rotate, so that the first paddle continues to rotate to the top of the cover shell and is pressed against the cover shell, thereby completing the locking.

7. The obstacle removal propeller according to claim 6, characterized in that: A limiting protrusion is provided in the tooth groove of the first gear and / or the second gear. When the tooth grooves of the first gear and the second gear with the limiting protrusion are engaged with each other, the first gear and the second gear can no longer rotate relative to each other in this direction. At this time, the first paddle and the second paddle are located on the same straight line and face opposite directions.

8. The obstacle removal propeller according to claim 7, characterized in that: The second guide plate is provided with an unlocking member, and when the limiting rod moves in the horizontal section below the guide groove, the unlocking member is located on the movement path of the second paddle. When the first paddle and the second paddle are located on the same straight line and face opposite directions, the end of the second paddle will touch the unlocking member, and the unlocking member drives the second paddle and the first paddle to rotate in a direction approaching each other, so that the first paddle leaves the top of the cover shell, and the cover shell rebounds upward under the action of the spring, thereby completing the unlocking.

9. A water surface monitoring robot, comprising a hull, characterized in that: It also includes the obstacle removal propeller according to any one of claims 5-8, wherein two propeller bodies are fixedly installed below the hull, and a accommodating cavity is provided at the bottom of the hull, and the transfer mechanism and the flipping mechanism are both installed in the accommodating cavity.

10. A method for switching the position of an intercepting net, characterized in that: Applied to the obstacle removal propeller according to any one of claims 1 to 8, the method is as follows: When the interception net cover is arranged at the water inlet of the propeller body, the interception net cover is in an intercepting state, and when the interception net cover is arranged at the water outlet of the propeller body, the interception net cover is in a cleaning state; When the interception net cover is switched from the interception state to the cleaning state, the transfer mechanism drives the interception net cover to first move in the direction away from the water inlet of the propeller body, and then drives the interception net cover to move downward to the bottom of the propeller body, and then drives the interception net cover to move in the direction of the water outlet of the propeller body, and then drives the interception net cover to move upward to a position aligned with the water outlet of the propeller body, and finally drives the interception net cover to be set on the water outlet of the propeller body; When the interception mesh cover switches from the cleaning state to the interception state, the transfer mechanism drives the interception mesh cover to first move toward the direction of the drain outlet away from the propeller body, and then drives the interception mesh cover to move downward to the bottom of the propeller body, and then drives the interception mesh cover to move toward the water inlet of the propeller body, and then drives the interception mesh cover to move upward to a position aligned with the water inlet of the propeller body, and finally drives the interception mesh cover to cover the water inlet of the propeller body.

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