US20060205554A1 - Speed reducer for use in yaw drive apparatus for wind power generation apparatus, and yaw drive method and apparatus for wind power generation apparatus using the speed reducer - Google Patents

Speed reducer for use in yaw drive apparatus for wind power generation apparatus, and yaw drive method and apparatus for wind power generation apparatus using the speed reducer Download PDF

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Publication number
US20060205554A1
US20060205554A1 US10/567,613 US56761304A US2006205554A1 US 20060205554 A1 US20060205554 A1 US 20060205554A1 US 56761304 A US56761304 A US 56761304A US 2006205554 A1 US2006205554 A1 US 2006205554A1
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United States
Prior art keywords
drive
power generation
wind power
motor
drive motor
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Abandoned
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US10/567,613
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English (en)
Inventor
Osamu Nohara
Katsuhiko Yokoyama
Sadayuki Tanabe
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Nabtesco Corp
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Nabtesco Corp
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Filing date
Publication date
Priority claimed from JP2003292066A external-priority patent/JP2005061519A/ja
Priority claimed from JP2003385529A external-priority patent/JP4454291B2/ja
Priority claimed from JP2003386086A external-priority patent/JP4502627B2/ja
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Publication of US20060205554A1 publication Critical patent/US20060205554A1/en
Assigned to NABTESCO CORPORATION reassignment NABTESCO CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NOHARA, OSAMU, TANABE, SADAYUKI, YOKOYAMA, KATSUHIKO
Priority to US12/484,340 priority Critical patent/US8022564B2/en
Abandoned legal-status Critical Current

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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
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • 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
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F05B2260/00—Function
    • F05B2260/40—Transmission of power
    • F05B2260/403—Transmission of power through the shape of the drive components
    • F05B2260/4031—Transmission of power through the shape of the drive components as in toothed gearing
    • 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
    • F05B2260/00—Function
    • F05B2260/90—Braking
    • 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
    • F05B2270/10—Purpose of the control system
    • F05B2270/109—Purpose of the control system to prolong engine life
    • F05B2270/1095—Purpose of the control system to prolong engine life by limiting mechanical stresses
    • 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
    • F05B2270/32—Wind speeds
    • 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
    • F05B2270/321—Wind directions
    • 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
    • F05B2270/329—Azimuth or yaw angle
    • 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

Definitions

  • the present invention relates to a speed reducer for use in a yaw drive apparatus which rotates a wind power generation unit of a wind power generation apparatus in a substantially horizontal plane, and a yaw drive method and an apparatus for wind power generation apparatus using the speed reducer.
  • the yaw drive apparatus of the wind power generation apparatus rotates a windmill power generation unit about a tower according to a wind in order that blades of the wind power generation apparatus can receive the wind, and rotates a ring gear provided at the tower.
  • the yaw drive apparatus is generally constructed by a general-purpose induction motor (the number of rotations is 1000 to 1800 rpm) and a plurality of reducing mechanism (the total reduction gear ratio is 1/1000 to 1/3000).
  • the planetary speed reduction mechanism includes an input sun gear, a plurality of planetary gears engaged with the input sun gear at the periphery of the input sun gear, an internal gear member having internal teeth engaged with the plurality of the planetary gears at the periphery of the plurality of the planetary gears, and a carrier rotatably supporting the plurality of planetary gears.
  • the applicant of the present invention has proposed to construct the speed reducer as three stage speed reduction mechanism constituted by a first speed reducing portion, a second speed reducing portion connected to the first speed reducing portion, and an eccentric oscillating-type speed reduction mechanism connected to the second speed reducing portion (refer to JP-A-2003-84300).
  • JP-A-2001-289149 an example of the conventional yaw drive method and apparatus of the wind power generation apparatus having the construction to be described is disclosed in JP-A-2001-289149.
  • the above-described yaw drive apparatus including a first gear connected to the upper end of the tower, a second gear engaged with the first gear, a motor which is attached to the wind power generation unit capable of yawing, supported at the upper end of the tower and drivingly rotates the second gear for yawing the wind power generation unit, a hydraulic brake including an electromagnetic brake attached to the motor and using a friction plate, a brake disk fixed to the upper end of the tower, and a frictional-fixing type brake shoe which is provided to the wind power generation unit and interposes the brake disk in it using the hydraulic driving.
  • the electro-magnetic brake and the hydraulic brake are turned into a non-braking state simultaneously with the start-up of the electrification to the motor, so that the motor and the wind power generation unit is released from the braking.
  • the electro-magnetic brake and the hydraulic brake are turned into the braking state simultaneously with the stoppage of the electrification to the motor, so that the motor and the wind power generation unit are provided with the braking torque.
  • the maintenance of the former speed reducer including five stage-planetary speed reduction mechanisms was not good due to the long total length and the large capacity. Further, when the speed reducer is operated at a low temperature of ⁇ 20° C. or less, the stirring resistance of a lubricant becomes large due to the five stage reduction, and a motor with a large output is needed for compensating the loss of the stirring resistance.
  • the rotational drive torque of the motor is transferred to the second gear as it is, so that it rotates rapidly the second gear.
  • the wind power generation unit has a large inertial mass, it cannot rotate by following the second gear.
  • the teeth of the second gear cause a significant impact on the first gear. Therefore, the teeth of the first and second gear may be damaged at the start-up of the yawing of the wind power generation unit, or a loud noise occurs.
  • the strength of the first and second gears needs to be increased for the impact resistance, so that the apparatus becomes expensive and large in size.
  • the rotation of the second gear is rapidly stopped.
  • the teeth of the first gear cause a significant impact on the teeth of the second gear. Therefore, the teeth of the first and second gear may be damaged even when the yawing of the wind power generation unit is stopped, or a loud noise occurs. Further, the strength of the first and second gears needs to be increased for the impact resistance as described above, thus the apparatus becomes expensive and large in size.
  • the present invention provides a reducer constituted by a first stage speed reducing portion, a second stage speed reducing portion connected to the first speed reducing portion, and a third stage speed reducing portion. Further, the total reduction gear ratio of a first stage speed reducing portion and a second speed reducing portion is set to 1/6 to 1/60.
  • the third stage speed reducing portion is constructed by an eccentric oscillating type speed reduction mechanism including an internal gear member in which internal teeth are formed at the internal periphery thereof, a plurality of external gears which are received in the internal gear member, which have external teeth engaged with the internal teeth and having number of teeth slightly less than that of the internal teeth at the external periphery thereof, and which is disposed in parallel to each other in the axial direction, a plurality of crank shafts which are rotatably inserted into the plurality of external gears, and which are connected to the second stage speed reducer and rotates to eccentrically rotate the plurality of external gears, and a carrier which rotatably supports both ends of the crank shafts.
  • a reduction gear ratio of the eccentric oscillating-type speed reduction mechanism is set to 1/50 to 1/140, and the total reduction gear ratio of the speed reducer is set to 1/1000 to 1/3000. Therefore, it is possible to provide the speed reducer which is suitable for the yaw drive apparatus of the wind power generation apparatus, and has high efficiency and a short axial length.
  • the first stage speed reducing portion of the speed reducer is constructed by a planetary speed reduction mechanism including an input sun gear, a plurality of planetary gears engaged with the input sun gear at the periphery of the input sun gear, an internal gear member having internal teeth engaged with the plurality of the planetary gears at the periphery of the plurality of the planetary gears, and a carrier rotatably supporting the plurality of planetary gears.
  • the second stage speed reducing portion of the speed reducer is constructed by a spur gear type speed reduction mechanism including an input spur gear connected to the carrier of the planetary speed reduction mechanism, and a spur gear engaged with the input spur gear. Therefore, it is possible to provide the speed reducer which is suitable for the yaw drive apparatus of the wind power generation apparatus, and has high efficiency and a short axial length.
  • the first stage speed reducing portion of the speed reducer is constructed by a spur gear type speed reduction mechanism including a first input spur gear, and a first spur gear engaged with the first input spur gear
  • the second stage speed reducing portion of the speed reducer is constructed by spur gear type speed reduction mechanism including a second input spur gear connected to the first spur gear, and a second spur gears engaged with the second input spur gear. Therefore, it is possible to provide the speed reducer which is suitable for the yaw drive apparatus of the wind power generation apparatus, and has high efficiency and a short axial length.
  • the yaw drive apparatus of the wind power generation apparatus uses the above-described highly efficient speed reducer.
  • An output shaft of a motor is connected to an input part of a first stage speed reducing portion, and an output part of an eccentric oscillating-type speed reduction mechanism is provided with external teeth engaged with a ring gear of a tower. Therefore, it is possible to provide the yaw drive apparatus of the wind power generation apparatus, which is highly efficient and is small in size.
  • a yaw drive method of a wind power generation apparatus in which a second gear engaged with a first gear attached to one of a tower or a wind power generation unit supported to the upper end of the tower so as to be capable of yawing is rotated by a drive motor attached to the other of the tower or the wind power generation unit for yawing the wind power generation unit.
  • a drive energy which is supplied to the drive motor for a predetermined time from when the supply of the drive energy to the drive motor begins to start, is made to be smaller than the drive energy supplied to the drive motor in a common yawing.
  • the yaw drive apparatus includes a first gear attached to one of a tower or a wind power generation unit supported to the upper end of the tower so as to be capable of yawing, a second gear engaged with the first gear, a drive motor attached to the other of the tower or the wind power generation unit, and rotates the second gear when the drive energy is supplied, thereby yawing the wind power generation unit.
  • the reduction means makes a drive energy, which is supplied to the drive motor for a predetermined time from when the supply of the drive energy to the drive motor begins to start, smaller than the drive energy supplied to the drive motor in a common yawing.
  • a yaw drive method of a wind power generation apparatus in which a pinion, which is engaged with a ring-shaped internal gear attached to one of a tower or a wind power generation unit supported to the upper end of the towe so as to be capable of yawingr, is rotated by a drive motor attached to the other of the tower or the wind power generation unit for yawing the wind power generation unit.
  • a drive energy which is supplied to the drive motor for a predetermined time from when the supply of the drive energy to the drive motor begins to start, is made smaller than the drive energy supplied to the drive motor in a common yawing.
  • the yaw drive apparatus includes a ring-shaped internal gear attached to one of tower or a wind power generation unit supported to the upper end of the tower so as to be capable of yawing and supported to a tower or to the upper end of the tower, a pinion engaged with the internal gear, a drive motor attached the other of the tower or the wind power generation unit, and rotates the pinion when the drive energy is supplied, thereby yawing the wind power generation unit, and a reduction means that reduces a drive energy, which is supplied to the drive motor for a predetermined time from when the supply of the drive energy to the drive motor begins to start, is smaller than the drive energy supplied to the drive motor in a common yawing.
  • a speed reducer which has high efficiency and a short axial length, and is suitable for the yaw drive apparatus. Further, it is possible to provide a yaw drive apparatus of a wind power generation apparatus which is highly efficient and is compact in size.
  • the drive energy is supplied to the drive motor.
  • the drive energy which is supplied to the drive motor from when the supply of the drive energy to the drive motor begins to start, is made to be smaller than the drive energy supplied to the drive motor in a common yawing by the reduction means, the rotational drive torque applied to the second gear from the drive motor at the start-up of the rotation has an energy corresponding to the small drive energy.
  • the impact between the teeth of the first gear and the second gear is reduced at the time of the start-up of the rotation of the second gear, whereby it is possible to reduce the damage on the teeth of the first and second gears and noise, and to make the apparatus small in size at a low price.
  • the rotational speed of the drive motor increases to some degree. After that, however, the drive motor is provided with the drive energy in common yawing and the yawing of the wind power generation unit is performed.
  • the drive energy which is supplied to the drive motor for a predetermined period just before the supply of the drive energy to the drive motor is stopped to the point of time at which the supply of the drive energy is stopped, is made smaller than the drive energy supplied to the drive motor in a common yawing, and the rotary power applied to the wind power generation unit from the drive motor for the above-described period is made small, the rotational speed of the wind power generation unit decreases gradually due to the frictional resistance or gyroscopic effect of the rotor-head or the like for the above-described period.
  • the rotational speed of the wind power generation unit gradually decreases due to the frictional resistance or gyroscopic effect of the rotor-head or the like for a predetermined time from when the supply of the drive energy is stopped.
  • an excessive wind load of a gust or the like acts on the wind power generation unit, so that the wind power generation unit rotates, whereby the fluid motor may perform a pump operation.
  • the fluid motor may perform the pump operation due to the above-described reason.
  • the fluid braking force is applied to the fluid motor by back pressure, so that the rotation of the fluid motor can be restricted, whereby it is possible to omit a hydraulic pressure brake constituted by a brake disk fixed to the upper end of the tower and frictional fixing type brake shoe in which the brake disk is interposed, which is necessary to fix the conventional wind power generation unit.
  • the drive motor rotate while receiving the braking force from the brake means and may adversely affect to the apparatus, but this case can be prevented.
  • the drive energy is supplied to the motor.
  • the start-up braking torque is applied to the drive motor by the braking means from when the supply of the drive energy to the drive motor begins to start, the rotational drive torque obtained by subtracting the start-up braking torque from the output drive torque of the drive motor is applied to the second gear at a reduced state.
  • the start-up braking torque has a predetermined value lower than the maximum drive torque of the drive motor, the second gear can rotate for yawing the wind power generation unit.
  • the rotational drive torque at this time has a small value obtained from the above-described subtraction, and the rotational speed of the second gear is reduced by the start-up braking torque, an impact between the teeth of the first gear and the teeth of the second gear is reduced, whereby it is possible to reduce the damage on the teeth of the first and second gears or noise, and to make the apparatus small in size at a low price.
  • the rotational speed of the drive motor increases to some degree.
  • the application of the start-up braking torque is terminated and the yawing of the wind power generation unit is performed.
  • the rotational speed of the wind power generation unit decreases gradually due to the frictional resistance or gyroscopic effect of the rotor-head or the like for a predetermined time from when the supply of the drive energy is stopped.
  • the drive energy which is supplied to the drive motor for a predetermined period just before a point of time at which the supply of the drive energy to the drive motor is stopped to the point of time at which the supply of the drive energy is stopped, is made smaller than the drive energy supplied to the drive motor in a common yawing, and the rotary power applied to the wind power generation unit from the drive motor for the above-described period is made small, the rotational speed of the wind power generation unit gradually decreases due to the frictional resistance or gyroscopic effect of the rotor-head or the like for the above-described period.
  • the same braking means may be provided with both the impact reduction function and the rotation restriction function of the wind power generation unit at the time of the stoppage of the motor, whereby the structure become simple and the manufacturing cost becomes inexpensive compared to the case in which the two braking means are provided according to their functions.
  • the structure of the braking member is simple, thus it can be provided at a low cost.
  • FIG. 1 is a view illustrating a first embodiment of the invention.
  • FIG. 2 is a cross-sectional view taken along the line B-B of FIG. 1 .
  • FIG. 3 is a view illustrating a second embodiment of the invention.
  • FIG. 4 is a graph illustrating a relationship among a reduction gear ratio of an eccentric oscillating type speed reduction mechanism, an efficiency of the eccentric oscillating type speed reduction mechanism, a total efficiency of a speed reducer for a yaw drive apparatus, and a total reduction gear ratio.
  • FIG. 5 is a front cross-sectional view illustrating a third embodiment of the invention.
  • FIG. 6 is a schematic circuit diagram of the third embodiment of the invention.
  • FIG. 7 is a graph illustrating an operation timing of the third embodiment of the invention, in which (a) illustrates a relationship between time and a rotational speed of an output shaft, (b) illustrates a relationship between time and a pressure in a braking chamber, (c) illustrates a relationship between time and A switching valve voltage, (d) illustrates a relationship between time and B switching valve voltage, and (e) illustrates a relationship between time and an on-off valve voltage.
  • FIG. 8 is a schematic circuit diagram illustrating a fourth embodiment of the invention, which is similar to FIG. 6 .
  • FIG. 9 is a graph illustrating an operation timing of the fourth embodiment of the invention, in which (a) illustrates the relationship between time and the rotational speed of the output shaft, (b) illustrates the relationship between time and the pressure in the braking chamber, (c) illustrates the relationship between time and the A switching valve voltage, (d) illustrates the relationship between time and the B switching valve voltage, (e) illustrates the relationship between time and the on-off valve voltage, and (f) illustrates a relationship between time and a control valve voltage.
  • FIG. 10 is a front cross-sectional view illustrating a sixth embodiment of the invention.
  • FIG. 11 is a schematic circuit diagram of the sixth embodiment of the invention.
  • FIG. 12 is a graph illustrating an operation timing of the sixth embodiment of the invention, in which (a) illustrates the relationship between time and the rotational speed of the output shaft, (b) illustrates a relationship between time and a breaking voltage, (c) illustrates a relationship between time and a motor voltage, (d) illustrates a relationship between time and a sensor signal.
  • FIG. 13 is a schematic circuit diagram of a seventh embodiment of the invention, which is similar to FIG. 11 .
  • FIG. 14 is a graph illustrating an operation timing of the seventh embodiment of the invention, in which (a) illustrates the relationship between time and the rotational speed of the output shaft, (b) illustrates the relationship between time and the pressure in the breaking chamber, (c) illustrates a relationship between time and the switching valve voltage, (d) illustrates the relationship between time and the motor voltage, and (e) illustrates the relationship between time and the sensor signal.
  • FIG. 1 is a longitudinal cross-sectional view seen from the A-A direction of FIG. 2 .
  • FIG. 2 is a cross-sectional view taken along the line A-A of FIG. 1 .
  • a reference numeral 100 indicates a yaw drive apparatus of a wind power generation apparatus.
  • a reference numeral 200 indicates a speed reducer used in the yaw drive apparatus 100 .
  • the speed reducer 200 is constituted by a first stage speed reducing portion 10 , a second stage speed reducing portion 20 connected to the first speed reducing portion 10 , and a third stage speed reducing portion 30 .
  • the fist stage speed reducing portion 10 is constructed by a planetary speed reduction mechanism comprising an input sun gear 3 as an input part, which is fixedly connected to an output shaft 2 of a motor 1 , a plurality of (three) planetary gears 4 engaged with the input sun gear 3 at the periphery of the input sun gear 3 , an internal gear member 6 having internal teeth 5 engaged with the plurality of the planetary gears 4 at the periphery of the plurality of the planetary gears 4 , and a carrier 7 rotatably supporting the plurality of planetary gears 4 .
  • the motor 1 is attached to a supporting member 8 of the motor.
  • the internal gear member 6 is fixed to the supporting member 8 of the motor at the inside thereof.
  • a plurality of pins 10 rotatably supporting the planetary gear 4 through a plurality of needles is fixed to the carrier 7 .
  • the reduction gear ratio is selectively set to 1/3 to 1/20.
  • the second stage speed reducing portion 20 is constructed by a spur gear type speed reduction mechanism constituted by an input spur gear 21 connected to the carrier 7 , and a plurality of (four) spur gears 22 engaged with the input spur gear 21 .
  • the reduction gear ratio is set to 1/3.
  • the second speed reducing portion 20 may be selectively set to 1/2 to 1/5.
  • a total reduction gear ratio of the first and second speed reducing portions 10 and 20 is set to 1/27 (1/9 ⁇ 1/3).
  • the total reduction gear ratio of the first and second speed reducing portions 10 and 20 may be set to 1/6 to 1/100(1/3 ⁇ 1/2 to 1/20 ⁇ 1/5).
  • the total reduction gear ratio of the first and second speed reducing portions is set to 1/6 to 1/60.
  • the third stage speed reducing portion 30 is constructed by an eccentric oscillating type speed reduction mechanism including a fixed internal gear member 32 in which internal teeth 31 are formed at the internal periphery thereof, a plurality of (two) external gears 34 , which are received in the internal gear member 32 , which have external teeth 33 engaged with the internal teeth 31 and having number of teeth slightly less than that of the internal teeth 31 at the external periphery thereof, and which are disposed in parallel to each other in the axial direction, a plurality of (four) crank shafts 35 , which are rotatably inserted into the plurality of external gears 34 , and which are connected to the spur gear 22 of the second stage speed reducer 20 and rotate to eccentrically rotate the plurality of external gears 34 , and a carrier 37 as an output part, which rotatably supports both ends of the crank shafts 35 through a pair of bearings 36 .
  • a pinion gear 39 having external teeth 38 engaged with a ring gear of a tower (not shown) is provided at a leading end of the carrier 37 through a spline connection.
  • the pinion 39 may be formed at the leading end of the carrier 37 through a machining.
  • Each of the plurality of spur gears 22 of the second stage speed reducing portion 20 is attached to each end of the plurality of crank shafts 35 .
  • Each of crank portions of the plurality of crank shafts 35 is inserted into the inside of the plurality of external gears 34 through a needle bearing 40 .
  • the carrier 37 is rotatably supported by the internal gear member 32 through a pair of bearings 41 .
  • An oil-seal 42 is inserted between the internal periphery of the leading end of the internal gear member 32 and a supporting member 43 of the oil seal 42 , which is attached to the periphery of the carrier 37 .
  • the one end of the supporting member 8 of the motor is fixed to the end of the internal gear member 32 .
  • the reduction gear ratio of the third stage speed reducing portion 30 constructed by the eccentric oscillating type speed reduction mechanism is selectively set to 1/50 to 1/140.
  • the total reduction gear ratio of the speed reducer of the present invention which is constructed by three stage speed reduction, is set to 1/1620(1/9 ⁇ 1/3 ⁇ 1/60).
  • the total reduction gear ratio of the speed reducer constructed by three stage speed reduction may be set to 1/300 to 1/14000(1/3 ⁇ 1/2 ⁇ 1/50 to 1/20 ⁇ 1/5 ⁇ 1/140).
  • the total reduction gear ratio is set to 1/1000 to 1/3000.
  • a reference numeral 300 indicates a yaw drive apparatus of a wind power generating apparatus.
  • a reference numeral 400 indicates a speed reducer used in the yaw drive apparatus 300 .
  • a first stage speed reducing portion 50 is constructed by a spur gear type speed reduction mechanism constituted by a first input spur gear 51 as an input part, which is fixedly connected to the output shaft 61 of the motor 60 , and a first spur gear 52 engaged with the first input spur gear 51 .
  • the reduction gear ratio of the first speed reducing portion 50 constructed by the spur gear type speed reduction mechanism is set to 1/6.
  • the reduction gear ratio of the first stage speed reducing portion 50 is selectively selected from 1/2 to 1/12.
  • a motor 60 is attached to the supporting member 62 of the motor.
  • a second stage speed reducing portion 70 is constructed by the spur gear type speed reduction mechanism constituted by a second input spur gear 53 connected to the first spur gear 52 , and a plurality of (four) second spur gears 54 engaged with the second input spur gear 53 .
  • the second spur gear 53 is rotatably supported by a supporting member 62 of the motor and a carrier 87 of the eccentric oscillating type speed reduction mechanism to be described later.
  • the reduction gear ratio of the second stage speed reducing portion constructed by the spur gear type speed reduction mechanism is set to 1/3.
  • the reduction gear ratio of the second stage speed reducing portion is selectively set to 1/2 to 1/5.
  • a total reduction gear ratio of the first and second speed reducing portions 50 and 70 is set to 1/18 (1/6 ⁇ 1/3).
  • the total reduction gear ratio of the first and second speed reducing portions 50 and 70 may be set to 1/4 to 1/60(1/2 ⁇ 1/2 to 1/12 ⁇ 1/5).
  • the total reduction gear ratio of the first and second speed reducing portions is set to 1/6 to 1/60.
  • the third stage speed reducing portion 80 is constructed by an eccentric oscillating type speed reduction mechanism constituted by a fixed internal gear member 82 in which internal teeth 31 are formed at the internal periphery thereof, a plurality of (two) external gears 84 , which are received in the internal gear member 82 , which have external teeth 83 engaged with the internal teeth 81 and having number of teeth slightly less than that of the internal teeth 81 at the external periphery thereof, and which are disposed in parallel to each other in the axial direction, a plurality of (four) crank shafts 85 , which are rotatably inserted into the plurality of external gears 84 , and which are connected to the second spur gear 54 of the second stage speed reducer 70 and rotate to eccentrically rotate the plurality of external gears 84 , and a carrier 87 as an output part, which rotatably supports both ends of the crank shafts 85 through a pair of bearings 86 .
  • a pinion gear 89 having external teeth 88 engaged with a ring gear of a tower (not shown) is provided at a leading end of the carrier 87 through spline connection.
  • Each of the plurality of the second spur gears 54 of the second stage speed reducing portion 70 is attached to each end of the plurality of crank shafts 85 .
  • Each of crank portions of the plurality of crank shafts 85 is inserted into the inside of the plurality of external gears 84 through a needle bearing 90 .
  • the carrier 87 is rotatably supported by the internal gear member 82 through a pair of bearings 91 .
  • the reduction gear ratio of he third stage speed reducing portion 80 constructed by the eccentric oscillating type speed reduction mechanism is set to 1/60.
  • the reduction gear ratio of the third stage speed reducing portion 30 constructed by the eccentric oscillating type speed reduction mechanism is selectively set to 1/50 to 1/140.
  • the total reduction gear ratio of the speed reducer of the invention which is constructed by three stage speed reduction, is set to 1/1080(1/6 ⁇ 1/3 ⁇ 1/60).
  • the total reduction gear ratio of the speed reducer constructed by three stage speed reduction may be set to 1/200 to 1/8400(1/2 ⁇ 1/2 ⁇ 1/50 to 1/12 ⁇ 1/5 ⁇ 1/140).
  • the total reduction gear ratio is set to 1/1000 to 1/3000.
  • FIG. 4 is a graph illustrating the relationship among the reduction gear ratio of the eccentric oscillating type speed reduction mechanism, the efficiency of the eccentric oscillating type speed reduction mechanism, the total efficiency of the speed reducer for the yaw drive apparatus, and the total reduction gear ratio.
  • the efficiency of the eccentric oscillating type speed reduction mechanism is indicated by a line L 1 and decreases as the reduction gear ratio increases.
  • the total efficiency of the yaw drive apparatus is indicated by a line L 2 and decreases as the reduction gear ratio increases.
  • the reduction gear ratio of the third stage speed reducing portion 30 constructed by the eccentric oscillating type speed reduction mechanism at 1/140 or less at which the total efficiency thereof is 85% or more.
  • the speed reducer is constituted by the three stage speed reducing portions having a short axial length
  • the third speed reducing portion is constructed by the eccentric oscillating type speed reduction mechanism and the reduction gear ratio is set to 1/50 to 1/140, it is possible to maintain the total efficiency of 77% required for the speed reducer for the yaw drive apparatus of the wind power generation apparatus.
  • the reduction gear ratio of the eccentric oscillating type speed reduction mechanism is set to 1/50 to 1/140, it is easy to obtain the ratio of 1/1000 to 1/3000 which is the total reduction gear ratio of the speed reducer required for the yaw drive apparatus, even though the speed reducer is constituted by three speed reducing portions.
  • the internal-geared gear bodies 32 and 82 of the eccentric oscillating speed reduction mechanisms 30 and 80 are fixed, and the output rotation is obtained from the carriers 37 and 87 .
  • the carriers 37 and 87 may be fixed, and the output rotation may be obtained from the internal-geared gear bodies 32 and 82 .
  • the pinions 39 and 89 are attached to the internal-geared gear bodies 32 and 82 .
  • the external teeth 38 and 88 engaged with the ring gear of the tower may be formed at the external periphery of the internal-geared gear bodies 32 and 82 .
  • the first speed reducing portion is constructed by the planetary speed reduction mechanism
  • the second speed reducing portion is constructed by the spur gear type speed reduction mechanism
  • the first and second speed reducing portions are constructed by the spur gear type speed reduction mechanism.
  • both of the first and second speed reducing portions may be constructed by the planetary speed reduction mechanism.
  • a reference numeral 111 indicates a tower (column) of a wind power generation apparatus 112 .
  • a wind power generation unit 113 is capable of yawing and supported at the upper end of the tower 111 through a bearing 114 , that is, it is supported to rotate in a substantially horizontal plane.
  • the wind power generation unit 113 has a well-known structure and is constituted by a nacelle housing 115 , a rotor head (not shown) which is supported by the nacelle housing 115 and can rotate around a substantially horizontal axis, a plurality of windmill blades (not shown) of which a radial inner end is rotatably connected to the rotor head, and a motor (not shown) which is fixedly received in the nacelle housing 115 and generates a power using the rotation transferred from the rotor head.
  • an inner race of the bearing 114 is fixed to the tower.
  • a plurality of inner teeth 18 is formed at the inner periphery of the inner race, so that the inner race forms a ring-shaped inner gear 119 as a first gear attached to any one of the tower 111 and the wind power generation unit 113 (in the third embodiment, to the upper end of the tower 111 ).
  • the inner race is commonly used to the inner gear 119 , the entire structure of the apparatus becomes simple, whereby the apparatus can be reduced in size.
  • a reference numeral 120 indicates fluid motors as a plurality of drive motors attached to the other side between the tower 111 and the wind power generation unit 113 (in the third embodiment, to the nacelle housing 115 of the wind power generation unit 113 ) with the speed reducer 121 being interposed therebetween. These fluid motors 120 are disposed with the same interval in the peripheral direction.
  • the fluid motor 120 (here, it is constituted by the drive motor) is provided with drive energy, such that when high-pressured fluid is supplied, an output shaft 122 rotates.
  • a rotational drive torque of the output shaft 122 is reduced by a speed reducer 121 and is applied to a pinion 124 which is an external gear as a second gear fixed to a rotational shaft 123 of the speed reducer 121 to rotate the pinions 124 .
  • the pinions 124 are engaged with the inner teeth 118 of the inner gear 119 .
  • a reference numeral 125 indicates a fluid pump which is rotated by a motor 126 and discharges the fluid inhaled from a tank 127 into a supply passage 128 as highly-pressured fluid.
  • a check valve 129 is interposed in the supply passage 128 .
  • a plurality of (here, the same number as that of the fluid motor 120 ) solenoid type switching valves 131 controlled by a controller 130 constituted by a CPU or the like is connected to the distal end of the check valve 129 . Further, the switching valves 131 and the tank 127 are connected to each other through a discharge passage 132 .
  • Reference numerals 133 and 134 indicate a pair of supply/discharge passages which connect between the paired fluid motor 120 and the switching valve 131 .
  • the supply/discharge passages 133 and 134 are switched into a flow position (a parallel-flow position or a cross-flow position), so that the one side becomes a high pressure side and the other side becomes a low pressure side, whereby the fluid motor 120 positively rotates or inversely rotates.
  • the controller 130 Since the anemoscope 137 and a potentiometer 138 are connected to the controller 130 , a wind direction signal from the anemoscope 137 which indicates the present wind direction is input to the controller 130 . However, at this time, when the present wind direction and the rotational direction of the wind power generation unit 113 are different, the controller 130 switches the switching valve 131 to rotate positively or inversely the fluid motor 120 , and yaws the wind power generation unit 113 by following the wind direction such that the wind power generation unit 113 receives the wind from the front side and generates with high efficiency.
  • a reference numeral 141 indicates a relief passage connecting the supply passage 128 and the tank 127 .
  • a relief valve 142 for relieving pressure higher than the common line fluid pressure circuit is interposed in the relief passage 141 .
  • the relief valve 142 protects the fluid circuit from an abnormal high pressure.
  • a reference numeral 143 indicates a solenoid type on-off valve connected to a pilot passage of the relief valve 142 . The on-off operation of the on-off valve 143 is controlled by the controller 130 .
  • a reference numeral 144 indicates a reduction passage connecting the on-off valve 143 and the tank 27 .
  • a low pressure relief valve 145 of which relief pressure is set to a pressure lower than that of the highly-pressured fluid (a common line pressure) which is supplied to the fluid motor 120 in common yawing of the wind power generation unit 113 , is interposed in the reduction passage 144 .
  • the low pressure relief valve 145 relieves the fluid to the tank 127 and reduces the pressure of the highly-pressured fluid supplied to the fluid motor 120 into a pressure lower than the common pressure.
  • the above-described on-off valve 143 , the reduction passage 144 , and the relief valve 145 construct a reduction means 146 as a whole which makes the fluid pressure supplied to the fluid motor 120 lower than that of the highly-pressured fluid supplied to the fluid motor 120 in the common yawing.
  • a proportional pressure control valve capable of controlling the pressure of the passing fluid proportionally to the input signal value from the controller 130 may be used as the reduction means 146 , instead of the protective relief valve 142 .
  • the proportional pressure control valve performs both the relief at the abnormal high pressure and the relief at the pressure lower than that of the line pressure.
  • a reference numeral 151 indicates a negative brake which uses a friction plate as a braking means capable of applying a predetermined value of braking torque to the output shaft 122 of the fluid motor 120 .
  • the negative brake 151 has a fixing casing 152 and a piston 153 is received in the fixing casing 152 .
  • a reference numeral 158 indicates a spring capable of applying a biasing force to the rotational and fixed friction plates 156 and 157 through the piston 153 .
  • the spring 158 presses tightly the rotational and fixed friction plates 156 and 157 against the stepped plane to frictionally connect the rotational and fixed friction plate 156 and 157 to each other.
  • the above-described fixing casing 152 , the piston 153 , the rotational and fixed friction plates 156 and 157 , and the spring 158 construct the above-described negative brake 151 as a whole.
  • a reference numeral 159 indicates a selection passage connecting the supply/discharge passages 133 and 134 to each other.
  • a selection valve 160 which selects and takes out the highly-pressured fluid from the highly-pressured supply passage 133 or 134 , is interposed in the selection passage 159 .
  • the highly-pressured fluid taken out by the selection valve 160 is induced into the braking chamber through the selection valve 160 and a brake passage 161 in the above-described braking casing 152 .
  • the piston 153 moves away from the rotational and fixed friction plates 156 and 157 against the spring 158 by the highly-pressured fluid, whereby the rotational and fixed friction plates 156 and 157 are spaced from each other.
  • the braking chamber of the fixing casing 152 and the tank 127 are connected to each other by a discharge passage (not shown), and the switching valve 131 is interposed in the discharge passage.
  • the switching valve 131 is switched into the flow position, the discharge passage is closed by the switching valve 131 .
  • the highly-pressured fluid taken out by the selection valve 160 is supplied to the braking chamber, but when the switching valve is switched into neutral position, the discharge passage communicates with the braking chamber of the fixing casing 152 and discharges the fluid from the braking chamber into the tank 127 and terminates the application of the fluid power toward the piston 153 .
  • the fluid is discharged from the braking chamber of the fixing casing 152 .
  • the negative brake 151 brings the rotational and fixed friction plates 156 and 157 to contact each other by the biasing force by the spring 158 , and applies the predetermined value of the braking torque to the fluid motor 120 .
  • the highly-pressured fluid taken from the highly-pressured side supply/discharge passages 133 and 134 is supplied into the braking chamber of the fixing casing 152 , and piston 153 is moves away from the rotational and fixed friction plates 156 and 157 and the application of the braking torque toward the fluid motor 120 is terminated.
  • the reduction means 146 reduces the fluid pressure with two timings by the control of the controller 130 .
  • the one reduction of the fluid pressure begins to start from when the supply of the highly-pressured fluid toward the fluid motor 120 begins to start, and at the same time, the reduction of the fluid pressure is terminated after a predetermined time is passed from when the supply of the highly-pressured fluid toward the fluid motor 120 begins to start.
  • the other reduction of the pressure begins to start from just before the supply of the highly-pressured fluid is stopped and is terminated when the supply of the highly-pressured fluid toward the fluid motor 120 is stopped.
  • the reduction in the fluid pressure by the reduction means 146 must be performed during the above-describe period, but the reduction in the fluid pressure is not interrupted.
  • the fluid pressure can be reduced from a point of time before the supply of the highly-pressured toward the fluid motor 120 starts to begin, or can be reduced after the supply of the highly-pressured fluid toward the fluid motor 120 is stopped.
  • the rotational speed of the output shaft 122 of the fluid motor 120 increases to some degree.
  • the fluid motor is supplied with the highly-pressured fluid having the line pressure in common yawing and the yawing of the wind power generation unit 113 is performed.
  • the wind power generation unit 113 when the wind power generation unit 113 is at a state in which the rotation thereof is stopped, and at the same time, the braking torque is applied to the fluid motor 120 by the negative brake 151 , the wind power generation unit 113 may rotate against the braking by the negative brake 151 due to the excessive wind load applied to the wind power generation unit 113 caused by a gust or the like.
  • the rotation of the wind power generation unit 113 is transferred to the fluid motor 120 and the negative brake 151 through the internal gear 119 , the pinion 124 , and the speed reducer 121 , and the fluid motor 120 is rotated, whereby the pump operation of the fluid motor 120 is performed and at the same time the rotational and fixed friction plates 156 and 157 rotate with them being frictional contacted to each other.
  • the negative brake 151 when the pressure in the supply/discharge passages 133 and 134 increases to an abnormal high pressure, the negative brake 151 may be heated and damaged due to a frictional heat.
  • the pair of supply/discharge passages 133 and 134 is connected to each other by a connection passage 164 and at the same time, a variable throttle 165 is interposed in the connection passage 164 .
  • the pump operation of the fluid motor 120 is performed, such that the fluid discharged to the supply/discharge passage 133 and 134 flow to the supply/discharge passages 133 and 134 while being squeezed by the throttle 165 , whereby it is possible to prevent the pressure inside the supply/discharge passages 133 and 134 from being raised to the abnormal high pressure and to control the rotational speed of the fluid motor 120 by restricting the amount of the fluid passing through the throttle 165 within a predetermined amount.
  • the wind power generation unit 113 receives the wind from the front side, such that the switching valve 131 is converted into the neutral position, whereby the supply of the highly-pressured fluid toward the fluid motor 120 is stopped and the yawing of the wind power generation unit 113 is stopped.
  • the negative brake 151 brings the rotational and fixed friction plates 156 and 157 to contact frictionally to each other by a biasing force of the spring 158 , and applies a predetermined value of braking torque to the fluid motor 120 .
  • the anemoscope 137 detects the wind direction and outputs the wind direction signal to the controller 130 .
  • the controller 130 applies a switching valve voltage to one side coil of the switching valves 131 A and 131 B at time T 1 , and switches the switching valves 131 A and 131 B into the flow position, for example, the parallel-flow position.
  • the highly-pressured fluid discharged from the fluid pump 125 is supplied to the fluid motor 120 through the supply passage 128 and the supply/discharge passage 133 to rotate the fluid motor 120 , and at the same time, the fluid from the fluid motor 120 is discharged into the tank 127 through the supply/discharge passage 134 and the discharge passage 132 .
  • the selection valve 160 selectively takes out the highly-pressured fluid from the supply and discharge valve 133 , and supplies it to the braking chamber in the fixing casing 152 through the brake passage 161 , raises the pressure inside the braking chamber, as shown in FIG. 7 ( b ).
  • the piston 153 receives the fluid pressure and moves away from the rotational and fixed friction plates 156 and 157 against the spring 158 , and then terminates the application of the braking torque with respect to the fluid motor 120 from the time T 1 .
  • on-off valve voltage is applied to the on-off valve 143 by the controller 130 as shown in FIG. 7 ( e ), and the on-off valve 143 is switched into on-state, such that the relief valve 145 relieves the fluid into a low pressure and reduces the pressure of the fluid supplied into the fluid motor 120 to a pressure lower than a common line pressure.
  • the pressure of the highly-pressured fluid supplied to the fluid motor 120 is lowered by the reduction means 146 to a pressure lower than the pressure (line pressure) of the fluid in the common yawing, from the point of time T 1 that the supply of the highly-pressured fluid begins to start.
  • the wind power generation unit 113 yaws by the point of time just before it receives the wind from the front side.
  • the on-off valve voltage is applied to the on-off valve 143 from the controller 130 , such that the on-off valve 143 is switched into on-state and the low pressure relief valve 145 is relieved.
  • the pressure of the fluid supplied to the fluid motor 120 is lowered, and the rotational drive torque of the fluid motor 120 becomes to a small value.
  • the predetermined time from the time T 3 when it reaches the point of time T 4 at which the supply of the highly-pressured fluid is stopped, as shown in FIGS.
  • the switching valve 131 when the switching valve 131 is switched into the neutral position at the time T 4 , the fluid is discharged from the braking chamber of the fixing casing 152 to the tank 127 .
  • the rotational and fixed friction plates 156 and 157 frictionally contact to each other due to the biasing force of the spring 158 and the negative brake 151 applies a predetermined value of braking torque to the fluid motor 120 .
  • the on-off valve 143 may switch the switching valve 131 into the neutral position and at the same time into the off-state at time T 4 .
  • it maintains for a predetermined time after the time T 4 . Then, it reaches time T 4 , as shown in FIG. 7 ( a ), the output shaft 122 of the fluid motor 120 is stopped, and the yawing of the wind power generation unit 113 is also stopped. At this time, the wind power generation unit 113 receives the wind from the front side, whereby the efficiency of the power generation increases.
  • the switching valve voltage is applied from the controller to the other side coil of the switching valve 131 (here, the switching valve 131 B), and the switching valve 131 B is switched into the cross-flow position.
  • the pressured fluid is supplied to the supply/discharge passage 134 through the switching valve 131 B.
  • the fluid pressure at this time is determined to be low by the low pressure relief valve 145 , since the on-off valve 143 keeps the on-state from the time T 3 .
  • the negative brake 151 releases the fluid motor 120 from the braking, such that the fluid motor 120 rotates the pinion 124 to the direction opposite to the above-described direction.
  • the pinion 124 engaged with the internal teeth 118 of the internal gear 119 and the backlash between them is removed. In this way, it is possible to reduce more effectively the impact between the teeth of the pinion 124 and the internal teeth 118 of the internal gear 119 at the time of next start-up of the yawing of the wind power generation unit 113 .
  • the switching valve voltage applied to some switching valves 131 may be applied to one side coil contrary to the above description.
  • the pinion 124 rotates in the direction same as that of the yawing.
  • the switching valve voltage may not be applied to the remained switching valves 131 in many cases.
  • the switching valve voltage may be applied to the other side coil of the remained switching valves 131 .
  • the wind power generation unit 113 may rotate against the braking by the negative brake 151 due to the excessive wind load applied to the wind power generation unit 113 caused by a gust or the like.
  • the fluid motor 120 performs a pump operation, such that it sucks the fluid from one of the supply and discharge valves 133 and 134 and at the same time, it discharges the fluid to the other of the supply and discharge valves 133 and 134 .
  • the switching valve 131 since the switching valve 131 was switched into the neutral position, the pressure inside the supply/discharge passages 133 and 134 in the discharge side increases, whereby the pressure inside the braking chamber of the fixing casing 152 increases rapidly as shown in FIG. 7 ( b ) Therefore, the braking of the negative brake 151 with respect to the fluid motor 120 is released.
  • the fluid discharged to the supply/discharge passages 133 and 134 in the discharge side flows into the supply/discharge passages 133 and 134 in the suction side while being squeezed by the throttle 165 , whereby it is possible to prevent the pressure inside the supply/discharge passages 133 and 134 from being raised to the abnormal high pressure and to prevent the output shaft 122 of the fluid motor 120 and the wind power generation unit 113 from being rotated with high speed by restricting the amount of the fluid passing the throttle 165 within a predetermined amount to control the rotational speed of the fluid motor 120 .
  • the pressure inside the supply/discharge passages 133 and 134 in the discharge side serves as a back pressure, it is possible to provide the braking to the fluid motor 120 . Then, when it reaches time T 8 and the rotation of the wind power generation unit 113 is stopped, the pressure of the supply/discharge passages 133 and 134 decreases, such that the pressure inside the control chamber of the fixing casing 152 is also reduced as shown in FIG. 7 ( b ), and the negative brake 151 provides again the fluid motor 120 with the braking power.
  • a fourth embodiment of the yaw drive method and apparatus by using the speed reducer will be described with reference to FIG. 8 .
  • the same portions are denoted by the same reference numerals in the drawing and descriptions for them will be omitted, and only portions different from the third embodiment will be described.
  • a reference numeral 170 indicates a counter balance valve which is interposed in the supply/discharge passages 133 and 134 and has a check valve 171 .
  • the fluid motor 120 When the wind power generation unit 113 rotates by the rotation of the fluid motor 120 , if a large wind load operates in the same direction as the rotational direction of the wind power generation unit 113 , the fluid motor 120 receives the wind load and performs the pump operation. At this time the counter balance valve 170 receives the pressure of the supply/discharge passages 133 and 134 in the discharge side and is switched into a state close to the off-state, thereby preventing the fluid motor 120 from being rapidly rotated.
  • a control valve 173 which is switched by the control valve voltage output from the controller 130 on the basis of a wind velocity signal from an anemometer, a fluid passage 176 which connects the control valve 173 and the supply passage 128 with an accumulator 175 being interposed on the way, a supply/discharge passage 177 connecting the control valve 173 and the control chamber of the negative brake 151 , and a discharge passage 178 connecting the control valve 173 and the tank 127 are provided instead of the selection passage 159 , the selection valve 160 , and the brake passage 161 .
  • the anemometer measuring the wind velocity is further provided.
  • the output of the control valve voltage is stopped, such that the control valve 173 is switched into the supply position.
  • the highly-pressured fluid is supplied to the control chamber of the negative brake 151 from the supply passage 128 , the fluid motor 120 is released from the braking caused by the negative brake 151 .
  • a relief valve 180 interposed in the connection passage 164 .
  • the relief valve 180 is switched into on-state when the pressure in any one of the supply/discharge passages 133 and 134 becomes to a predetermined pressure or more in which the predetermined pressure is higher than a line pressure and is lower than a relief pressure of the relief valve 142 .
  • the fluid motor 120 performs the pump operation, and the pressurse in the supply/discharge passages 133 and 134 are raised to the predetermined value or more, the relief valve 180 is switched into on-state and the highly-pressured fluid in the discharge side flows toward the suction side, whereby it is possible to restrict the pressure at the discharge side to a predetermined pressure (a relief pressure).
  • a predetermined pressure a relief pressure
  • the relief pressure acts on the fluid motor 120 as a back pressure, such that the fluid braking force is applied thereto, and the rotation of the fluid motor 120 is restricted and at the same time, the torque is controlled.
  • a hydraulic pressure brake constituted by a brake disk fixed to the upper end of the tower and frictional fixing type brake shoe in which the brake disk is interposed, which is necessary to fix the conventional wind power generation unit.
  • the control valve voltage is continuously applied with respect to the control valve 173 .
  • the application of the control valve voltage with respect to the valve 173 from the controller 130 is stopped.
  • the highly-pressured fluid is supplied to the control chamber of the negative brake 151 from the supply passage 128 through the fluid passage 176 and the supply/discharge passage 177 , and the fluid motor 120 is released form the braking due to the negative brake 151 at the time T 1 .
  • the negative brake 151 applies the braking force with respect to the fluid motor 120 from the time T 4 .
  • the application of the control valve voltage to the control valve 173 from the controller 130 is stopped and the control valve 173 is switched into the supply position.
  • the highly-pressured fluid is supplied to the control chamber of the negative brake 151 from the supply passage 128 , and the fluid motor 120 is released from the braking due to the negative brake 151 , thereby preventing the bad effect on the apparatus from being generated.
  • the application of the control valve voltage is restarted at a time T 8 at which the rotation of the wind power generation unit 113 is stopped. Further, another construction and operation are same as that of the third embodiment.
  • the reduction means 146 is omitted, and the stoppage of the supply of the highly-pressured fluid with respect to the fluid motor 120 is performed by stopping the supply of the switching valve voltage to the switching valve 131 at a different timing, that is, a time T 3 different from the third and fourth embodiments.
  • a time T 4 after a predetermined short time is passed from the time T 3 , the application of the control valve voltage to the control valve 173 from the controller 130 begins to start to switch the control valve 173 into the discharge position, thereby applying a predetermined value of the braking torque to the fluid motor 120 .
  • the rotational speed of the wind power generation unit 113 gradually decreases due to the frictional effect or gyroscopic effect of the rotor-head or the like. Since the above-described braking torque is applied from the negative brake 151 to the fluid motor 120 when the rotational speed decreases in this way, the impact between the teeth of the pinion 124 and the internal teeth 118 of the internal gear 119 decreases, whereby it is possible to reduce the damage on the teeth of the pinion 124 and internal gear 119 and noise, and to make the apparatus small in size at a low price.
  • the first gear (internal gear 119 ) is attached to the tower 111
  • the fluid motor 120 is attached to the wind power generation unit 113 .
  • the first gear may be attached to the wind power generation unit and the drive motor may be attached to the tower.
  • the fluid motor 120 is used as the drive motor, but in the present invention, a motor may be used.
  • the drive energy is an electric power.
  • a thyristor or a tirac is preferably used.
  • the ring-shaped internal gear 119 is used as a first gear
  • the pinion 124 which is an external gear is used as a second gear
  • the external gear may be used as the first and second gears.
  • the fluid motors (drive motors) 120 are disposed to be spaced at equal distance in the peripheral direction. However, the drive motors may be disposed to be spaced at different distance in the peripheral direction.
  • a reference numeral 211 indicates a tower (column) of a wind power generation apparatus 212 .
  • a wind power generation unit 213 is capable of yawing and supported at the upper end of the tower 211 through a bearing 214 , that is, it is supported to rotate in a substantially horizontal plane.
  • the wind power generation unit 213 has a well-known structure and is constituted by a nacelle housing 215 , a rotor head (not shown) which is supported by the nacelle housing 215 and can rotate around a substantially horizontal axis, a plurality of windmill blades (not shown) of which a radial inner end is rotatably connected to the rotor head, and an electric generator (not shown) which is fixedly received in the nacelle housing 215 and generates a power using the rotation transferred from the rotor head.
  • an inner race of the bearing 214 is fixed at the tower 211 .
  • a plurality of inner teeth 218 is formed at the inner periphery of the inner race.
  • the inner race constructs a ring-shaped inner gear 219 as a first gear attached to any one of the tower 211 and the wind power generation unit 213 (in the sixth embodiment, to the upper end of the tower 211 ).
  • the entire structure of the apparatus becomes simple, whereby the apparatus can be reduced in size.
  • a reference numeral 220 indicates motors as a plurality of drive motors attached to the other side between the tower 211 and the wind power generation unit 213 (in the sixth embodiment, to the nacelle housing 215 of the wind power generation unit 213 ) with the speed reducer 221 being interposed therebetween.
  • These fluid motors 120 are disposed with the same interval in the peripheral direction.
  • the fluid motor 220 is provided with drive energy, here, since the drive motor is the motor, when it is provided with an electric power, an output shaft of the motor 220 rotates.
  • the rotational drive torque of the output shaft is reduced by a speed reducer 221 and is applied to pinions 223 which are the external gears as second gear fixed to the rotational shaft 222 of the speed reducer 221 to rotate the pinions 224 .
  • the pinions 223 are engaged with the inner teeth 218 of the inner gear 219 .
  • a reference numeral 226 indicates a controller such as CPU.
  • the controller 226 is provided with a wind direction signal from an anemoscope 227 and a potentiometer 228 . Further, the controller 226 operates the motor 220 on the basis of the wind direction signal indicating the present wind direction and yaws the wind power generation unit 213 following the wind direction of the wind power generation unit 213 such that the wind power generation unit 213 receives from the front side and generates an electricity with a high efficiency.
  • a reference numeral 231 indicates the braking means which is provided to the motor 220 and is capable of applying the braking torque of a value lower than the maximum drive torque of the motor 220 .
  • the braking means 231 an electromagnetic brake using a well known frictional plate is used in the sixth embodiment.
  • the braking means 231 applies the braking torque to the output shaft of the motor 220 .
  • the braking means 231 releases the output shaft of the motor 220 from the braking.
  • the braking means 231 begins to start the application of the braking torque with respect to the motor by the control of the controller 226 from at least two points of time.
  • the application of a start-up braking torque (torque for reduction) is performed from when the electrification begins to start, and the application of a final braking torque (torque for stoppage) is performed after a predetermined time from when the electrification with respect to the motor 220 is stopped. Further, the application of the start-up braking torque is terminated after a predetermined short time from when the electrification begins to start.
  • the application of the final braking torque may be terminated after the rotation of the wind power generation unit 213 is terminated, but it is preferable that the braking torque is applied continuously during the time of the stoppage of the yawing without being terminated at least until the electrification to the motor 220 begins to start for preventing the wind power generation unit 213 being rotated due to the wind load or the like.
  • the rotational drive torque obtained by subtracting the start-up braking torque from the output drive torque of the motor 220 is applied to the pinion 223 .
  • the start-up drive torque has a predetermined value lower than the maximum drive torque of the motor 220 , the pinion 223 can rotate for yawing the wind power generation unit 213 .
  • the rotational drive torque at this time has a small value obtained from the above-described subtraction, and the rotational speed of the pinion 223 is reduced by the start-up braking torque, an impact between the teeth of the pinion 2223 and the internal teeth 218 of the internal gear 219 is reduced, whereby it is possible to reduce the damage on the teeth of the pinion 223 and internal gear 219 or noise, and to make the apparatus small in size at a low price.
  • the rotational speed of the motor 220 increases to some degree. However, at this point of time, the application of the braking torque is terminated and the yawing of the wind power generation unit is performed.
  • the rotational speed of the wind power generation unit 213 is reduced due to the gyroscopic effect or the frictional resistance for a period that a predetermined time has passed from when the electrification with respect to the motor 220 is terminated.
  • the final braking torque is applied to the motor 220 from the braking means 231 when the rotational speed is reduced in this way, such that an impact between the teeth of the pinion 223 and the internal teeth 218 of the internal gear 219 is reduced, whereby it is possible to reduce the damage on the teeth of the pinion 223 and internal gear 219 or noise, and to make the apparatus small in size at a low price.
  • start-up braking torque and the final braking torque may be constant regardless of the passage of the time, and may be gradually decreased or increased with the passage of the time. Further, the start-up braking torque value and the final braking torque value may be equal to each other, or may be different from each other. In particular, the value of the final braking torque may be larger than that of the maximum drive torque of the motor 220 .
  • the application of the final braking torque is not terminated after a predetermined time, but it continues by the braking means 231 until the electrification to the motor 220 begins to start (as described above, the electrification for the start-up braking torque begins to start from this point of time), whereby the yawing of the wind power generation unit 213 when the stoppage of the motor 220 is restricted.
  • the same braking means 231 is provided with both the impact reduction function and the rotation restriction function of the wind power generation unit 213 at the time of the stoppage of the motor 220 , the structure become simple and the manufacturing cost becomes inexpensive compared to the case in which the two braking means are provided according to their functions.
  • the braking means 231 applies the braking torque (final braking torque) to the motor 220 , the wind power generation unit 213 may rotate against the braking by the braking means 231 due to the excessive wind load applied to the wind power generation unit 213 caused by a gust or the like.
  • the rotation of the wind power generation unit 213 is transferred to the braking means 231 through the internal gear 219 , the pinion 223 , and the speed reducer 221 , and the output shaft of the motor 220 , and the rotation is performed with the frictional plate being frictional contacted to each other.
  • the braking means 231 may be heated and damaged due to a frictional heat.
  • the braking means 231 is provided with a detection sensor 233 for detecting the temperature inside the braking means 231 , such that the temperature inside the braking means 231 is always detected and the detection signal is output to the controller 226 .
  • the controller 226 terminates the application of the braking torque to the motor 220 of the braking means 231 on the basis of the abnormal signal from the detection sensor 233 , thereby preventing previously the accident such as the above-described damage.
  • a reference numeral 235 indicates a fluid pump which is rotated by the motor 236 and discharges the fluid sucked from a tank 237 to a supply passage 238 as a highly-pressured fluid.
  • a check valve 239 and an accumulator 240 are interposed in the supply passage 238 , and a solenoid type switching valve 241 controlled by the controller 226 is connected to the distal end of the supply passage. Further, the switching valve 241 and the tank 237 are connected by a discharge passage 242 .
  • a reference numeral 243 indicates a plurality of brake mechanisms attached to a nacelle housing of the wind power generation unit 213 and is disposed at the same interval at the peripheral direction.
  • Each brake mechanism 243 is constituted by a fluid cylinder 245 connected to the switching valve 241 through the supply/discharge passage 244 and a frictionally fixed type brake shoe 246 .
  • a reference numeral 247 indicates a ring-shaped brake disk fixed to the upper end of the tower 211 .
  • the brake disk 247 is inserted into the brake shoe 246 from both sides, such that the braking power is applied to the wind power generation unit 213 , thereby preventing the wind power generation unit 213 from being yawed little by little in a meaningless manner.
  • the above-described fluid pump 235 , the motor 236 , the switching valve 241 , the brake mechanism 243 , and the brake disk 247 construct a fluid brake 248 as a whole.
  • the controller 226 electrifies the braking means 231 with a predetermined voltage, and applies the braking torque with respect to the output shaft of the motor 220 .
  • the switching valve 241 is switched into the supply position by the controller, and the highly-pressured fluid discharged from the fluid pump 235 is supplied to the fluid cylinder 245 , such that the brake disk is inserted into the brake shoe 246 to provide the fluid braking power to the wind power generation unit 213 .
  • the anemoscope 227 detects the wind direction and outputs the change to the controller 226 .
  • the controller 226 initiates the electrification with a predetermined voltage to the motor 220 at a time T 1 , and drives the motor 220 to rotate. Further, it reach the time T 1 , the switching valve 241 is switched into the discharge position by the controller 226 , such that the fluid is discharged into the tank 237 from the fluid cylinder 245 , whereby the wind power generation unit 213 is released from the braking of the fluid brake 248 .
  • the braking means 231 applies the start-up braking torque to the motor 220 from when the electrification to the motor 220 begins to start.
  • the braking means 231 continuously applies the braking torque during the rotation of the motor 220 is stopped, the electrification to the braking means 231 is actually performed continuously around the point of time, and the application of the braking torque to the motor 220 is performed continuously.
  • the output shaft of the motor 220 is rapidly accelerated, such that the rotational speed is raised to a normal rotational speed, and the wind power generation unit 213 rotates at a normal yawing speed to receive the wind from the front side. Further, when the wind power generation unit 213 yaws to the position just before it receives the wind from the front side, the electrification to the motor 220 is stopped as shown in FIG. 12 ( c ). This point of time is T 3 .
  • the rotational speed of the output shaft of the motor decreases rapidly as shown in FIG. 12 ( a ), and when it reaches a time T 5 , the rotation thereof is stopped, such that the yawing of the wind power generation unit 213 is also stopped.
  • the wind power generation unit 213 receives the wind from the front side, such that the efficiency of the generation of the electricity increases mostly.
  • the switching valve 241 is switched into the supply position by the controller 226 , such that the highly-pressured fluid discharged from the fluid pump 235 is supplied to the fluid cylinder 245 .
  • the brake disk 247 is interposed by the brake mechanism 243 , and the wind power generation unit 213 is provided with the fluid braking power in addition to the braking power of the braking means 231 .
  • the wind power generation unit 213 does not rotate from this state in which the wind direction changes next time. However, the wind power generation unit 213 may rotate against the braking by the braking means 231 and the fluid brake 248 due to the excessive wind load applied to the wind power generation unit 213 caused by a gust or the like. In this case, the rotation of the wind power generation unit 213 is transferred to the output shaft of the motor through the internal gear 219 , the pinion 223 , and the speed reducer 221 . As shown in FIG. 12 ( a ), the output shaft of the motor 220 initiates a high-speed rotation by a rapid acceleration from a time T 6 . At this time, since it rotates with the frictional plates of the braking means 231 being frictionally contacted to each other, the frictional heat generates, whereby the braking means 231 is heated.
  • the detection sensor 233 which detects always the temperature inside the braking means 231 , outputs the abnormal signal to the controller 226 , as shown in FIG. 12 ( d ).
  • the controller 226 stops the electrification to the braking means 231 to terminate the application of the braking torque to the braking means 231 , and releases the motor 220 from the braking caused by the braking means 231 , thereby preventing the braking means 231 from being damaged.
  • the temperature inside the braking means 231 decreases to a permitted temperature or less, as shown in FIG. 12 ( d ), the abnormal signal is not output from the detection signal 233 , but the controller 226 electrifies the braking means 231 at this time, as shown in FIG. 12 ( a ), and the motor 220 is applied with the braking torque by the braking means 231 .
  • FIG. 13 is a view illustrating a seventh embodiment of the present invention.
  • a reference numeral 251 indicates a braking means which is provided to the motor 220 and is capable of applying the motor 220 with a predetermined value of braking torque smaller than the maximum drive torque of the motor.
  • the braking means 251 a fluid type negative brake using a well known frictional plate.
  • the braking means 251 has a fixing casing 252 in which a piston is rotatably received. Further, at least one of a rotational friction plate 256 disposed between a piston 253 and a stepped plane 254 of the braking means 251 and spline-connected to the outside of an output shaft 255 of the motor 220 , as a rotational side frictional member, and at least one of a fixed friction plate 257 which is capable of being approached to or spaced from the rotational friction plate 256 and which is spline-connected to the inner wall of the fixing casing 252 , as a fixed side frictional member, are received in the fixing casing 252 .
  • a reference numeral 258 indicates a spring capable of applying a biasing force to the rotational and fixed friction plates 256 and 257 through the piston 253 .
  • the spring 258 presses tightly the rotational and fixed friction plates 256 and 257 against the stepped plane 254 to frictionally connect the rotational and fixed friction plate 256 and 257 to each other.
  • a reference numeral 259 indicates a fluid passage connected to the fixing casing 252 , and a throttle 260 is interposed in the fluid passage.
  • a throttle 260 is interposed in the fluid passage.
  • the other end of the supply passage 262 of which one end is connected to the supply passage 238 between the accumulator 240 and the switching valve 241 , and the other end of the discharge passage 263 of which one end is connected to the tank 237 are connected to the switching valve 261 .
  • the switching valve 261 When the switching valve 261 is switched into the supply position by the controller 226 , the highly-pressured fluid from the fluid pump 235 is supplied to the braking chamber of the fixing casing 252 .
  • the switching valve 261 is switched into the discharge position, the fluid is discharged from the braking chamber of the fixing casing 252 .
  • the above-described fluid passage 259 and the throttle 260 construct an isolating mechanism 264 as a whole for isolating the rotational and fixed frictional plates 256 and 2577 against the spring 258 .
  • the isolating mechanism 264 is constructed by the fluid passage 259 and the throttle 260 as described above, it is possible to isolates securely the rotational and fixed frictional plate 256 and 257 with a simple construction.
  • the above-described fixing casing 252 , the piston 253 , the rotational and fixed frictional plate 256 and 257 , and the isolating mechanism 264 construct the braking means 251 as a whole.
  • the braking means 251 is constructed by the fixed casing 252 , the piston 253 , the rotational and fixed frictional plate 256 and 257 , and the isolating mechanism 264 , it is possible to make the braking means 251 inexpensive with a simple construction.
  • the electrification with a predetermined voltage to the motor 220 begins to start.
  • the application of the valve switching voltage to the switching valve 261 begins to start as shown in FIG. 14 ( c ), and the switching valve 261 is switched into the supply position.
  • the highly-pressured fluid from the fluid pump 235 is supplied to the control chamber inside the fixing casing 252 through the supply passages 238 and 262 , and the fluid passage 259 , and the pressure inside the control chamber is raised as shown in FIG. 14 ( b ).
  • the throttle 260 is interposed in the fluid passage 259 , an amount of fluid by unit time which is supplied to the control chamber of the fixing casing 252 is restricted to a small amount.
  • the piston 253 moves against the spring 258 at a low speed, and a predetermined time is required for the rotational and fixed frictional plates 256 and 257 to be isolated from each other. Therefore, the rotational and fixed frictional plates 256 and 257 of the braking means 251 maintain the frictional contact state (same as the state before the time T 1 ) by the biasing force of the spring 258 for a predetermined time from the time T 1 , and apply the start-up braking torque same as that in the description with respect to the motor 220 . In this way, since the start-up braking torque applied to the motor 220 from the braking means 251 even after the electrification to the motor 220 begins to start, the impact is reduced similar to the sixth embodiment.
  • the piston 253 moves at a low speed, and a predetermined time is required for the rotational and fixed frictional plates 256 and 257 to be frictionally contacted to each other.
  • the rotational speed of the wind power generation unit 213 decreases, whereby the impact is reduced similar to the sixth embodiment.
  • the excessive wind load caused by a gust or the like may be applied to the wind power generation unit 213 . Due to this, the wind power generation unit 213 rotates and at the same time the output shaft 255 of the motor 220 rotates at a high speed, such that the rotational and fixed frictional plates 256 and 257 of the braking means 251 may generate large amount of heat.
  • the controller since the detection sensor 233 outputs an abnormal signal to the controller 226 at a time T 7 as shown in FIG. 14 ( e ), the controller applies the valve switching voltage to the switching valve 261 as shown in FIG. 14 ( d ), and it switches the switching valve 261 into the supply position.
  • the highly-pressured fluid is supplied to the braking chamber of the fixing casing 252 and the motor 220 is released from the braking caused by the braking means 251 . Then, when the temperature inside the braking means 231 , the braking torque is applied again to the motor 220 by the braking means 251 . Further, another construction and operation is same as that of the sixth embodiment.
  • the eighth embodiment when the yawing of the wind power generation is stopped, the application of the above-described final braking torque does not performed.
  • the value of the electric power electrified to the motor 220 is made smaller than the electric power supplied to the motor 220 in the common yawing by controlling the triac, the thyristor or the like by the controller 226 , whereby the rotational power applied to the motor 220 for the period is made small.
  • the rotational speed of the wind power generation unit 213 gradually decreases due to the frictional effect or gyroscopic effect of the rotor-head or the like.
  • the rotational speed decreases in this way, and a predetermined value of final braking torque is applied to the motor 220 after the electrification to the motor is stopped, the impact between the teeth of the pinion 223 and the internal teeth 218 of the internal gear 219 decreases, whereby it is possible to reduce the damage on the teeth of the pinion 223 and internal gear 219 and noise, and to make the apparatus small in size at a low price.
  • the first gear (internal gear 219 ) is attached to the tower 211 , and the motor 220 is attached to the wind power generation unit 213 .
  • the first gear may be attached to the wind power generation unit and the drive motor may be attached to the tower.
  • the motor 220 is used as the drive motor, but in the present invention, the fluid motor may be used.
  • the drive energy is a highly-pressure fluid.
  • the start-up braking torque and the final braking torque are applied by the same braking means 231 .
  • the start-up braking torque and the final braking torque may be applied by different braking means, respectively.
  • the ring-shaped internal gear 219 is used as the first gear
  • the pinion 223 which is an external gear is used as a second gear
  • the external gear may be used as the first and second gears.
  • the motors (drive motors) 220 are disposed to be spaced at equal distance in the peripheral direction. However, the drive motors may be disposed to be spaced at different distance in the peripheral direction.
  • a proportional pressure control valve capable of linearly controlling the pressure passing through the passage, or on-off valve and a low pressure relief valve are preferably interposed in this order.
  • the pressure in the high pressure side supply/discharge passage is maintained at a common high pressure by setting the proportional pressure control valve at a high pressure or switching the on-off valve into an off-state.
  • the proportional pressure control valve may be set to a low pressure, or the on-off valve is switched into on-state, such that the fluid is relieved form the low pressure relief valve, and the pressure inside the high pressure side supply/discharge passage may be decreased compared to the common high pressure.
  • a speed reducer and a yaw drive apparatus for a wind power generation apparatus in which the speed reducer has high efficiency and a short axial length, and suitable for the yaw drive apparatus. Further, it can be applied to a yaw drive apparatus which performs a generation of electricity by rotating a windmill by using a wind, and which is excellent in efficiency and is compact in size.

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  • General Engineering & Computer Science (AREA)
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US10/567,613 2003-08-12 2004-08-11 Speed reducer for use in yaw drive apparatus for wind power generation apparatus, and yaw drive method and apparatus for wind power generation apparatus using the speed reducer Abandoned US20060205554A1 (en)

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JP2003292066A JP2005061519A (ja) 2003-08-12 2003-08-12 風力発電装置のヨー駆動装置に用いる減速機
JP2003-292066 2003-08-12
JP2003-328965 2003-09-19
JP2003328965 2003-09-19
JP2003-329073 2003-09-19
JP2003329073 2003-09-19
JP2003-385529 2003-11-14
JP2003385529A JP4454291B2 (ja) 2003-09-19 2003-11-14 風力発電機のヨー駆動方法および装置
JP2003-386086 2003-11-17
JP2003386086A JP4502627B2 (ja) 2003-09-19 2003-11-17 風力発電機のヨー駆動装置
PCT/JP2004/011786 WO2005015011A1 (ja) 2003-08-12 2004-08-11 風力発電装置のヨー駆動装置に用いる減速機、該減速機を用いた風力発電装置のヨー駆動方法および装置

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US8022564B2 (en) 2011-09-20
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CN102705162A (zh) 2012-10-03

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