CN110821751A - Method for changing load of stressed part of variable-pitch bearing - Google Patents
Method for changing load of stressed part of variable-pitch bearing Download PDFInfo
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- CN110821751A CN110821751A CN201910988172.7A CN201910988172A CN110821751A CN 110821751 A CN110821751 A CN 110821751A CN 201910988172 A CN201910988172 A CN 201910988172A CN 110821751 A CN110821751 A CN 110821751A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005484 gravity Effects 0.000 claims description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/065—Rotors characterised by their construction elements
- F03D1/0658—Arrangements for fixing wind-engaging parts to a hub
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/70—Bearing or lubricating arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2240/00—Components
- F05B2240/50—Bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/328—Blade pitch angle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
- F16C19/18—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls
- F16C19/181—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2360/00—Engines or pumps
- F16C2360/31—Wind motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Rolling Contact Bearings (AREA)
- Wind Motors (AREA)
Abstract
The invention relates to a method for changing the load of a stressed component of a pitch bearing, comprising the following steps: determining a rotation speed difference between an inner ring of the variable-pitch bearing and the stressed component, wherein the inner ring is used for being connected with the blade; and relatively rotating the inner ring and the stressed component by a certain angle to change the load of the stressed component. Furthermore, the invention relates to a system for changing the load of a stressed component of a pitch bearing. According to the invention, the probability that the same stressed component of the variable pitch bearing is always in the heavy-load area can be greatly reduced, so that the service life of the variable pitch bearing is greatly prolonged.
Description
Technical Field
The present invention relates generally to the field of wind power generation, and more particularly to a method for changing the load of a stressed component of a pitch bearing. Furthermore, the invention relates to a system for changing the load of a stressed component of a pitch bearing.
Background
In recent years, with the increasing environmental importance of various countries, the field of clean energy has been rapidly developing. The clean energy is a novel energy, and has the advantages of wide distribution, reproducibility, small environmental pollution and the like compared with the traditional fossil fuel. Wind power generators are increasingly used as representatives of clean energy.
An important component of a wind driven generator (or a fan for short) is a variable pitch bearing which is used for adjusting an included angle between a fan blade and a blade rotating plane so as to adjust the windward angle of the blade and further improve the power of the fan. Generally speaking, the replacement of the pitch bearing requires the blade to be disassembled and hoisted after the replacement is completed, and the length of the fan blade is as long as several tens of meters, such as 30 meters, and the weight of the fan blade is several hundred kilograms, so that the cost is high and there is a certain danger if the pitch bearing is to be replaced. Therefore, how to improve the life of the pitch bearing is a concern in the industry.
Disclosure of Invention
The invention aims to provide a method for changing the load of a stressed component of a variable pitch bearing and a corresponding system.
In a first aspect of the invention, the task is solved by a method for changing the load of a force-bearing component of a pitch bearing, the method comprising the steps of:
determining a rotation speed difference between an inner ring of the variable-pitch bearing and the stressed component, wherein the inner ring is used for being connected with the blade; and
the inner ring and the stressed component rotate a certain angle relatively, so that the load of the stressed component is changed.
It should be noted here that the expression "difference in rotational speed between the inner ring of the pitch bearing and the force-receiving member" refers to the difference between the rotational speed of the inner ring of the pitch bearing around the rotational axis of the pitch bearing and the rotational speed of the force-receiving member around the rotational axis of the pitch bearing. The rotational speed may include, for example, linear and angular velocities. In addition, the present inventors have found that a speed difference between the force receiving member such as the balls and the cage and the inner race is correlated with the rotational speed of the inner race, so that a desired relative rotational angle between the force receiving member and the inner race can be achieved after rotating the inner race by a certain angle. In addition, it should be noted that the terms "inner ring" and "outer ring" in the present invention are used only for distinguishing and do not limit the inside and outside arrangement relationship of the two ring bodies; in contrast, where the inner ring refers to the rotatable ring connected to the blades and the outer ring is the non-rotatable ring fixed to the hub, in some embodiments the inner ring may be disposed outside of the outer ring or within the outer ring, although these scenarios are within the scope of the present invention.
In a preferred embodiment of the invention, it is provided that the force-receiving element comprises at least one of the following: the pitch control device comprises a ball of a pitch bearing and a retainer of the pitch bearing. The balls and the cage are parts of the pitch bearing which are stressed greatly and are easy to damage, so that if the parts are not always in a heavy-load area, the service life of the pitch bearing can be prolonged greatly. It should be noted that the force bearing parts of the invention are not limited to balls and cages, but that other parts between the inner and outer ring of the pitch bearing and also force bearing segments of the outer ring may be covered in case of other pitch bearing structures.
In one embodiment of the invention, it is provided that determining the difference in rotational speed between the inner ring of the pitch bearing and the stressed component comprises:
and calculating the rotating speed difference between the ball and/or the retainer and the blade of the inner ring according to the specification parameters of the variable pitch bearing. The rotational speed difference can be determined simply by this embodiment. Other rotational speed difference determination means are also conceivable, for example: measuring the rotating speed through a speed sensor; making pressure measurements by means of a pressure sensor, thereby determining the angular position of the force-receiving member; the position of the force-receiving member, and thus the rotational speed difference, is determined by the proximity sensor, and so on.
In a further embodiment of the invention, it is provided that the rotation of the inner ring relative to the force-receiving element by an angle such that the load of the force-receiving element changes includes the following steps:
determining a stressed part with the largest current stress; and
and the inner ring and the stressed part with the largest stress rotate for a certain angle relatively, so that the stressed part with the largest stress is not the stressed part with the largest stress any more.
In a preferred embodiment of the invention, it is provided that the angle is 120 ° to 140 °. By this preferred solution, the force-receiving part can be moved effectively out of the heavy-duty area with a small angle of rotation.
In one embodiment of the invention, it is provided that the rotation of the inner ring relative to the force-receiving element by an angle such that the load of the force-receiving element changes comprises:
and relatively rotating the inner ring and the stress component for a certain angle to ensure that the stress component is no longer in a heavy-load area, wherein the heavy-load area is an area subjected to the maximum gravity of the blade.
In a further embodiment of the invention, it is provided that the method is carried out periodically.
In a second aspect of the invention, the aforementioned task is solved by a system for varying the load of a stressed component of a pitch bearing, the system comprising:
a controller configured to perform the following acts:
determining a rotation speed difference between an inner ring of the variable-pitch bearing and the stressed component, wherein the inner ring is used for being connected with the blade; and
generating a control signal according to the rotation speed difference;
and the actuator is configured to enable the inner ring and the force-bearing component to rotate relatively for a certain angle according to the control signal, so that the load of the force-bearing component is changed.
The controller may be implemented, for example, in software, hardware, firmware, or a combination thereof, while the actuator may be implemented, for example, using a motor in the hub for rotating the blades, i.e., the inner race may be rotated by rotating the blades.
In a preferred embodiment of the invention, it is provided that the force-receiving element comprises at least one of the following: the pitch control device comprises a ball of a pitch bearing and a retainer of the pitch bearing.
The invention further relates to a wind turbine comprising a system according to the invention.
The invention has at least the following beneficial effects: the present inventors have obtained the following unique insights through research: the service life of the variable pitch bearing is mainly determined by stress components such as the balls and the retainer, and the variable pitch range of the fan blade is always 0-90 degrees, so that the working mode of the variable pitch bearing is swing, part of the balls and the retainer are always in a heavy-load area to work, and the service life of the variable pitch bearing is reduced; the inventor simultaneously finds that the speed difference between the stress components such as the balls and the retainer and the inner ring is related to the rotating speed of the inner ring, so that after the inner ring is rotated for a certain angle, the expected relative rotating angle between the stress components and the inner ring can be realized, therefore, the invention utilizes the rotating speed difference between the balls and the retainer combination of the pitch-variable bearing and the inner ring to realize that the balls and the retainer combination rotate for a certain angle relative to the inner ring (blades) after the inner ring (blades) is rotated for a plurality of angles, and by implementing the scheme for example at intervals, the stress components such as the balls and the retainer can be uniformly loaded during service, thereby effectively prolonging the service life of the pitch-variable bearing.
Drawings
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
FIG. 1 shows a top view of a pitch bearing of a wind turbine; and
fig. 2A to 2B show the principle of the solution according to the invention.
Detailed Description
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
In the present invention, the controller may be implemented in software, hardware or firmware, or a combination thereof. The controller may be present alone or may be part of a component.
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
Fig. 1 shows a top view of a pitch bearing 100 of a wind turbine.
As shown in fig. 1, the pitch bearing 100 comprises an inner ring 101 and an outer ring 102. The blades (not shown) are connected with the inner ring 101 of the pitch bearing through bolts, and the inner ring 101 and the outer ring 102 of the pitch bearing are connected through four-point contact of the balls 103 and transmit load. It should be noted herein that the terms "inner ring" and "outer ring" are used merely for distinguishing and do not define the inner and outer arrangement relationship of the two ring bodies; in contrast, the inner ring refers to the rotatable ring body connected to the blades, while the outer ring is a non-rotatable ring body fixed to the hub, so in some embodiments, the inner ring may be disposed outside the outer ring or inside the outer ring, but these scenarios are within the scope of the present invention. Here, the inner ring 101, due to its connection to the blades, can be turned for adjusting the pitch angle of the blades, i.e. the angle between the fan blades and the plane of rotation of the blades. As can be seen from fig. 1, because of the high gravitational forces present in the blade and the fact that the pitch bearing is not in a horizontal orientation (typically in a different plane as the hub rotates), some components of the pitch bearing (such as the balls and the cage for holding the balls) may be in a region of higher load while another component is in a region of lower load.
Fig. 2A to 2B show the principle of the solution according to the invention.
As shown in fig. 2A, the present inventors obtained the following unique insights through research: the service life of the pitch bearing is mainly determined by stress components such as the ball 103 and the cage 104, and the pitch range of the fan blade is always 0-90 degrees, which causes the working mode of the pitch bearing to swing, so that part of the ball 103 and the cage are always in a heavy-load area to work, which reduces the service life of the pitch bearing; the inventor also finds that the speed difference between the force-receiving components such as the balls 103 and the cage 104 and the inner ring 101 is related to the rotation speed of the inner ring 101 (see the following description in detail), so that after the inner ring 101 is rotated by a certain angle, a desired relative rotation angle between the force-receiving components such as the balls 103 and the cage 104 and the inner ring 101 can be realized, and therefore, the invention can realize that the combination of the balls 103 and the cage 104 rotates by a certain angle relative to the inner ring (blade) after the inner ring 101 (or the blade) rotates by a plurality of angles by utilizing the rotation speed difference between the combination of the balls 103 and the cage 104 of the pitch bearing and the inner ring 101, thereby changing the force distribution of each force-receiving component. By implementing this solution, for example at intervals, it is achieved that the stressed components such as the balls 103, the cage 104 are evenly loaded during service, thereby effectively extending the service life of the pitch bearing.
Referring to fig. 2B, the speed difference between the balls 103 and the cage 104 and the inner ring 101 has the following relationship with the rotational speed of the inner ring 101:
wherein n ismRotational speed n being the combination of cage 104 and balls 104iiIs the rotational speed of the inner ring 101 or vane, D is the diameter of the ball 103, α is the contact angle, DmThe diameter of the circle is distributed for the rolling body.
Research shows that the combination of the retainer 104 and the balls 103 rotates at intervals of 140 degrees and 160 degrees relative to the inner ring 101 or the vane each time, so that the same balls can be effectively prevented from being always in a heavy-load area.
Taking a variable pitch bearing 55.2430 as an example, the diameter of a ball is 55mm, the diameter of a raceway distribution circle is 2430, gamma is 0.016, and n ismAnd niThe speed ratio is 0.4920. When the inner ring (blade) of the pitch bearing rotates for 9 full turns, the combination of the balls and the retainer rotates for 4.43 turns, and the balls and the retainer rotate 154 degrees relative to the inner ring (blade). Taking the implementation once every two years as an example, the operation is carried out in 20 years. The time of the same part of the ball and the retainer in a heavy-load area is shortened by 9 times, and the service life of the variable-pitch bearing can be greatly prolonged.
Although some embodiments of the present invention have been described herein, those skilled in the art will appreciate that they have been presented by way of example only. Numerous variations, substitutions and modifications will occur to those skilled in the art in light of the teachings of the present invention without departing from the scope thereof. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.
Claims (10)
1. A method for changing the load of a force-receiving component of a pitch bearing, comprising the steps of:
determining a rotation speed difference between an inner ring of the variable-pitch bearing and the stressed component, wherein the inner ring is used for being connected with the blade; and
the inner ring and the stressed component rotate a certain angle relatively, so that the load of the stressed component is changed.
2. The method of claim 1, wherein the force-bearing component comprises at least one of: the pitch control device comprises a ball of a pitch bearing and a retainer of the pitch bearing.
3. The method of claim 2, wherein determining a difference in rotational speed between an inner race of the pitch bearing and the force-receiving component comprises:
and calculating the rotating speed difference between the ball and/or the retainer and the blade of the inner ring according to the specification parameters of the variable pitch bearing.
4. The method of claim 2, wherein rotating the inner race and the force receiving member relative to each other at an angle such that the load of the force receiving member changes comprises the steps of:
determining a stressed part with the largest current stress; and
and the inner ring and the stressed part with the largest stress rotate for a certain angle relatively, so that the stressed part with the largest stress is not the stressed part with the largest stress any more.
5. The method of claim 4, wherein the angle is 120 ° to 140 °.
6. The method of claim 1, wherein rotating the inner race and the force-receiving member relative to each other at an angle such that the load of the force-receiving member changes comprises:
and relatively rotating the inner ring and the stress component for a certain angle to ensure that the stress component is no longer in a heavy-load area, wherein the heavy-load area is an area subjected to the maximum gravity of the blade.
7. The method of claim 1, wherein the method is performed periodically.
8. A system for varying the load of a stressed component of a pitch bearing, comprising:
a controller configured to perform the following acts:
determining a rotation speed difference between an inner ring of the variable-pitch bearing and the stressed component, wherein the inner ring is used for being connected with the blade; and
generating a control signal according to the rotation speed difference;
and the actuator is configured to enable the inner ring and the force-bearing component to rotate relatively for a certain angle according to the control signal, so that the load of the force-bearing component is changed.
9. The system of claim 8, wherein the force-bearing component comprises at least one of: the pitch control device comprises a ball of a pitch bearing and a retainer of the pitch bearing.
10. A wind power generator comprising a system according to one of claims 8 to 9.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910988172.7A CN110821751B (en) | 2019-10-17 | 2019-10-17 | Method for changing load of stressed part of variable-pitch bearing |
CN202110308194.1A CN112780489B (en) | 2019-10-17 | 2019-10-17 | Variable pitch bearing and method for prolonging service life of variable pitch bearing |
DE112020005029.7T DE112020005029T5 (en) | 2019-10-17 | 2020-09-22 | Method of changing a load on a loaded component of a pitch bearing |
PCT/CN2020/116666 WO2021073369A1 (en) | 2019-10-17 | 2020-09-22 | Method for changing load of stressed part of variable pitch bearing |
DKPA202170400A DK202170400A1 (en) | 2019-10-17 | 2021-08-09 | A method for changing load of force-receiving component of pitch bearing |
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CN201910988172.7A CN110821751B (en) | 2019-10-17 | 2019-10-17 | Method for changing load of stressed part of variable-pitch bearing |
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CN202110308194.1A Division CN112780489B (en) | 2019-10-17 | 2019-10-17 | Variable pitch bearing and method for prolonging service life of variable pitch bearing |
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CN110821751A true CN110821751A (en) | 2020-02-21 |
CN110821751B CN110821751B (en) | 2021-03-26 |
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CN201910988172.7A Active CN110821751B (en) | 2019-10-17 | 2019-10-17 | Method for changing load of stressed part of variable-pitch bearing |
CN202110308194.1A Active CN112780489B (en) | 2019-10-17 | 2019-10-17 | Variable pitch bearing and method for prolonging service life of variable pitch bearing |
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CN (2) | CN110821751B (en) |
DE (1) | DE112020005029T5 (en) |
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Cited By (1)
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WO2021073369A1 (en) * | 2019-10-17 | 2021-04-22 | 射阳远景能源科技有限公司 | Method for changing load of stressed part of variable pitch bearing |
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Also Published As
Publication number | Publication date |
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CN112780489A (en) | 2021-05-11 |
CN112780489B (en) | 2021-11-23 |
DK202170400A1 (en) | 2021-09-09 |
WO2021073369A1 (en) | 2021-04-22 |
CN110821751B (en) | 2021-03-26 |
DE112020005029T5 (en) | 2022-09-15 |
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