CN120039389A - Obstacle removing propeller, water surface monitoring robot and position switching method for intercepting net cover - Google Patents

Abstract

The invention discloses an obstacle removing propeller, a water surface monitoring robot and a position switching method of an interception net cover, wherein the obstacle removing propeller comprises a propeller body, the interception net cover and a transfer mechanism, the transfer mechanism is fixedly connected with the interception net cover, the intercepting screen cover is used for driving the intercepting screen cover to move along the length direction of the propeller body and to move up and down along the height direction, so that the intercepting screen cover is covered on the water inlet of the propeller body or the water outlet of the propeller body. The obstacle removing propeller can prevent obstacles on the water surface from entering the propeller body and can clean the interception net cover.

Description

Obstacle removing propeller, water surface monitoring robot and position switching method for intercepting net cover

Technical Field

The invention relates to the technical field of water surface environment monitoring, in particular to an obstacle removing propeller, a water surface monitoring robot and a position switching method of an interception net cover.

Background

The water surface environment monitoring cruise ship is divided into an unmanned monitoring cruise ship and a manned monitoring cruise ship. The unmanned monitoring cruise ship is light and flexible, and the manned monitoring cruise ship has stronger carrying capacity and endurance. The cruising ship has rich functions, can monitor water quality, detect key indexes such as water temperature and ammonia nitrogen, and the like, can check pollution sources and lock a sewage outlet by means of equipment such as side-scan sonar and the like, can evaluate the change of an ecological system of a water area, and can also collect hydrological meteorological data.

The propeller is a core component for monitoring the running of the cruising ship in the water surface environment. The double propellers can respectively generate different thrusts, so that the ship body is stressed unevenly, steering torque is generated, the ship body is convenient to steer, and the performance of the double propellers directly influences the sailing efficiency, stability and reliability of the ship.

However, when the conventional propeller is in a complex water area, such as fish, a large amount of aquatic plants, floaters and other obstacles, the obstacles easily enter the propeller, so that the problems of winding and blockage occur, and further the power of the ship is reduced, and even the ship cannot normally run.

Disclosure of Invention

The invention aims to solve the technical problems in the prior art and provides an obstacle removing propeller, a water surface monitoring robot and a position switching method of an interception net cover, wherein the obstacle removing propeller can prevent obstacles on the water surface from entering a propeller body and can clean the interception net cover.

In order to solve the problems, the invention adopts the following technical scheme:

The utility model provides an obstacle removing propeller, includes the propeller body, intercepts screen panel and transfer mechanism, transfer mechanism with interception screen panel fixed connection is used for driving the interception screen panel is along propeller body length direction's motion and is along the elevating movement of direction of height to establish the water inlet at the propeller body or the outlet of propeller body with interception screen panel cover.

Preferably, the transfer mechanism comprises a linear driving assembly, a telescopic rod, guide plates and limiting rods, wherein the guide plates are provided with guide grooves, each guide plate comprises two horizontal sections and two lifting sections, the two horizontal sections are mutually communicated to form an annular groove structure, the two horizontal sections are arranged along the horizontal direction, the two lifting sections are obliquely arranged, the guide plates are provided with two groups, the two groups of guide plates are respectively a first guide plate and a second guide plate, the first guide plates and the second guide plates are oppositely arranged along the vertical direction, the telescopic rods are arranged along the vertical direction, the top ends of the telescopic rods are connected with the output ends of the linear driving assembly, the bottom ends of the telescopic rods are connected with the intercepting net cover and can stretch out and draw back along the vertical direction, the limiting rods are connected with each other along the horizontal direction, the two ends of the limiting rods are respectively inserted into the guide grooves of the first guide plates and the second guide plates, and the linear driving assembly is used for providing driving force along the length direction of the propeller body, so that the driving rods and the limiting rods move along the guide grooves, and further drive the driving net cover to do lifting movement and the water inlet or the water outlet of the propeller body along the length direction of the propeller body.

Preferably, the two propeller bodies are arranged, the two propeller bodies are respectively arranged on two sides of the ship body, the two interception net covers are arranged, and the two interception net covers are respectively covered on the two propeller bodies.

Preferably, the telescopic link includes the drive tube of vertical setting and the connecting rod of level setting, the drive tube can be flexible along vertical direction, its one end with sharp drive assembly's output is connected, the other end with connecting rod fixed connection, the both ends of connecting rod respectively with two interception screen panels fixed connection.

Preferably, the barrier removal propeller further comprises a turnover mechanism, the turnover mechanism comprises a housing and a spring, a first screw opening is formed in the housing, a first screw part is formed in the outer wall of the driving tube, the housing is in screw connection with the first screw part through the first screw opening, and is sleeved on the driving tube, a limit hole is formed in the side wall of the housing, the limit rod penetrates through the limit hole, the spring is sleeved on the outer wall of the driving tube, two ends of the spring are respectively abutted to the housing and the limit rod, the limit rod is rotatably connected with the driving tube through a bearing, an extrusion plate is arranged on the first guide plate, and when the limit rod moves in a horizontal section below the guide groove, the extrusion plate is located on a movement path of the housing and extrudes the housing downwards, and drives the driving tube to rotate 180 degrees, so that the two interception net covers are driven to rotate 180 degrees.

Preferably, the turnover mechanism further comprises a locking component, the locking component comprises a supporting 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 arranged on a limiting rod close to the second guide plate, the first rotating column and the second rotating column are respectively and rotatably arranged at two sides of the support frame, the first gear is arranged on the first rotating column, the second gear is arranged on the second rotating column, 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 with the limiting rod and the supporting frame, the first torsion spring and the second torsion spring have acting forces for rotating the first rotating column and the second rotating column towards opposite directions, the tops of the first rotating column and the second rotating column are respectively provided with a first poking piece and a second poking piece, the acting force of the first torsion spring and the second torsion spring enables the first plectrum and the second plectrum to rotate towards the direction away from each other, the mutual engagement of the first gear and the second gear ensures that the first plectrum and the second plectrum are symmetrical relative to the central line of the locking component, when the cover shell is not pressed down, the top of the cover shell is higher than the first poking plate, the first poking plate is abutted against the side wall of the cover shell and is in a semi-open state, the second poking plate is also in a semi-open state, after the extrusion plate extrudes the housing to move downwards, the top of the housing is lower than the first poking plate, the first torsion spring continuously drives the first rotating column to rotate, so that the first shifting piece continues to rotate to the upper part of the housing and is pressed on the housing, thereby completing locking.

Preferably, a limit bump is arranged in a tooth slot of the first gear and/or the second gear, when the first gear and the tooth slot of the second gear with the limit bump are mutually meshed, the first gear and the second gear can not rotate relatively along the direction, and at the moment, the first shifting sheet and the second shifting sheet are positioned on the same straight line and face opposite directions.

Preferably, the second guide plate is provided with an unlocking piece, 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 plectrum, the first plectrum and the second plectrum are located on the same straight line, and when the directions are opposite, the tail end of the second plectrum is contacted with the unlocking piece, the unlocking piece drives the second plectrum and the first plectrum to rotate in the directions close to each other, so that the first plectrum leaves the top of the housing, and the housing rebounds upwards under the acting force of the spring, thereby unlocking is completed.

The invention also provides a water surface monitoring robot which comprises a ship body and the obstacle removing propeller, wherein the two propeller bodies are fixedly arranged below the ship body, a containing cavity is formed in the bottom of the ship body, and the transfer mechanism and the turnover mechanism are arranged in the containing cavity.

The invention also provides a position switching method of the interception net cover, which adopts the obstacle-removing propeller and comprises the following steps:

When the interception net cover is covered on the water inlet of the propeller body, the interception net cover is in an interception state, and when the interception net cover is covered on 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 move towards a direction away from a water inlet of the propeller body, then drives the interception net cover to move downwards to the lower part of the propeller body, then drives the interception net cover to move towards a water outlet of the propeller body, then drives the interception net cover to move upwards to a position aligned with the water outlet of the propeller body, and finally drives the interception net cover to cover the water outlet of the propeller body;

When the interception net cover is switched from the cleaning state to the interception state, the transfer mechanism drives the interception net cover to move towards the direction away from the water outlet of the propeller body, then drives the interception net cover to move downwards to the lower part of the propeller body, then drives the interception net cover to move towards the direction of the water inlet of the propeller body, then drives the interception net cover to move upwards to the position aligned with the water inlet of the propeller body, and finally drives the interception net cover to cover the water inlet of the propeller body.

Compared with the prior art, the invention has at least the following beneficial effects:

(1) According to the invention, the water inlet of the propeller body is provided with the interception net cover, and the interception net cover can effectively prevent the obstacles such as fish, aquatic plants, floaters and the like on the water surface from entering the propeller body, so that the obstacle is effectively prevented from winding the propeller body, and the sailing efficiency, stability and reliability of the ship are improved.

(2) The barrier-removing propeller is further provided with a transfer mechanism, the transfer mechanism can drive the interception net 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 net cover is covered at the water inlet or the water outlet of the propeller body, when the interception net cover is covered at the water inlet of the propeller body, the barrier is used for intercepting a water surface, and when the interception net cover is covered at the water outlet of the propeller body, the barrier-removing propeller is used for flushing and cleaning the interception net cover.

(3) According to the invention, the barrier-removing propeller is further provided with the overturning mechanism, when the interception net cover is switched from the interception state to the cleaning state, the interception net cover can be covered on the water outlet of the propeller body after being overturned by 180 degrees, the interception surface of the interception net cover, which is wound with the barrier, is positioned on one side of the water outlet far away from the propeller body, so that after the interception net cover is overturned, water flow sprayed by the water outlet can effectively reversely wash the interception net cover, and the barrier wound on the interception surface of the interception net cover is washed clean.

Drawings

Fig. 1 is a schematic configuration diagram of a water surface monitoring robot in embodiment 2;

FIG. 2 is a schematic view showing the structure of a horizontal section of the confining rod of the obstacle removing pusher in embodiment 1 above the guiding groove;

FIG. 3 is a schematic view showing the structure of a horizontal section of the limit lever of the obstacle-removing pusher in embodiment 1 below the guide groove;

FIG. 4 is a partial enlarged view at B in FIG. 2;

FIG. 5 is an enlarged view of a portion of FIG. 3 at C;

FIG. 6 is a partial enlarged view at D in FIG. 5;

FIG. 7 is a schematic view of the structure of the lock assembly in embodiment 1;

Fig. 8 is a schematic diagram of the front structure of the guide plate in embodiment 1;

Fig. 9 is a schematic view showing the front structure of the bottom of the extrusion stem in embodiment 1;

FIG. 10 is a schematic view showing the engagement of the limiting rod and the limiting hole in embodiment 1;

Fig. 11 is a schematic view showing contact between the pressing plate and the housing in example 1.

The device comprises a ship body, a 200-propeller body, a 210-water inlet, a 220-water outlet, a 300-interception net cover, a 410-linear driving component, a 420-telescopic rod, a 421-driving pipe, a 422-connecting rod, a 430-first guide plate, a 431-guiding groove, a 432-horizontal section, a 433-lifting section, a 440-second guide plate, a 450-limiting rod, a 451-bearing, a 460-mandrel, a 500-turnover mechanism, a 510-housing, a 511-first screw opening, a 512-limiting hole, a 513-mounting rack, a 514-roller, a 520-spring, a 530-extrusion plate, a 600-supporting frame, a 610-first rotating column, a 620-second rotating column, a 630-first gear, a 640-second gear, a 650-first torsion spring, a 660-second torsion spring, 670-first pulling piece, 680-second pulling piece and a 700-unlocking piece.

Detailed Description

The following description of the embodiments of the present invention will be made more apparent, and the embodiments described in detail, but not necessarily all, in connection with the accompanying drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

In the description of the present invention, it should be noted that, the terms "upper" and the like indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, and are merely for convenience and simplicity of description, and do not indicate or imply that the apparatus or element in question must be provided with a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "configured," "mounted," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected, or may be directly connected, or may be indirectly connected through an intermediate medium, or may be in communication with the interior of two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.

Example 1

As shown in fig. 1 to 11, the present embodiment discloses an obstacle removing propeller, which includes 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 for powering the forward movement of the hull 100. The transfer mechanism is fixed on the hull 100 and fixedly connected with the interception net cover 300, and is used for driving 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 that the interception net cover 300 is covered on the water inlet 210 of the propeller body 200 or the water outlet 220 of the propeller body 200.

As shown in fig. 1 and 2, specifically, the water inlet 210 and the water outlet 220 of the propeller body 200 in this embodiment are both circular, and water flows in from the water inlet 210 of the propeller body 200 and out from the water outlet 220 of the propeller body 200. Correspondingly, the interception net cover 300 is also in a circular net structure and is used for being covered at the water inlet 210 of the propeller body 200, so that obstacles such as fish, aquatic plants, floaters and the like in water are prevented from entering the propeller body 200, and further the obstacle is prevented from winding/blocking the propeller body 200.

Further, the interception net cover 300 has two working states of interception and cleaning, and when the interception net cover 300 covers the water inlet 210 of the propeller body 200, the interception net cover 300 is in an interception state. At this time, the interception net cover 300 serves to intercept obstacles such as aquatic plants, floats, etc. in the water, and prevent them from entering the propeller body 200. When the interception net cover 300 covers the water outlet 220 of the propeller body 200, the interception net cover 300 is in a cleaning state. At this time, the interception net cover 300 is washed by the water flow sprayed from the water drain 220, thereby removing impurities adhered to the surface thereof.

When the interception net cover 300 is switched between the interception state and the cleaning state, the interception net cover 300 is driven by the transfer mechanism to do the movement along the length direction of the propeller body 200 and the lifting movement along the height direction.

The present transfer mechanism (such as a mechanical arm) considered has the problems of heavy weight, high price, inapplicability to small unmanned cruise ships, and the like, and the present embodiment improves the transfer mechanism.

As shown in fig. 2 and 8, in particular, the transfer mechanism includes a linear drive assembly 410, a telescoping rod 420, a guide plate, and a restraining bar 450. The guide plate is provided with a guide groove 431 which comprises two horizontal sections 432 and two lifting sections 433, wherein the two horizontal sections 432 are mutually communicated to form an annular groove structure, the two horizontal sections 432 are arranged along the horizontal direction, the two lifting sections 433 are obliquely arranged, and the four horizontal sections form a parallelogram shape arranged in the vertical plane.

As shown in fig. 2 and 3, further, two sets of guide plates are provided, and the two sets of guide plates are a first guide plate 430 and a second guide plate 440, respectively, and the first guide plate 430 and the second guide plate 440 are disposed opposite to each other along the vertical direction (the faces of the first guide plate 430 and the second guide plate 440 having the guide grooves 431 are opposite to each other). The telescopic rod 420 is disposed along the vertical direction, has a top end connected to the output end of the linear driving assembly 410, and a bottom end connected to the intercepting screen 300, and is telescopic along the vertical direction. The telescopic link 420 is also connected to a restricting link 450, and the restricting link 450 is disposed in a horizontal direction and perpendicular to the vertical plane in which the first and second guide plates 430 and 440 are located, respectively. The two ends of the limiting rod 450 are respectively inserted into the guide grooves 431 of the first guide plate 430 and the second guide plate 440, and the linear driving assembly 410 is used for providing driving force along the length direction of the propeller body 200, so as to drive the limiting rod 450 to move along the track of the guide grooves 431, further drive the driving rod to move synchronously therewith, and finally drive the interception net cover 300 to do lifting movement and do linear movement along the length direction of the propeller body 200, so as to cover the interception net cover 300 at the water inlet 210 of the propeller body 200 or the water outlet 220 of the propeller body 200.

As shown in fig. 1, specifically, when the interception net cover 300 is switched from the interception state to the cleaning state. At this time, the interception net cover 300 is covered at the water inlet 210 at the left side of the propeller body 200, and the linear driving assembly 410 first drives the interception net cover 300 to horizontally move leftwards away from the water inlet 210 at the left side of the propeller body 200 (as shown in fig. 8, in this process, the restricting lever 450 moves leftwards in the horizontal section 432 above the guide groove 431 until reaching the lifting section 433 at the left side). Because the left lifting section 433 is obliquely arranged (the component force of the horizontal acting force of the linear driving 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 stretches, and the interception net cover 300 moves to the lower part of the propeller body 200.

Then, the linear driving assembly 410 drives the intercepting screen 300 to linearly move rightward (toward the drain port 220 of the propeller body 200). As shown in fig. 8, in this process, the restricting lever 450 moves rightward in the horizontal section 432 located below the guide groove 431 until reaching the right elevating section 433. Since the right lifting section 433 is inclined, the vertical component of the force of the horizontal direction of the linear driving assembly 410 will drive the limiting rod 450 up along the right lifting section 433 to the top thereof. At this time, the telescopic rod 420 is retracted upward, and the screen 300 is intercepted from moving to a height where the water discharge ports of the propeller body 200 are aligned. The linear driving assembly 410 then drives the interception net cover 300 to move linearly leftwards, so that the interception net cover 300 covers the water outlet 220 of the propeller body 200.

As shown in fig. 2 and 3, in the present embodiment, two propeller bodies 200 are provided, and two propeller bodies 200 are respectively mounted on both sides of the hull 100. Correspondingly, two interception net covers 300 are also arranged, and the two interception net covers 300 are respectively covered on the two propeller bodies 200. The two propeller bodies 200 are used for providing power for sailing of the hull 100, and can respectively generate different thrust so as to generate steering torque and further facilitate steering of the hull 100.

Further, the telescopic rod 420 includes a vertically disposed driving tube 421 and a horizontally disposed connecting rod 422, the driving tube 421 can be telescopic along the vertical direction, one end of the driving tube 421 is connected with the output end of the linear driving assembly 410, the other end of the driving tube is fixedly connected with the connecting rod 422, and two ends of the connecting rod 422 are respectively fixedly connected with the two interception net covers 300.

Optionally, a mandrel 460 may be further disposed between the driving tube 421 and the linear driving assembly 410, where the diameter of the mandrel 460 is smaller than that of the driving tube 421, and the driving tube 421 is a cavity, one end of the mandrel 460 is connected with the output end of the linear driving assembly 410, the top of the driving tube 421 is sleeved at the other end of the mandrel 460, and the driving tube 421 and the mandrel 460 may perform relative movement in the up-down direction, so as to implement the telescopic function of the driving tube 421.

Specifically, the driving tube 421 is disposed along a vertical direction, the connecting rod 422 is disposed along a horizontal direction, the driving tube 421 is connected with a middle point of the connecting rod 422, the driving tube 421 and the connecting rod 422 form a T-shape, and two ends of the connecting rod 422 are respectively connected with the two interception net covers 300. When the linear driving assembly 410 moves the driving tube 421 and the limiting rod 450, the intercepting screen 300 is moved.

As shown in fig. 4 and 5, in this embodiment, in order to solve the problem that the impurity removal on the blocking section of the interception net cover 300 is not thorough in the cleaning state, the barrier removal propeller further comprises a tilting mechanism 500, wherein the tilting mechanism 500 comprises a cover 510 and a spring 520. The housing 510 is a semi-surrounding structure with an opening at the bottom, a first screw hole 511 is formed in the top of the housing 510, a first screw part is formed in the outer wall of the driving tube 421, and the housing 510 is in screw connection with the first screw part through the first screw hole 511, so that the driving tube 421 is sleeved with the housing 510. And limiting holes 512 are formed on both side walls of the housing 510. The middle of the limiting rod 450 is a connecting part, the two sides of the limiting rod 450 are rod parts, a bearing 451 is arranged on the connecting part of the limiting rod 450, and the driving tube 421 and the limiting rod 450 are rotatably connected through the bearing 451. The connection portion of the limiting lever 450 is located inside the housing 510, and the lever portions of both sides pass through the limiting holes 512 of both sides and are then inserted into the guide grooves 431 of the first and second guide plates 430 and 440, respectively.

The spring 520 is sleeved on the outer wall of the driving tube 421, two ends of the spring are respectively abutted against the cover shell 510 and the limiting rod 450, the first guide plate 430 is provided with a pressing plate 530, when the limiting rod 450 moves in the lower guide groove 431, the pressing plate 530 is located on the moving path of the cover shell 510, and when the pressing plate 530 contacts with the cover shell 510, the pressing plate 530 contacts with and presses the top of the cover shell 510, so that the cover shell 510 moves downwards relative to the limiting rod 450. Because the housing 510 is in screw connection with the driving tube 421, the driving tube 421 at this time rotates, and the rotation angle of the driving tube 421 is ensured to be 180 °, so that the two interception net covers 300 are driven to rotate 180 °. When the interception net 300 is in the interception state, many foreign matters in water will adhere to the interception surface (the surface opposite to the direction in which the water flows into the propeller body 200) of the interception net 300, if the interception net 300 is not turned 180 °, the interception net 300 will be close to the water outlet 220 of the propeller body 200 when the interception net 300 is in the cleaning state, the current direction at this time flows from the water inlet 210 to the water outlet 220 of the propeller, which is consistent with the current direction in which the interception net 300 is in the interception state, and such current direction flushing will not be able to flush the foreign matters on the interception net 300, because such flushing direction will make the foreign matters wound on the interception net 300 to be more closely adhered to the interception surface of the interception net 300. Therefore, turning the interception net cover 300 by 180 ° will make the interception surface of the interception net cover 300 located at a side far from the water outlet 220, so that the water jet of the water outlet 220 will wash out the sundries wound or adhered on the interception net cover 300 more easily.

As shown in fig. 9 and 11, specifically, the bottom of the extrusion plate 530 has an inverted triangle structure, the top of the housing 510 is provided with a mounting frame 513, the mounting frame 513 is internally provided with rollers 514, the bottom inclined surface of the extrusion plate 530 contacts with the rollers 514 to extrude the housing 510, and the housing 510 contacts with the extrusion plate 530 through the rollers 514 to effectively reduce the friction between the extrusion plate 530 and the housing 510. Wherein, the contact surface of the pressing plate 530 and the roller 514 is a smooth surface.

As shown in fig. 5 and 7, further, the flipping mechanism 500 also includes a locking assembly. The locking assembly includes a support bracket 600, a first rotating post 610, a second rotating post 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 defining rod 450 adjacent to the second guide plate 440, and the support frame 600 has a T-shaped structure including a transverse rod and a vertical rod. The first and second rotating posts 610 and 620 are installed at both ends of the lateral bar of the support frame 600 and symmetrically distributed along the vertical bar. And, the first and second rotation posts 610 and 620 are rotatably connected with the support frame 600, respectively.

Further, a first gear 630 is mounted on the first rotating post 610 above the transverse bar of the support frame 600. The second gear 640 is mounted on the second rotating post 620 above the transverse bar of the support bracket 600. Wherein the first gear 630 and the second gear 640 are located at the same height, and the first gear 630 and the second gear 640 are engaged with each other. The first torsion spring 650 and the second torsion spring 660 are respectively sleeved on the first rotation post 610 and the second rotation post 620, and both ends of the first torsion spring 650 and the second torsion spring 660 are respectively abutted with the top of the limiting rod 450 and the bottom of the transverse rod of the supporting frame 600, and the first torsion spring 650 and the second torsion spring 660 have a force to rotate the first rotation post 610 and the second rotation post 620 in opposite directions. The top of the first rotating post 610 and the second rotating post 620 are respectively provided with a first pulling piece 670 and a second pulling piece 680, wherein the first pulling piece 670 is vertical to the first rotating post 610, and the second pulling piece 680 is vertical to the second rotating post 620. The force of the first torsion spring 650 and the second torsion spring 660 rotates the first and second paddles 670 and 680 in directions away from each other, so that the first and second paddles 670 and 680 have a tendency to be relatively unfolded. But due to the intermeshing of the first gear 630 and the second gear 640, it will always be ensured that the first and second dials 670 and 680 are symmetrical with respect to the lateral rod of the support bracket 600, i.e. the opening degree of the first and second dials 670 and 680 always remain consistent.

When the cover 510 is not in contact with the pressing plate 530, the cover 510 is not pressed down. At this time, the top of the cover 510 is higher than the first pulling piece 670, the first pulling piece 670 is abutted against the side wall of the cover 510, and the first pulling piece 670 cannot be fully unfolded due to the blocking of the side wall of the cover 510, but is in a half-open state. The second paddle 680 is also in a semi-open state due to the engagement of the first gear 630 and the second gear 640.

After the pressing plate 530 contacts the housing 510, the housing 510 moves downward. At this time, the top of the cover 510 is lower than the first pulling piece 670, the blocking of the side wall of the cover 510 is not achieved, the first torsion spring 650 continuously drives the first rotating column 610 to rotate, so that the first pulling piece 670 continuously rotates to the upper side of the cover 510 and is pressed on the cover 510, the cover 510 is prevented from being rebounded by the acting force of the spring 520, locking is achieved, and when the blocking net cover 300 is in a locking state, the blocking net cover 300 always keeps a turnover state.

Further, a limit bump is disposed in one tooth slot of the first gear 630 and/or the second gear 640, where the limit bump may be disposed in the tooth slot of one gear, or may be disposed in both tooth slots of two gears. And, when the tooth grooves of the first gear 630 and the second gear 640 having the limit bump are engaged with each other, the first gear 630 and the second gear 640 can not rotate relatively in the direction, and at this time, the first paddle 670 and the second paddle 680 are positioned on the same straight line and are opposite in orientation, i.e., the first paddle 670 and the second paddle 680 are in a completely opened state. The function of the limit bump is to maintain the first and second paddles 670 and 680 in a fully opened state, thereby achieving the maintenance of the locked state.

As shown in fig. 6, the second guide plate 440 is provided with an unlocking member 700, and when the limiting lever 450 moves in a horizontal section below the guide groove 431, the unlocking member 700 is located on a movement path of the second paddle 680, and the first paddle 670 and the second paddle 680 are located on the same straight line and are opposite in orientation (i.e., when the first paddle 670 and the second paddle 680 are in a completely opened state). The end of the second paddle 680 will touch the unlocking member 700, and the unlocking member 700 drives the second paddle 680 and the first paddle 670 to rotate in a direction approaching each other. At this time, the first gear 630 and the second gear 640 rotate in the opposite direction to the first paddle 670. The first pulling piece 670 leaves the top of the cover 510, the cover 510 rebounds upwards under the action of the spring 520, and the driving tube 421 turns 180 degrees reversely, so that the interception net cover 300 is driven to turn 180 degrees, and unlocking is completed. It is noted that only when the second paddle 680 is in the fully opened state, the second paddle 680 is in contact with the unlocking member 700.

Further, the circumferential edge of the interception net cover 300 is outwardly in an enlarged shape, thereby facilitating the interception net cover 300 to cover the water outlet 220 and the water inlet 210 of the propeller body 200.

The working process of the obstacle removing propeller in this embodiment is as follows:

as shown in fig. 1 and 8, when the interception net cover 300 is switched from the interception state to the cleaning state:

At this time, the interception net cover 300 is covered at the water inlet 210 at the left side of the propeller body 200, and the linear driving assembly 410 first drives the driving pipe 421 and the limiting rod 450 to move in a left linear direction in the horizontal section 432 above the guide groove 431, thereby driving the interception net cover 300 to be separated from the water inlet 210 of the propeller body 200. In this process, the limiting rod 450 moves to the left in the horizontal section 432 above the guide groove 431 until reaching the left lifting section 433, and the limiting rod 450 moves from the top to the bottom of the left lifting section 433 and the driving tube 421 extends downward and the intercepting screen 300 moves to the lower side of the pusher body 200 due to the inclined arrangement of the left lifting section 433 (the component force of the horizontal force of the linear driving assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and the self gravity of the driving tube, the limiting rod 450 and the intercepting screen 300.

Then, the linear driving assembly 410 moves the driving pipe 421 and the limiting rod 450 linearly from left to right along the lower horizontal section 432 of the guide groove 431, thereby moving the interception net cover 300 linearly to the right (toward the drain 220 of the propeller body 200). As shown in fig. 8, in this process, the restricting lever 450 moves rightward in the horizontal section 432 under the guide groove 431, wherein the pressing plate 530 is installed at a side of the first guide plate 430 near the water outlet of the impeller body 200, and the unlocking member 700 is installed at a side of the second guide plate 440 near the water inlet of the impeller body 200. Therefore, when the restricting lever 450 moves from left to right along the horizontal section 432 located below the guide groove 431, it first passes through the unlocking member 700, but since the cover 510 is not depressed at this time, the first paddle 670 is in a semi-unfolded state under the barrier of the side wall of the cover 510, and the second paddle 680 is also in a semi-unfolded state, so that at this time the second paddle 680 does not come into contact with the unlocking member 700 (only when the second paddle 680 is fully unfolded, the second paddle 680 comes into contact with the unlocking member 700), the restricting lever 450 continues to move rightward in the horizontal section 432 located below the guide groove 431, the roller 514 at the top of the cover 510 starts to come into contact with the top of the triangular one-sided inclined surface at the bottom of the restricting lever 450, with further relative movement of the two, the roller 514 moves along the side inclined plane to the lowest point of the triangle at the bottom of the limiting rod 450, the limiting rod 450 presses the cover 510 downwards for a distance, at this time, the cover 510 slides relatively to the limiting rod 450 through the limiting hole 512, the driving tube 421 rotates 180 degrees, so that the two interception net covers 300 are driven to rotate 180 degrees, meanwhile, since the cover 510 is pressed downwards, the top of the cover 510 is lower than the height of the first shifting piece 670, the first shifting piece 670 is fully unfolded under the action of the first torsion spring 650, the second shifting piece 680 is also in a fully unfolded state, and the first shifting piece 670 is pressed on the top of the cover 510 to prevent the cover 510 from rebounding upwards, so that overturning locking of the interception net covers 300 is completed, and further, the interception net covers 300 can maintain the overturning state.

The linear driving assembly 410 continues to move the driving tube 421 and the limiting rod 450 linearly from left to right along the lower horizontal section 432 of the guide groove 431 until the limiting rod 450 moves to the junction with the right lifting section 433, and the vertical separation of the horizontal force of the linear driving assembly 410 will drive the limiting rod 450 to move upward along the right lifting section 433 to the top thereof due to the inclined arrangement of the right lifting section 433. At this time, the driving tube 421 is retracted upward, and the screen 300 is intercepted from moving to a height where the water discharge ports of the propeller body 200 are aligned. The linear driving assembly 410 then drives the interception net cover 300 to move linearly leftwards, so that the interception net cover 300 covers the water outlet 220 of the propeller body 200, and thus the inverted interception net cover 300 covers the water outlet 220 of the propeller body 200.

As shown in fig. 1 and 8, when the interception net cover 300 is switched from the cleaning state to the interception state:

At this time, the interception net cover 300 is covered at the water outlet 220 on the right side of the propeller body 200, and the linear driving assembly 410 firstly drives the driving pipe 421 and the limiting rod 450 to move in a right linear direction in the horizontal section 432 above the guide groove 431, thereby driving the interception net cover 300 to be separated from the water outlet 220 of the propeller body 200. In this process, the limiting rod 450 moves rightward in the horizontal section 432 above the guide groove 431 until reaching the right lifting section 433, and the limiting rod 450 moves from the top to the bottom of the right lifting section 433 and the driving tube 421 extends downward and the intercepting screen 300 moves below the pusher body 200 due to the inclined arrangement of the right lifting section 433 (the component force of the horizontal force of the linear driving assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and the self gravity of the driving tube 421, the limiting rod 450 and the intercepting screen 300.

Then, the linear driving assembly 410 moves the driving tube 421 and the limiting rod 450 linearly from the left along the lower horizontal section 432 of the guide groove 431, thereby moving the interception net cover 300 linearly to the left (toward the water inlet 210 of the propeller body 200). As shown in fig. 8, in this process, the restricting lever 450 moves leftward in the horizontal section 432 located below the guide groove 431. Wherein the pressing plate 530 is installed at a side of the first guide plate 430 near the water outlet 220 of the pusher body 200, the unlocking member 700 is installed at a side of the second guide plate 440 near the water inlet 210 of the pusher body 200, so when the limiting rod 450 moves from right to left along the horizontal segment 432 positioned below the guide groove 431, it firstly passes through the pressing plate 530, but the housing 510 is in a locked state at this time, so the pressing plate 530 does not contact the housing 510, the limiting rod 450 continues to move left in the horizontal segment 432 positioned below the guide groove 431 until contacting the unlocking member 700, and because in the locked state at this time, the first and second paddles 670 and 680 are in a fully unfolded state, the unlocking member 700 rotates the second paddles 680, and then rotates the first paddles 670, so that the first paddles 670 and the second paddles 680 rotate in directions approaching each other, so that the first paddles 670 leave the top of the housing 510, and the housing 510 rebound upward under the spring 520, thereby completing unlocking. At this time, the driving pipe 421 rotates 180 ° to drive the interception net cover 300 to rotate 180 °.

The linear driving assembly 410 continues to move the driving tube 421 and the limiting rod 450 linearly from right to left along the lower horizontal section 432 of the guide groove 431 until the limiting rod 450 moves to the junction with the left lifting section 433, and the vertical separation of the horizontal force of the linear driving assembly 410 will drive the limiting rod 450 to move upward along the left lifting section 433 to the top thereof due to the inclined arrangement of the left lifting section 433. At this time, the driving tube 421 is retracted upward, and the barrier net 300 is moved to a height at which the pusher body 200 is aligned. The linear driving assembly 410 drives the interception net cover 300 to move right in a linear manner, so that the interception net cover 300 covers the water inlet 210 of the propeller body 200, and the interception net cover 300 after rotation covers the water inlet 210 of the propeller body 200.

The water inlet 210 of the propeller body 200 in this embodiment is provided with the interception net cover 300, and the interception net cover 300 can effectively prevent the obstacles such as the fish, the aquatic plants, the floaters and the like on the water surface from entering the propeller body 200, so that the obstacle is effectively prevented from winding the propeller body 200, and the sailing efficiency, the stability and the reliability of the ship are improved. The barrier removal propeller further comprises a transfer mechanism, wherein the transfer mechanism can 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 that the interception net cover 300 is covered on the water inlet 210 or the water outlet 220 of the propeller body 200, when the interception net cover 300 is covered on the water inlet 210 of the propeller body 200, the barrier removal propeller is used for intercepting a barrier on the water surface, and when the interception net cover 300 is covered on the water outlet 220 of the propeller body 200, the barrier removal propeller is used for washing and cleaning the interception net cover 300. In addition, the barrier removal propeller is further provided with a turnover mechanism 500, when the interception net cover 300 is switched from the interception state to the cleaning state, the interception net cover 300 can be turned 180 degrees and then covered on the water outlet 220 of the propeller body 200, the interception surface of the interception net cover 300, around which the barrier is wound, is positioned on one side of the water outlet 220 far away from the propeller body 200, so that after the interception net cover 300 is turned over, water flow sprayed by the water outlet 220 can effectively reversely wash the interception net cover 300, the barrier wound on the interception surface of the interception net cover 300 is washed clean, additional cleaning equipment is not needed, and maintenance cost is reduced.

Example 2

As shown in fig. 1, this embodiment discloses a water surface monitoring robot, which comprises a hull 100 and further comprises the obstacle removing propeller in embodiment 1, wherein two propeller bodies 200 are fixedly installed below the hull 100, a containing cavity is formed in the bottom of the hull 100, and a transfer mechanism and a turnover mechanism 500 are installed in the containing cavity.

Specifically, the water surface monitoring robot further includes a PLC control assembly, and the accommodating chamber is used for accommodating other parts of the obstacle removing propeller except for the propeller body 200. The linear driving assembly 410 is a servo driving assembly, and the PLC control assembly is electrically connected to the linear driving assembly 410, and is used for timing control of the start of the linear driving assembly 410, so as to clean the interception net cover 300.

The water inlet 210 of the propeller body 200 of the water surface monitoring robot in this embodiment is provided with the interception net cover 300, and the interception net cover 300 can effectively prevent the obstacles such as the fish, the aquatic plant, the floater and the like on the water surface from entering the propeller body 200, so that the winding of the propeller body 200 by the obstacles is effectively avoided, and the sailing efficiency, the stability and the reliability of the ship are improved. In addition, a transfer mechanism and a turnover mechanism 500 are further provided, so that the interception net cover 300 can be cleaned at regular time.

Example 3

The embodiment discloses a position switching method of an interception net cover 300, which adopts the obstacle removing propeller in the embodiment 1, and comprises the following steps:

When the interception net cover 300 is covered on the water inlet 210 of the propeller body 200, the interception net cover 300 is in an interception state, and when the interception net cover 300 is covered on the water outlet of the propeller body 200, the interception net cover 300 is in a cleaning state;

When the interception net cover 300 is switched from the interception state to the cleaning state, the transfer mechanism drives the interception net cover 300 to move towards the direction away from the water inlet 210 of the propeller body 200, then drives the interception net cover 300 to move downwards to the lower side of the propeller body 200, then drives the interception net cover 300 to move towards the direction of the water outlet 220 of the propeller body 200, then drives the interception net cover 300 to move upwards to a position aligned with the propeller body 200, and finally drives the interception net cover 300 to cover the water outlet 220 of the propeller body 200;

when the interception net cover 300 is switched from the cleaning state to the interception state, the transfer mechanism drives the interception net cover 300 to move towards the direction away from the water outlet 220 of the propeller body 200, then drives the interception net cover 300 to move downwards to the lower side of the propeller body 200, then drives the interception net cover 300 to move towards the direction of the water inlet 210 of the propeller body 200, then drives the interception net cover 300 to move upwards to a position aligned with the propeller body 200, and finally drives the interception net cover 300 to cover the water inlet 210 of the propeller body 200.

Specifically, as shown in fig. 1 and 8, when the interception net cover 300 is switched from the interception state to the cleaning state:

At this time, the interception net cover 300 is covered at the water inlet 210 at the left side of the propeller body 200, and the linear driving assembly 410 first drives the driving pipe 421 and the limiting rod 450 to move in a left linear direction in the horizontal section 432 above the guide groove 431, thereby driving the interception net cover 300 to be separated from the water inlet 210 of the propeller body 200. In this process, the limiting rod 450 moves to the left in the horizontal section 432 above the guide groove 431 until reaching the left lifting section 433, and the limiting rod 450 moves from the top to the bottom of the left lifting section 433 and the driving tube 421 extends downward and the intercepting screen 300 moves to the lower side of the pusher body 200 due to the inclined arrangement of the left lifting section 433 (the component force of the horizontal force of the linear driving assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and the self gravity of the driving tube 421, the limiting rod 450 and the intercepting screen 300.

Then, the linear driving assembly 410 moves the driving pipe 421 and the limiting rod 450 linearly from left to right along the lower horizontal section 432 of the guide groove 431, thereby moving the interception net cover 300 linearly to the right (toward the drain 220 of the propeller body 200). As shown in fig. 8, in this process, the restricting lever 450 moves rightward in the horizontal section 432 located under the guide groove 431, wherein the pressing plate 530 is installed at a side of the first guide plate 430 near the drain port 220 of the pusher body 200, the unlocking member 700 is installed at a side of the second guide plate 440 near the water inlet 210 of the pusher body 200, so that when the restricting lever 450 moves from left to right along the horizontal section 432 located under the guide groove 431, the first tab 670 is in a half-unfolded state under the barrier of the side wall of the housing 510 due to the casing 510 not being pressed down, the second tab 680 is also in a half-unfolded state, so that the second tab 680 is not in contact with the unlocking member 700 at this time (only when the second tab 680 is fully unfolded, the second tab 680 is in contact with the unlocking member 700), the limiting rod 450 continues to move rightward in the horizontal segment 432 located under the guide groove 431, the roller 514 at the top of the cover 510 comes into contact with the top of the triangular one-sided inclined surface at the bottom of the limiting rod 450, and as the two move relatively further, the roller 514 moves along the one-sided inclined surface to the lowest point of the triangular one-sided inclined surface at the bottom of the limiting rod 450, the limiting rod 450 presses the cover 510 downward a distance, at this time, the cover 510 relatively slides with the limiting rod 450 through the limiting hole 512, the driving tube 421 rotates 180 ° to drive the two interception guards 300 to rotate 180 °, at the same time, since the cover 510 is pressed down, the top of the cover 510 is lower than the height of the first pulling tab 670, the first pulling tab 670 is fully unfolded under the force of the first torsion spring 650, the second pulling tab 680 is also fully unfolded, the first pulling tab 670 is pressed against the top of the cover 510 to prevent the cover 510 from rebounding upward, thus completing the overturning locking of the interception guards 300, thereby ensuring that the intercepting screen 300 maintains a flipped state.

The linear driving assembly 410 continues to move the driving tube 421 and the limiting rod 450 linearly from left to right along the lower horizontal section 432 of the guide groove 431 until the limiting rod 450 moves to the junction with the right lifting section 433, and the vertical separation of the horizontal force of the linear driving assembly 410 will drive the limiting rod 450 to move upward along the right lifting section 433 to the top thereof due to the inclined arrangement of the right lifting section 433. At this time, the driving tube 421 is retracted upward, and the barrier net 300 is moved to a height at which the pusher body 200 is aligned. The linear driving assembly 410 then drives the interception net cover 300 to move linearly leftwards, so that the interception net cover 300 covers the water outlet 220 of the propeller body 200, and thus the inverted interception net cover 300 covers the water outlet 220 of the propeller body 200.

As shown in fig. 1 and 8, when the interception net cover 300 is switched from the cleaning state to the interception state:

At this time, the interception net cover 300 is covered at the water outlet 220 on the right side of the propeller body 200, and the linear driving assembly 410 firstly drives the driving pipe 421 and the limiting rod 450 to move in a right linear direction in the horizontal section 432 above the guide groove 431, thereby driving the interception net cover 300 to be separated from the water outlet 220 of the propeller body 200. In this process, the limiting rod 450 moves rightward in the horizontal section 432 above the guide groove 431 until reaching the right lifting section 433, and the limiting rod 450 moves from the top to the bottom of the right lifting section 433 and the driving tube 421 extends downward and the intercepting screen 300 moves below the pusher body 200 due to the inclined arrangement of the right lifting section 433 (the component force of the horizontal force of the linear driving assembly 410 in the vertical direction can also drive the limiting rod 450 to move along the track of the lifting section 433) and the self gravity of the driving tube 421, the limiting rod 450 and the intercepting screen 300.

Then, the linear driving assembly 410 moves the driving tube 421 and the limiting rod 450 linearly from the left along the lower horizontal section 432 of the guide groove 431, thereby moving the interception net cover 300 linearly to the left (toward the water inlet 210 of the propeller body 200). As shown in fig. 8, in this process, the restricting lever 450 moves leftward in the horizontal section 432 located below the guide groove 431. Wherein the pressing plate 530 is installed at a side of the first guide plate 430 near the water outlet 220 of the water inlet 210 of the propeller body 200, the unlocking member 700 is installed at a side of the second guide plate 440 near the water inlet 210 of the propeller body 200, so when the limiting rod 450 moves from right to left along the horizontal segment 432 located under the guide groove 431, it first passes through the pressing plate 530, but the housing 510 is in a locked state at this time, so the pressing plate 530 does not contact the housing 510, the limiting rod 450 continues to move left in the horizontal segment 432 located under the guide groove 431 until contacting the unlocking member 700, and because in the locked state at this time, the first and second paddles 670 and 680 are in a fully unfolded state, the unlocking member 700 contacts the unlocking member 700, the unlocking member 700 drives the second paddle 680 to rotate, and then drives the first paddle 670 to rotate, so that the first and second paddles 670 are rotated toward directions approaching each other, the top of the housing 510, and the housing 510 is rebounded upward under the force of the spring 520, thereby unlocking is completed. At this time, the driving pipe 421 rotates 180 ° to drive the interception net cover 300 to rotate 180 °.

The linear driving assembly 410 continues to move the driving tube 421 and the limiting rod 450 linearly from right to left along the lower horizontal section 432 of the guide groove 431 until the limiting rod 450 moves to the junction with the left lifting section 433, and the vertical separation of the horizontal force of the linear driving assembly 410 will drive the limiting rod 450 to move upward along the left lifting section 433 to the top thereof due to the inclined arrangement of the left lifting section 433. At this time, the driving tube 421 is retracted upward, and the barrier net 300 is moved to a height at which the pusher body 200 is aligned. The linear driving assembly 410 drives the interception net cover 300 to move right in a linear manner, so that the interception net cover 300 covers the water inlet 210 of the propeller body 200, and the interception net cover 300 after rotation covers the water inlet 210 of the propeller body 200.

The position switching method of the interception net cover in the embodiment can conveniently switch the position of the interception net cover between the water inlet and the water outlet of the propeller body, can meet the requirement that sundries do not enter the propeller body when the propeller body sails in a complex water area, and can also regularly clean the interception net cover.

It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.

Claims (10)

1. A barrier-removing propeller is characterized by comprising a propeller body, an interception net cover and a transfer mechanism,

The transfer mechanism is fixedly connected with the interception net cover and is used for driving the interception net 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 net cover is covered on a water inlet of the propeller body or a water outlet of the propeller body.

2. The barrier removal propeller of claim 1, wherein the transfer mechanism comprises a linear drive assembly, a telescoping rod, a guide plate, and a restraining bar,

The guide plate is provided with a guide groove which comprises two horizontal sections and two lifting sections, the two horizontal sections are mutually communicated to form an annular groove structure, the two horizontal sections are arranged along the horizontal direction, the two lifting sections are obliquely arranged, the guide plate is provided with two groups of guide plates which are respectively a first guide plate and a second guide plate, the first guide plate and the second guide plate are oppositely arranged along the vertical direction,

The telescopic rod is arranged along the vertical direction, the top end of the telescopic rod is connected with the output end of the linear driving assembly, the bottom end of the telescopic rod is connected with the interception net cover and can stretch and retract along the vertical direction, the telescopic rod is also connected with the limiting rod, the limiting rod is arranged along the horizontal direction, 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 driving assembly is used for providing driving force along the length direction of the propeller body, so that the telescopic rod and the limiting rod are driven to move along the guide groove, and the interception net cover is driven to do lifting motion and do linear motion along the length direction of the propeller body, so that the interception net cover is covered at the water inlet of the propeller body or the water outlet of the propeller body.

3. The obstacle removing propeller according to claim 2, wherein two propeller bodies are arranged, the two propeller bodies are respectively arranged on two sides of the ship body, the two interception net covers are arranged, and the two interception net covers are respectively covered on the two propeller bodies.

4. The obstacle removing propeller of claim 3, wherein the telescopic rod comprises a vertically arranged driving tube and a horizontally arranged connecting rod, the driving tube can be telescopic along the vertical direction, one end of the driving tube is connected with the output end of the linear driving assembly, the other end of the driving tube is fixedly connected with the connecting rod, and two ends of the connecting rod are respectively fixedly connected with the two interception net covers.

5. The obstacle clearing propeller of claim 4, further comprising a flipping mechanism comprising a housing and a spring,

The cover shell is provided with a first screw hole, the outer wall of the driving pipe is provided with a first screw part, the cover shell is in screw connection with the first screw part through the first screw hole, thereby being sleeved on the driving pipe, the side wall of the cover shell is provided with a limiting hole, the limiting rod passes through the limiting hole, the spring is sleeved on the outer wall of the driving pipe, two ends of the spring are respectively abutted with the cover shell and the limiting rod,

The limiting rod is rotatably connected with the driving pipe through a bearing, the first guide plate is provided with an extrusion plate, and when the limiting rod moves in the horizontal section below the guide groove, the extrusion plate is positioned on the movement path of the housing, extrudes the housing downwards and drives the driving pipe to rotate 180 degrees, and further drives the two interception net covers to rotate 180 degrees.

6. The obstacle clearing propeller of claim 5, wherein the tipping mechanism further comprises a locking assembly comprising a support bracket, a first rotating post, a second rotating post, a first gear, a second gear, a first torsion spring, and a second torsion spring,

The support frame is fixedly arranged on a limiting rod close to the second guide plate, the first rotating column and the second rotating column are respectively and rotatably arranged on two sides of the support frame, the first gear is arranged on the first rotating column, the second gear is arranged on the second rotating column, 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, two ends of the first torsion spring and two ends of the second torsion spring are respectively abutted with the limiting rod and the support frame, the first torsion spring and the second torsion spring have acting forces for rotating the first rotating column and the second rotating column towards opposite directions,

The tops of the first rotating column and the second rotating column are respectively provided with a first poking piece and a second poking piece, the acting force of the first torsion spring and the second torsion spring enables the first poking piece and the second poking piece to rotate towards the direction away from each other, the mutual meshing of the first gear and the second gear ensures that the first poking piece and the second poking piece are symmetrical relative to the central line of the locking component,

When the cover shell is not pressed down, the top of the cover shell is higher than the first poking plate, the first poking plate is abutted against the side wall of the cover shell and is in a semi-open state, the second poking plate is also in a semi-open state,

After the extrusion plate extrudes the housing to move downwards, the top of the housing is lower than the first shifting sheet, and the first torsion spring continuously drives the first rotating column to rotate, so that the first shifting sheet continuously rotates to the upper part of the housing and is tightly pressed on the housing, and locking is completed.

7. The obstacle removing propeller according to claim 6, wherein a limit bump is provided in a tooth space of the first gear and/or the second gear, and when the tooth spaces of the first gear and the second gear having the limit bump are engaged with each other, the first gear and the second gear cannot rotate relatively in the direction, and at this time, the first pulling piece and the second pulling piece are positioned on the same straight line and are opposite to each other.

8. The obstacle removing pusher according to claim 7, wherein the second guide plate is provided with an unlocking member, and the unlocking member is positioned on the movement path of the second paddle when the restricting lever moves in the horizontal section below the guide groove,

The first plectrum with the second plectrum is located same straight line to when the orientation is opposite, the end of second plectrum will touch with the unblock piece, and the unblock piece drives second plectrum and first plectrum and rotates towards the direction that is close to each other, so that first plectrum leaves the top of housing, and the housing rebound upwards under the effort of spring, thereby accomplishes the unblock.

9. A water surface monitoring robot comprising a hull, and further comprising the barrier removal propeller according to any one of claims 5-8, wherein the two propeller bodies are fixedly mounted below the hull, and the bottom of the hull is provided with a receiving cavity, and the transfer mechanism and the turnover mechanism are both mounted in the receiving cavity.

10. A position switching method of an interception net cover, which is applied to the obstacle-removing propeller as claimed in any one of claims 1 to 8, and comprises the following steps:

When the interception net cover is covered on the water inlet of the propeller body, the interception net cover is in an interception state, and when the interception net cover is covered on 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 move towards a direction away from a water inlet of the propeller body, then drives the interception net cover to move downwards to the lower part of the propeller body, then drives the interception net cover to move towards a water outlet of the propeller body, then drives the interception net cover to move upwards to a position aligned with the water outlet of the propeller body, and finally drives the interception net cover to cover the water outlet of the propeller body;

When the interception net cover is switched from the cleaning state to the interception state, the transfer mechanism drives the interception net cover to move towards the direction away from the water outlet of the propeller body, then drives the interception net cover to move downwards to the lower part of the propeller body, then drives the interception net cover to move towards the direction of the water inlet of the propeller body, then drives the interception net cover to move upwards to the position aligned with the water inlet of the propeller body, and finally drives the interception net cover to cover the water inlet of the propeller body.