Intelligent variable pitch mechanism of small offshore wind-driven unmanned ship

Abstract

An intelligent variable-pitch mechanism of a small offshore wind-driven unmanned ship belongs to the technical field of variable-pitch structures of unmanned ships and comprises a fan body and a control mechanism, the fan body comprises a transmission unit and a variable-pitch unit, and the transmission unit comprises a transmission gearbox, a coupler, a transmission outer shaft, a propeller hub shell and blades. The variable pitch unit comprises a rotating gear, a rack structure and a telescopic mechanism, the telescopic mechanism drives the rack structure to move, the rotating gear rotates to drive the blades to change the angle, the control mechanism comprises a sensor unit and a control module, the sensor unit is in signal connection with the control module through a wire, and the control module is configured to control the telescopic mechanism. According to the invention, the fan can automatically adjust the angle and the rotating speed of the blades according to the change of the wind speed and the sailing angle, so that the utilization efficiency of wind energy is improved. In addition, the wind turbine galloping phenomenon caused by too high sea surface wind speed is considered, and the attack angle of the blade can be adjusted to be 0 degree to protect the blade through the design of the variable-pitch mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of variable pitch structures of unmanned ships, and in particular relates to an intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship. Background Art

[0002] In recent years, with the continuous advancement of science and technology, small wind-driven unmanned boats have flourished in the fields of water patrol, marine resource exploration, underwater detection, environmental monitoring, and water rescue. In addition, they also provide innovative solutions for personal entertainment, water tourism, and water sports, showing great market demand and business prospects.

[0003] However, the traditional fixed propeller design has some limitations when facing wind speed changes and hydrodynamic loads, which affects the efficiency and flexibility of the unmanned boat. To solve this problem, the prior art discloses some intelligent variable propeller technologies. This technology can not only intelligently adjust the blade angle according to wind speed changes to improve wind energy utilization efficiency, but also reduce hydrodynamic loads and enhance the stability and control performance of the unmanned boat. However, the existing intelligent variable propeller technology still has the following defects:

[0004] 1. The internal structure of the existing variable pitch fan mostly adopts the method of connecting the ball slide and the screw rod to change the pitch. This method has a complex structure and is difficult to install. In addition, the screw rod is long and occupies a large amount of internal space, thereby increasing the size of the fan.

[0005] 3. Wind turbines of offshore wind-driven unmanned boats often encounter sudden strong winds or severe sea conditions when operating at sea, and wind shelter design needs to be considered. The variable pitch structure of the existing technology cannot adjust the wind turbine blade attack angle to 0° (making the blades tangent to the wind direction, reducing the force and rotation of the blades and protecting the blades), which leads to the risk of the unmanned boat capsizing or the blades being damaged by wind.

[0006] 4. Conventional variable pitch mechanisms are suitable for aircraft or large offshore wind turbines. They are not designed for offshore environments or are too large, making them unsuitable for use on small wind turbine-driven unmanned boats. Summary of the invention

[0007] In view of the problems of the prior art, the present invention discloses an intelligent variable pitch mechanism for a small offshore wind-driven unmanned ship, with the purpose of designing a variable pitch mechanism that is suitable for the marine environment, has a small size, is light in weight, has a reliable structure, and can operate intelligently for a long time, as a key component of a wind-driven unmanned ship, to improve the safety and performance of wind-driven unmanned ships. The present invention realizes the deflection of the horizontal wind turbine blade attack angle through a simple and reliable variable pitch mechanism and an intelligent control strategy, so that the wind turbine can automatically adjust the angle and speed of the blade according to changes in wind speed and navigation angle, thereby improving the utilization efficiency of wind energy. In addition, considering the phenomenon of wind turbine runaway caused by excessive wind speed on the sea surface, the variable pitch mechanism is designed to adjust the blade attack angle to 0° to protect the blade.

[0008] To achieve the above purpose, the technical solution of the present invention is:

[0009] An intelligent variable pitch mechanism for a small offshore wind-driven unmanned boat comprises a wind turbine body and a control mechanism, wherein the wind turbine body comprises a transmission unit and a variable pitch unit, wherein the transmission unit comprises a transmission gearbox installed on the unmanned boat, wherein the transmission gearbox is connected to the blades via a coupling, a transmission outer shaft, and a hub shell in sequence, wherein the variable pitch unit comprises a rotating gear disposed in the hub shell, and a rack structure meshingly connected to the rotating gear, wherein a first connecting portion is disposed at one end of the rotating gear, wherein the first connecting portion passes through a through hole preset on the hub shell and is fixedly connected to the end of the blade, wherein the rack structure is connected to a telescopic mechanism, wherein the rack structure is driven to move via the telescopic mechanism and the blades are driven to change their angles via the rotation of the rotating gear, wherein the control mechanism comprises a sensor unit and a control module, wherein the sensor unit is connected to the control module signal via a wire, and wherein the control module is configured to control the telescopic mechanism.

[0010] Preferably, the hub shell is an annular structure, and a plurality of through holes are evenly distributed around the axis on the outer wall of the annular structure, and a mounting seat is embedded in and fixedly connected to each through hole, and the first connecting part includes a connecting column that passes through the mounting seat and is gap-matched with the inner hole of the mounting seat, and the outer end of the connecting column is coaxially rotatably connected to a fixed disk at its outer periphery, and the fixed disk is fixedly connected to the outer end of the mounting seat by bolts, and the outer end of the connecting column is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the rear end of the blade by bolts.

[0011] Preferably, there are three rotating gears, and the inner ends of the three rack structures matching the three rotating gears are connected into an integrated structure through a second connecting part. A stepped hole is provided at the center of the second connecting part. The telescopic mechanism includes a pitch push-pull rod, and the end of the pitch push-pull rod passes through the stepped hole and is locked with the second connecting part through a limiting ring. The limiting ring is screwed to the end of the pitch push-pull rod.

[0012] Preferably, the transmission outer shaft includes a hub cover and a hollow main shaft, the large diameter end of the hub cover is fixedly connected to the end of the hub shell by bolts, the small diameter end is fixedly connected to one end of the hollow main shaft, the other end of the hollow main shaft is connected to the transmission gearbox through a coupling, and the end of the variable pitch push-pull rod away from the second connecting part passes through the transmission outer shaft, the coupling and the gearbox in sequence and is connected to the telescopic mechanism.

[0013] Preferably, the telescopic mechanism includes a bearing connecting rod, a rotating base, and a servo motor. One end of the pitch push-pull rod away from the second connecting part is rotatably connected to one end of the bearing connecting rod. The rotating base includes a rotating part and a third connecting part. The rotating part is rotatably connected to the third connecting part. The third connecting part is fixedly connected to the servo motor housing, the rotating part is fixedly connected to the output shaft of the servo motor, and the other end of the bearing connecting rod is threadedly connected to the rotating part.

[0014] Preferably, the rotating part is a sleeve structure, the inner surface of the sleeve structure is provided with an internal thread, the third connecting part is an annular fixed seat rotatably connected to the outside of the sleeve structure, the annular fixed seat is fixedly connected to the housing of the servo motor, the bearing connecting rod includes a bearing seat, a bearing, and a connecting rod, one end of the connecting rod is fixedly connected to the bearing seat, a bearing is provided in the bearing seat, an external thread is provided on the outer surface of the connecting rod, the connecting rod is threadedly connected to the sleeve structure, and one end of the pitch push-pull rod away from the second connecting part is welded to the inner ring of the bearing.

[0015] Preferably, the sensor unit includes a wind speed and direction sensor and a rotation speed sensor installed on the unmanned vessel, the wind speed and direction sensor is used to collect wind speed and direction information on the sea surface, and the rotation speed sensor is used to collect rotation speed information of the wind turbine body.

[0016] A control method for an intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship comprises: after a wind speed and direction sensor collects environmental data, the data is transmitted to a control module through a signal line; the control module processes the data through an intelligent variable pitch algorithm to obtain optimal variable pitch angle information; the angle information is converted into a servo motor control rotation amount through a gear ratio; the control amount is sent to the servo motor through an RS485 communication protocol, thereby realizing intelligent control of the variable pitch.

[0017] Preferably, in the method described, according to theoretical calculation, the optimal blade pitch angle θ required under different wind speeds is analyzed, and then the blade pitch angle deflection angle Δθ is calculated according to the blade pitch angle. 桨 The relationship with the pitch unit is used to obtain the rotation degree Δθ of the corresponding servo motor at the pitch angle. 电机 ; Since the output shaft and rotating part of the servo motor are fixed, the servo motor rotates by an angle Δθ 电机 Equal to the rotation angle Δθ of the rotating part 底座 , that is, Δθ电机 =Δθ 底座 The rotating part has internal threads, and one end of the bearing connecting rod has external threads. The rotating base can be rotated to convert the rotation torque into the radial stroke Δl of the pitch push-pull rod. s ; Assume the pitch of the pitch push-pull rod is Ph, then the servo motor rotation angle Δθ 电机 The radial travel of the pitch push-pull rod Δl s The relationship is:

[0018]

[0019] The second connection part is connected to the pitch push-pull rod, and the radial stroke of the pitch push-pull rod is transmitted to the second connection part in a one-to-one ratio in the pitch unit, so the radial stroke of the pitch push-pull rod is Δl s Equal to the radial travel Δl of the second connection part h , that is, Δl s =Δl h The second connecting portion is integrally connected to the rack structure, and the axial movement of the rack structure drives the rotating gear to rotate, thereby realizing the change of the pitch angle; assuming that the module of the rotating gear is m, the number of teeth is N, and the rotating gear is fully meshed with the rack structure, then the pitch angle changes Δθ 桨 Radial travel Δl with the second connection part h The relationship between them is:

[0020]

[0021] The above formula can be used to derive the rotation degree Δθ of the servo motor. 电机 and pitch angle change Δθ 桨 The relationship is:

[0022]

[0023] The beneficial effects of the intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship of the present invention are as follows:

[0024] 1. The variable pitch unit of the present invention can timely adjust the blade attack angle according to the real-time wind speed change, which is suitable for the situation of unstable wind force at sea and greatly improves the utilization rate of wind energy.

[0025] 2. Considering the wind turbine runaway phenomenon caused by excessive sea surface wind speed, the variable pitch unit provided in the present invention can adjust the blade attack angle to 0° to protect the blade and prevent the unmanned boat from capsizing.

[0026] 3. The variable propeller mechanism has a simple structure, and the internal systems can be disassembled and replaced, which is easy to maintain and light in weight. It is suitable for small wind turbine-driven unmanned ships with small displacement, limited space, and long voyage time.

[0027] 4. The wind speed and direction sensor, speed sensor, servo motor and control module provided in the present invention all adopt RS485 communication protocol, which has stable transmission and is suitable for stable operation in complex environments.

[0028] 5. The present invention has a simple structure, low cost, good stability, and can be adapted to mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an assembly schematic diagram of the present invention.

[0030] Figure 2 It is a schematic diagram of the explosion structure of the present invention.

[0031] Figure 3 It is a schematic diagram of the local structure of the present invention Figure 1 .

[0032] Figure 4 It is a schematic diagram of the local structure of the present invention Figure 2 .

[0033] Figure 5 It is a structural schematic diagram of the rotating gear of the present invention.

[0034] Figure 6 It is a schematic structural diagram of the second connecting portion of the present invention.

[0035] Figure 7 It is a structural schematic diagram of the transmission outer shaft of the present invention.

[0036] Figure 8 It is a structural schematic diagram of the bearing connecting rod of the present invention.

[0037] Fig. 9 It is a flowchart of program execution in the control module of the present invention.

[0038] Fig.10 It is the control principle diagram of the intelligent pitch control algorithm.

[0039] The figure shows: 1. limit ring; 2. blades; 3. hub housing; 4. rotating gear mechanism; 5. second connecting part; 6. transmission outer shaft; 7. coupling; 8. transmission gearbox; 9. bearing connecting rod; 10. rotating base; 11. servo motor; 12. pitch push-pull rod; 13. connecting plate; 14. fixed disc; 15. connecting column; 16. rotating gear; 17. stepped hole; 18. rack structure; 19. second connecting part; 20. hub cover; 21. hollow main shaft; 22. bearing seat; 23. connecting rod; 24. bearing; 25. rotating part; 26. third connecting part. DETAILED DESCRIPTION

[0040] The following description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0041] The following embodiments may be understood as individually expressing a part of a local structure or method of the present invention, or may be understood as a combination of the embodiments to explain the connotation of a larger structure or method of the present invention.

[0042] Example 1

[0043] An intelligent variable pitch mechanism for a small offshore wind-driven unmanned ship, such as Figure 1-4 As shown, including:

[0044] The limiting ring 1 is fixed to the end of the pitch push-pull rod 12 to lock the second connecting portion 5 with the pitch push-pull rod to prevent the second connecting portion 5 from being separated from the pitch push-pull rod 12;

[0045] The blade 2 is a wind energy acquisition mechanism; it is connected to the connecting plate 13 at the end of the rotating gear 16, and rotates and changes angle under the drive of the rotating gear;

[0046] The hub housing 3 serves as an external support for the second connection portion 5 and the blade 2, and transmits the rotational torque of the blade 2 to the transmission outer shaft 6;

[0047] The rotating gear mechanism 4 is a connecting structure between the blade 2 and the second connecting portion 5, and its main function is to transmit the rotation torque of the blade 2 to the rack structure 18, and drive the rotating gear through the rack structure to drive the blade to rotate and control the blade angle;

[0048] The second connecting part 5 connects the rack structures to form a pitch slider, and controls the rotation of the rotating gear 16 through the pitch push-pull rod 12 to adjust the pitch angle;

[0049] The transmission outer shaft 6 is connected to the hub housing 3 to transmit the rotational torque to the transmission gearbox 8;

[0050] A coupling 7 connects the transmission outer shaft 6 and the transmission gearbox 8;

[0051] A transmission gearbox 8, which adjusts the rotation speed and the rotation direction of the transmission outer shaft 6;

[0052] The bearing connecting rod 9 connects the pitch push-pull rod 12 and the rotating base 10;

[0053] The rotating base 10 has a thread inside, which connects the servo motor 11 and the bearing connecting rod 9; the telescopic action is achieved by screwing the rotating part and the bearing connecting rod;

[0054] The servo motor 11 is subjected to limited rotation by the control module;

[0055] A pitch push-pull rod 12 connects the pitch slider 5 and the bearing connecting rod 9;

[0056] The control module receives data from the wind speed and direction sensors and controls the rotation of the servo motor through an internal algorithm;

[0057] Wind speed and direction sensor, which measures the data of the ambient wind field and provides data input for the adjustment of the variable pitch mechanism;

[0058] Speed ​​sensor, measuring fan speed information.

[0059] Example 2

[0060] Based on Example 1, Figure 1-8 As shown, this embodiment discloses:

[0061] The pitch unit includes: a limit ring, a rotating gear, a second connecting part, a pitch push-pull rod, a bearing connecting rod, and a servo motor;

[0062] Among them, a first connecting part is provided at one end of the rotating gear 16, and the first connecting part passes through a through hole preset on the hub shell and is fixedly connected to the end of the blade 2; the first connecting part includes a connecting column 15 that passes through the mounting seat and is clearance-matched with the inner hole of the mounting seat, and the outer end of the connecting column 15 is coaxially rotatably connected to a fixed disc 14, and the fixed disc 14 is fixedly connected to the outer end of the mounting seat by bolts, and the outer end of the connecting column 15 is fixedly connected to a connecting plate 13, and the connecting plate 13 is fixedly connected to the rear end of the blade 2 by bolts;

[0063] The outer periphery of the second connecting part 5 is spirally arranged with a plurality of rack structures, with a stepped hole in the middle, through which the pitch push-pull rod 12 is inserted and fixed to the second connecting part 5 and the pitch push-pull rod 12 by a limiting ring 1, so that the pitch push-pull rod 12 can move with the second connecting part 5;

[0064] The transmission outer shaft 6 is welded by the propeller hub cover 20 and the hollow main shaft 21, and has a through-hole inside. One end of the transmission outer shaft 6 is fixedly connected to the propeller hub shell 3 by bolts, and the other end is connected to the transmission gearbox 8 by a coupling 7. When the propeller blades rotate, the propeller hub shell 3 is driven to rotate, thereby driving the transmission outer shaft 6 to rotate, and then the energy captured by the fan is transmitted to the inside of the unmanned boat through the transmission gearbox 8;

[0065] The rotating base 10 is fixedly connected to the servo motor 11 by bolts, and the rotating part of the rotating base 10 is internally threaded. The bearing connecting rod 9 is composed of a bearing and a threaded connecting rod through welding. The pitch push-pull rod 12 is welded to the inner diameter of the bearing of the bearing connecting rod 9. The function of the bearing connecting rod 9 is to prevent the pitch push-pull rod 12 from rotating due to the blade 2, thereby transmitting the rotational torque to the rotating base 10. The bearing connecting rod 9 can eliminate the rotational torque on the subsequent mechanism; the bearing connecting rod 9 is also threaded toward the servo motor end, and the servo motor 11 drives the rotating part to rotate, so that the bearing connecting rod 9 can move axially;

[0066] The pitch push-pull rod 12 passes through the transmission gearbox 8 and the coupling 7, and is connected to the second connecting part 5 through the through-circular hole of the transmission outer shaft 6. The axial movement of the pitch push-pull rod 12 drives the rack structure to move, thereby causing the rotating gear 16 to rotate an angle, thereby completing the pitch operation.

[0067] Example 3

[0068] Based on the above embodiments, this embodiment discloses a control method for an intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship, such as Figure 1-10 As shown, it includes: after the wind speed and direction sensor collects environmental data, it is transmitted to the control module through the signal line. The control module processes it through the intelligent pitch algorithm to obtain the optimal pitch angle information, converts the angle information into the servo motor control rotation amount through the gear ratio, and sends the control amount to the servo motor through the RS485 communication protocol, thereby realizing intelligent control of the pitch.

[0069] Example 4

[0070] Based on Example 3, this embodiment discloses that, in the method described, according to theoretical calculation, the optimal pitch angle θ of the blade required under different wind speeds is analyzed, and then the pitch angle deflection angle Δθ is calculated according to the pitch angle. 桨 The relationship with the pitch unit is used to obtain the rotation degree Δθ of the corresponding servo motor at the pitch angle. 电机 ; Since the output shaft and rotating part of the servo motor are fixed, the servo motor rotates by an angle Δθ 电机 Equal to the rotation angle Δθ of the rotating part 底座 , that is, Δθ 电机 =Δθ 底座 The rotating part has internal threads, and one end of the bearing connecting rod has external threads. The rotating base can be rotated to convert the rotation torque into the radial stroke Δl of the pitch push-pull rod. s ; Assume the pitch of the pitch push-pull rod is Ph, then the servo motor rotation angle Δθ 电机 The radial travel of the pitch push-pull rod Δl s The relationship is:

[0071]

[0072] The second connection part is connected to the pitch push-pull rod, and the radial stroke of the pitch push-pull rod is transmitted to the second connection part in a one-to-one ratio in the pitch unit, so the radial stroke of the pitch push-pull rod is Δl s Equal to the radial travel Δl of the second connection part h , that is, Δl s =Δl h The second connecting portion is integrally connected to the rack structure, and the axial movement of the rack structure drives the rotating gear to rotate, thereby realizing the change of the pitch angle; assuming that the module of the rotating gear is m, the number of teeth is N, and the rotating gear is fully meshed with the rack structure, then the pitch angle changes Δθ 桨 Radial travel Δl with the second connection part h The relationship between them is:

[0073]

[0074] The above formula can be used to derive the rotation degree Δθ of the servo motor. 电机 and pitch angle change Δθ 桨 The relationship is:

[0075]

Claims

1. An intelligent variable pitch mechanism for a small offshore wind-driven unmanned ship, characterized by: It includes a fan body and a control mechanism. The fan body includes a transmission unit and a pitch unit. The transmission unit includes a transmission gearbox installed on an unmanned ship. The transmission gearbox is connected to the blades through a coupling, a transmission outer shaft, and a hub shell in sequence. The pitch unit includes a rotating gear arranged in the hub shell, and a rack structure meshing with the rotating gear. One end of the rotating gear is provided with a first connecting part, and the first connecting part passes through a through hole preset on the hub shell and is fixedly connected to the end of the blade. The rack structure is connected to a telescopic mechanism, which drives the rack structure to move through the telescopic mechanism and drives the blades to change their angles through the rotation of the rotating gear. The control mechanism includes a sensor unit and a control module. The sensor unit is connected to the control module signal through a wire, and the control module is configured to control the telescopic mechanism.

2. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship as claimed in claim 1, characterized in that: The hub shell is an annular structure, and a plurality of through holes are evenly distributed around the axis on the outer wall of the annular structure, and a mounting seat is embedded in and fixedly connected to each through hole. The first connecting part includes a connecting column that passes through the mounting seat and is gap-matched with the inner hole of the mounting seat. The outer end of the connecting column is coaxially rotatably connected to a fixed disk, and the fixed disk is fixedly connected to the outer end of the mounting seat by bolts. The outer end of the connecting column is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the rear end of the blade by bolts.

3. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship as claimed in claim 2, characterized in that: There are three rotating gears, and the inner ends of the three rack structures matching the three rotating gears are connected into an integrated structure through a second connecting part. A stepped hole is provided at the center of the second connecting part. The telescopic mechanism includes a pitch push-pull rod, and the end of the pitch push-pull rod passes through the stepped hole and is locked with the second connecting part through a limiting ring. The limiting ring is screwed to the end of the pitch push-pull rod.

4. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship as claimed in claim 3 is characterized by: The transmission outer shaft includes a hub cover and a hollow main shaft. The large diameter end of the hub cover is fixedly connected to the end of the hub shell by bolts, and the small diameter end is fixedly connected to one end of the hollow main shaft. The other end of the hollow main shaft is connected to the transmission gearbox through a coupling. The end of the pitch push-pull rod away from the second connecting part passes through the transmission outer shaft, the coupling and the gearbox in sequence and is connected to the telescopic mechanism.

5. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship as claimed in claim 4 is characterized by: The telescopic mechanism includes a bearing connecting rod, a rotating base, and a servo motor. The end of the pitch push-pull rod away from the second connecting part is rotatably connected to one end of the bearing connecting rod. The rotating base includes a rotating part and a third connecting part. The rotating part is rotatably connected to the third connecting part. The third connecting part is fixedly connected to the servo motor housing, the rotating part is fixedly connected to the output shaft of the servo motor, and the other end of the bearing connecting rod is screwed to the rotating part.

6. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship as claimed in claim 5, characterized in that: The rotating part is a sleeve structure, and the inner surface of the sleeve structure is provided with an internal thread. The third connecting part is an annular fixed seat rotatably connected to the outside of the sleeve structure, and the annular fixed seat is fixedly connected to the outer shell of the servo motor. The bearing connecting rod includes a bearing seat, a bearing, and a connecting rod. One end of the connecting rod is fixedly connected to the bearing seat, and a bearing is provided in the bearing seat. The outer surface of the connecting rod is provided with an external thread. The connecting rod is threadedly connected to the sleeve structure, and the end of the pitch push-pull rod away from the second connecting part is welded to the inner ring of the bearing.

7. The intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship according to claim 6, characterized in that: The sensor unit comprises a wind speed and direction sensor and a rotation speed sensor installed on the unmanned ship. The wind speed and direction sensor is used to collect wind speed and direction information on the sea surface, and the rotation speed sensor is used to collect rotation speed information of the wind turbine body.

8. The control method of the intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship according to claim 7, characterized in that: include: After the wind speed and direction sensors collect environmental data, they are transmitted to the control module through the signal line. The control module processes the data through the intelligent pitch algorithm to obtain the optimal pitch angle information, converts the angle information into the servo motor control rotation amount through the gear ratio, and sends the control amount to the servo motor through the RS485 communication protocol, thereby realizing intelligent control of the pitch.

9. The control method of the intelligent variable pitch mechanism of a small offshore wind-driven unmanned ship according to claim 8, characterized in that: In the method described, according to theoretical calculation, the optimal blade pitch angle θ required under different wind speeds is analyzed, and then the blade pitch angle deflection angle Δθ is calculated according to the blade pitch angle. 桨 The relationship with the pitch unit is used to obtain the rotation degree Δθ of the corresponding servo motor at the pitch angle. 电机 ; Since the output shaft and rotating part of the servo motor are fixed, the servo motor rotates by an angle Δθ 电机 Equal to the rotation angle Δθ of the rotating part 底座 , that is, Δθ 电机 =Δθ 底座 The rotating part has internal threads, and one end of the bearing connecting rod has external threads. The rotating base can be rotated to convert the rotation torque into the radial stroke Δl of the pitch push-pull rod. s ; Assume the pitch of the pitch push-pull rod is Ph, then the servo motor rotation angle Δθ 电机 The radial travel of the pitch push-pull rod Δl s The relationship is: The second connection part is connected to the pitch push-pull rod, and the radial stroke of the pitch push-pull rod is transmitted to the second connection part in a one-to-one ratio in the pitch unit, so the radial stroke of the pitch push-pull rod is Δl s Equal to the radial travel Δl of the second connection part h , that is, Δl s =Δl h The second connecting portion is integrally connected to the rack structure, and the axial movement of the rack structure drives the rotating gear to rotate, thereby realizing the change of the pitch angle; assuming that the module of the rotating gear is m, the number of teeth is N, and the rotating gear is fully meshed with the rack structure, then the pitch angle changes Δθ 桨 Radial travel Δl with the second connection part h The relationship between them is: The above formula can be used to derive the rotation degree Δθ of the servo motor. 电机 and pitch angle change Δθ 桨 The relationship is:

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