WO2013165047A1 - Dispositif de test d'entrainement en lacet et d'entraînement de pas pour une génératrice éolienne - Google Patents

Dispositif de test d'entrainement en lacet et d'entraînement de pas pour une génératrice éolienne Download PDF

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Publication number
WO2013165047A1
WO2013165047A1 PCT/KR2012/003875 KR2012003875W WO2013165047A1 WO 2013165047 A1 WO2013165047 A1 WO 2013165047A1 KR 2012003875 W KR2012003875 W KR 2012003875W WO 2013165047 A1 WO2013165047 A1 WO 2013165047A1
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WO
WIPO (PCT)
Prior art keywords
drive
rack
base
pitch
yaw
Prior art date
Application number
PCT/KR2012/003875
Other languages
English (en)
Korean (ko)
Inventor
김종균
Original Assignee
주식회사 해성산전
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 해성산전 filed Critical 주식회사 해성산전
Priority to CN201280045646.0A priority Critical patent/CN103827481B/zh
Publication of WO2013165047A1 publication Critical patent/WO2013165047A1/fr

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Classifications

    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/022—Power-transmitting couplings or clutches
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
    • F05B2260/79—Bearing, support or actuation arrangements therefor
    • 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
    • F05B2260/83—Testing, e.g. methods, components or tools therefor
    • 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 test apparatus for a wind drive yaw drive and a pitch drive, and more particularly, to the rack by installing a rack for converting the rotational movement of the output of the yaw drive or pitch drive to a linear motion to be tested for performance.
  • the present invention relates to a test apparatus for a yaw drive and a pitch drive for a wind power generator, which is simple in structure, low in noise, and minimizes space in a workplace by connecting a load hydraulic cylinder.
  • the wind generator is a device that converts the energy of the wind into electrical energy, and rotates the blades of the wind generator to produce electricity by the rotational force of the blades generated at this time.
  • Wind generators are devices that convert wind energy into electrical energy. In other words. The wind rotates the blades of the wind generator, and the blades can produce electricity.
  • the wind kinetic energy used in the wind generators compared with the energy using fossil fuels such as petroleum and coal, has no emission of pollutants, and there is a risk of depletion of resources due to not using fossil fuels with limited reserves.
  • the wind generator using the wind as described above is composed of a tower fixed to the ground and the top of the tower is installed in the top of the tower (NACELLE) and the generator is installed in the blade and the blade rotated by the wind connected to the shaft of the generator of the nussel do.
  • the yaw DRIVE is installed in the tower and the nussel so as to increase the power generation efficiency by allowing the nussel to rotate in the direction of the wind blowing, and the pitch of the angle of each blade is adjusted in the nussel.
  • PITCH DRIVE is installed.
  • the yaw drive and the pitch drive are provided with an input unit such as a drive motor or a servo motor which largely converts electric energy into a rotational motion, and a deceleration unit for converting the rotational force provided from the input unit to an appropriate rotational speed and the rotational force through the reduction unit. It consists of an output unit for rotating the nussel or blade.
  • Yaw drive and pitch drive installed in the wind power generator having such a configuration can be reduced in replacement and repair during use, because the use of a durable one because there is a difference in the direction and strength of the wind depending on the installation environment of the wind generator.
  • a test procedure for testing the performance of the yaw drive and the pitch drive is required before the yaw drive and the pitch drive are mounted in the wind generator.
  • the yaw drive and the pitch drive are continuously generated to perform forward and reverse cycle test of the yaw drive or the pitch drive, accelerated life test accommodating 120% of the rated torque, monitoring and recording drive torque.
  • the performance is checked by a test apparatus provided with a rotating body corresponding to the yaw drive or the pitch drive to be tested to generate a load on the yaw drive or the pitch drive.
  • the rotor installed in the test apparatus for testing the yaw drive or pitch drive has a structure similar to that of the yaw drive or the pitch drive to be tested, so the load is heavy, making it difficult to replace the rotor and making noise during operation. There is a problem that occurs.
  • the rotating body installed in the test apparatus has a structure similar to the yaw drive or the pitch drive, the volume thereof is large and the space occupied by the test apparatus in the workshop has a problem that the space utilization of the workshop is limited.
  • the present invention is to solve the above problems, to minimize the volume of the test device for testing the performance of the yaw drive and pitch drive of the wind generator test of the wind drive yaw drive and pitch drive does not take up a lot of installation space
  • the purpose is to provide a device.
  • an object of the present invention is to provide a test apparatus for a yaw drive and a pitch drive for a wind power generator which can easily perform a test preparation process for a yaw drive and a pitch drive having various specifications and performances.
  • an object of the present invention is to provide a test apparatus for a yaw drive and a pitch drive for a wind generator that can minimize noise generated during the test of the yaw drive and the pitch drive for a wind generator.
  • the base having a space therein, and the upper surface of the base
  • the rack is engaged with the output and converts the rotational movement of the output into a linear motion, a guide for guiding the linear motion of the rack inside the base, and a rack that linearly moves along the guide to provide a load to the linear motion of the rack.
  • Wind power foot comprising a hydraulic cylinder Appointed it is achieved by a test device of the drive and pitch drive.
  • the hydraulic cylinder is preferably provided on both sides symmetrically about the rack.
  • one end of the hydraulic cylinder is connected by a supporter and a hinge formed in the base, the rod is stretched at the other end of the hydraulic cylinder is preferably connected by a bracket and a hinge detachable to the rack.
  • the yaw drive or pitch drive in which the output unit is inserted into the base through the mounting hole is preferably fixed to the upper surface of the base by a flange joint.
  • an observation window for observing the operating state of the rack is formed on the upper surface of the base.
  • the rack for converting the rotational movement of the yaw drive or the output of the pitch drive into a linear motion inside the base on which the yaw drive or pitch drive is mounted It can be installed and the volume can be reduced, thereby minimizing the space occupied by the test apparatus in the workplace, thereby maximizing the space utilization in the workplace.
  • the racks installed inside the base can be replaced through the observation window, which facilitates the preparation for testing and allows you to quickly The test of the pitch drive can be performed.
  • test apparatus of the present invention has a structure for converting the rotational motion of the output of the yaw drive or the pitch drive into a linear motion and tests the performance of the yaw drive or the pitch drive. Testability minimizes the friction generated by power transmission, reducing noise and improving the working environment in the workplace.
  • FIG. 1 is a perspective view showing a test apparatus of a yaw drive and a pitch drive for a wind generator of the present invention.
  • Figure 2 is an exploded perspective view showing a test apparatus of the yaw drive and pitch drive for a wind generator of the present invention.
  • Figure 3 is a cross-sectional view showing a test apparatus of the yaw drive and pitch drive for a wind generator of the present invention.
  • Figure 4 is a plan view showing a test apparatus of the yaw drive and pitch drive for a wind generator of the present invention.
  • FIG. 5 is a plan view showing the operating state of the test apparatus of the yaw drive and pitch drive for a wind generator according to the present invention.
  • FIG. 1 is a perspective view showing a test device of the wind drive yaw drive and pitch drive of the present invention
  • Figure 2 is an exploded perspective view showing a test device of the yaw drive and pitch drive for a wind generator of the present invention
  • Figure 3 is the present invention Is a cross-sectional view showing a test apparatus for a yaw drive and a pitch drive for a wind generator.
  • the test apparatus 100 of the yaw drive and pitch drive for a wind generator is a base 110, the yaw drive or pitch is mounted on the yaw drive or pitch drive 10 to be largely tested Mounting hole 112 formed on the upper surface of the base 110 into which the output 16 of the drive 10 is inserted, which is installed in the base 110 and the output 16 of the yaw drive or pitch drive 10. ),
  • the rack 120 for converting the rotational motion of the output unit 16 into linear motion, the guide 130 for guiding the linear motion of the rack 120, and applying a load to the linear motion of the rack 120.
  • the hydraulic cylinder 140 is configured.
  • the base 110 has a substantially rectangular box shape and a space is formed therein. That is, the base 110 has a substantially rectangular shape and has a predetermined height when viewed in a plan view as shown in FIG. 4, and the output portion 16 of the yaw drive or pitch drive 10 to be tested therein. Space is formed.
  • the base 110 may be made of a structure in which the upper surface is separated in some cases and fixed to the side wall of the base 110 and the bolt fastening.
  • the mounting hole 112 is formed on the upper surface of the base 110 so that the output 16 of the yaw drive or pitch drive 10 to be tested is located in the space formed inside the base 110.
  • the mounting hole 112 is formed of an opening of an area through which the output portion 16 of the yaw drive or pitch drive 10 to be tested may be entered, and the yaw drive or pitch drive 10 may be inserted into the mounting hole 112.
  • the output unit 16 of is inserted, the yaw drive or the pitch drive 10 is fixed by flange joints so as to be stably fixed to the upper surface of the base 110.
  • an observation window 116 is formed on an upper surface of the base 110 to observe an operating state of the rack 120 to be described in detail below, and an observation window 116 formed on the upper surface of the base 110. ) Area is such that the rack 120 installed in the inner space of the base 110 can be drawn in or drawn out through the observation window 116.
  • the operator checks the movement of the rack 120 through the observation window 116, or the observation window to replace and repair the rack 120 116 can be performed.
  • the base 110 is provided with a rack 120 is engaged with the output unit 16 of the yaw drive or pitch drive 10 to convert the rotational movement of the output unit 16 to a linear movement.
  • the rack 120 has teeth formed toward the mounting hole 112 formed on the upper surface of the base 110, and thus located within the base 110 through the mounting hole 112. Meshes with the output 16 of the drive or pitch drive 10.
  • the output 16 of the yaw drive or pitch drive 10 is made of a power transmission element such as a spur gear, so that the yaw drive or pitch drive 10 has a mounting hole formed on the upper surface of the base 110 (
  • the rack unit 120 is engaged with the rack 120 provided inside the base 110.
  • the output unit 16 is operated.
  • the rotational movement of the output unit 16, the rack 120 is converted into a linear motion of the rack 120, the rack 120 in the interior space of the base 110 to slide left and right.
  • the guide 130 in the inner space of the base 110 to stably guide the linear movement of the rack 120 when the rack 120 is slid left and right in the inner space of the base 110. Is installed.
  • the guide 130 is installed on the bottom surface of the base 110, the rack 120 is seated on the top of the guide 130 is installed so that the rack 120 is linear movement along the guide 130 or rod-shaped Guides penetrate the rack 120 to the left and right, so that the rack 120 is located at a predetermined height from the bottom of the base 110, the rack 120 can be installed to linearly move along the guide 130. There will be.
  • the guide 130 is the rack 120 when the rack 120 is engaged with the output unit 16 of the yaw drive or pitch drive 10 to convert the rotational movement of the output unit 16 into a linear movement to slide the rack 120. It is sufficient to have a structure that can play a role of guiding the stable running.
  • the hydraulic cylinder 140 is installed in connection with the rack 120 by applying a load to the linear motion of the rack 120.
  • the hydraulic cylinder 140 has a rod 142 installed at the other end of the hydraulic cylinder 140 is drawn out or drawn from the hydraulic cylinder 140 by the pressure action of the fluid supplied from the outside to the hydraulic cylinder 140 from the outside Has a structure.
  • the hydraulic cylinder 140 is provided on both sides symmetrically with respect to the rack 120 linearly moving in the inner space of the base 110, the hydraulic cylinder provided on one side of the rack (120)
  • the rod 142 of the 140 is drawn out
  • the rod 142 of the hydraulic cylinder 140 provided on the other side of the rack 120 is installed inside the base 110 in a drawn-in structure.
  • Each of the hydraulic cylinders 140 has one end connected to the supporter 150 and the hinge formed in the base 110, and the rod 142 which is stretched at the other end of the hydraulic cylinder 140 is the rack 120. It is connected by a bracket 160 and a hinge to be removed.
  • the rack 120 and the bracket 160 that is detachable is fixed to the rack 120 by a fastening member such as a bolt to the rack 120 and the bracket 160 in accordance with the assembly or disassembly of the fastening member, if necessary It can be easily removed.
  • a fastening member such as a bolt
  • test apparatus 100 of the yaw drive and pitch drive for a wind power generator according to the present invention having the configuration as described above will be described with reference to FIGS. 4 and 5.
  • Figure 4 is a plan view showing a test apparatus of a wind drive yaw drive and a pitch drive of the present invention
  • Figure 5 is a plan view showing an operating state of the test apparatus of a wind drive yaw drive and pitch drive according to the present invention.
  • the test apparatus 100 of the yaw drive and pitch drive for a wind power generator is to test the load on the yaw drive and pitch drive 10 used in the wind power generator Yaw drive or pitch drive 10 is installed in a vertical line in the mounting hole 112 formed on the upper surface of the base (110).
  • the yaw drive or pitch drive 10 installed in the mounting hole 112 formed on the upper surface of the base 110 is appropriate to the rotational force provided from the input unit 12 and the input unit 12, such as a drive motor or a servo motor.
  • the output unit 16 is composed of an output unit 16 such as a spur gear that rotates a nucleus or a blade by a rotational force through the reduction unit 14 and the reduction unit 14 for converting the rotational speed. It is engaged with the rack 120 installed in the interior space of 110.
  • the yaw drive or pitch drive 10 to be tested When the yaw drive or pitch drive 10 to be tested is mounted on the test apparatus 100 of the present invention, the yaw drive or pitch drive 10 starts to operate to test its load performance.
  • the hydraulic cylinder 140 installed in the input space 12 and the base 110 of the yaw drive or pitch drive 10 to apply a load to the rack 120 controls, records, and outputs a load test. It is connected to a control unit (not shown).
  • the input unit 12 of the yaw drive or pitch drive 10 is connected to the control unit so that the state when the input unit 12 is operated by the control unit is received by the control unit, and the hydraulic cylinder 140 is connected to the control unit.
  • the state when the hydraulic cylinder 140 is operated by the control unit is received, recorded and output to the control unit.
  • the fluid is supplied to the hydraulic cylinder 140 to apply a load to the rack 120.
  • the forward and reverse cycle test of the yaw drive or pitch drive 10 the accelerated life test that accommodates 120% of the rated torque, Test results such as drive torque monitoring can be derived.
  • the test apparatus 100 of the yaw drive and pitch drive for a wind generator according to the present invention, the rack 120 for converting the rotational movement with respect to the output 16 of the yaw drive or pitch drive 10 to a linear motion It can be installed inside the base 110 on which the flexible drive or pitch drive 10 is mounted, so that its volume can be reduced, thereby minimizing the space occupied by the test apparatus 100 in the workplace, thereby maximizing space utilization in the workplace. Will be.
  • the rack 120 installed inside the base 110 can be replaced through the observation window 116 to prepare for the test It is easy to finish and from this it is possible to quickly test the yaw drive or pitch drive 10.
  • the test apparatus 100 of the present invention has a structure for converting the rotational movement of the output portion 16 of the yaw drive or pitch drive 10 into a linear motion to test the performance of the yaw drive or pitch drive 10.
  • the simple structure allows the performance to be tested with a minimum number of parts, thereby minimizing the friction noise caused by power transmission, which reduces noise and improves the working environment in the workplace.

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  • 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)
  • General Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

La présente invention porte sur un dispositif de test d'entraînement en lacet et d'entraînement de pas pour une génératrice éolienne et, plus particulièrement, sur un dispositif de test d'entraînement en lacet et d'entraînement de pas pour une génératrice éolienne qui présente une structure simple, qui réduit le bruit et qui réduit à un minimum l'espace occupé dans une zone de travail en munissant une crémaillère destinée à convertir le mouvement de rotation de la partie de sortie d'un entraînement en lacet ou d'un entraînement de pas dont la performance est en cours de vérification, en un mouvement rectiligne, et en reliant la crémaillère à un vérin hydraulique qui applique une charge à la crémaillère.
PCT/KR2012/003875 2012-05-03 2012-05-17 Dispositif de test d'entrainement en lacet et d'entraînement de pas pour une génératrice éolienne WO2013165047A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201280045646.0A CN103827481B (zh) 2012-05-03 2012-05-17 风力发电机用偏航驱动器和变桨驱动器的测试装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020120046705A KR101343076B1 (ko) 2012-05-03 2012-05-03 풍력 발전기용 요 드라이브 및 피치 드라이브의 테스트장치
KR10-2012-0046705 2012-05-03

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Publication Number Publication Date
WO2013165047A1 true WO2013165047A1 (fr) 2013-11-07

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Country Link
KR (1) KR101343076B1 (fr)
CN (1) CN103827481B (fr)
WO (1) WO2013165047A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104460656A (zh) * 2014-11-13 2015-03-25 湖南世优电气股份有限公司 一种风力发电机组变桨距控制系统综合测试平台及其测试方法
CN109882353A (zh) * 2019-04-11 2019-06-14 尉立 偏航变桨驱动装置及采用该装置的偏航装置和变桨装置
CN109899246A (zh) * 2019-04-09 2019-06-18 内蒙古工业大学 风力发电机的模拟旋转测试装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106066255A (zh) * 2016-06-20 2016-11-02 大唐（通辽）霍林河新能源有限公司 一种风力发电机组机械变桨仿真系统
CN108533453B (zh) * 2018-03-30 2020-06-05 太原重工新能源装备有限公司 偏航系统试验装置及方案

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KR100301557B1 (ko) * 1999-07-07 2001-09-13 한창수 차량용 파워 스티어링 시스템의 부하 특성 시험 장치
KR100583304B1 (ko) * 2003-12-24 2006-05-25 한전기공주식회사 축류형 팬의 블레이드 각도를 조절하는 피치 컨트롤러테스트 장치
JP2009257262A (ja) * 2008-04-18 2009-11-05 Nabtesco Corp 風車用ヨー駆動装置
KR101104127B1 (ko) * 2011-09-02 2012-01-13 한국전력공사 풍력터빈 시뮬레이션 시스템 및 그 방법

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CN1727672A (zh) * 2005-07-14 2006-02-01 潍坊中云机器有限公司 一种风力发电机变桨距驱动装置

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Publication number Priority date Publication date Assignee Title
KR100301557B1 (ko) * 1999-07-07 2001-09-13 한창수 차량용 파워 스티어링 시스템의 부하 특성 시험 장치
KR100583304B1 (ko) * 2003-12-24 2006-05-25 한전기공주식회사 축류형 팬의 블레이드 각도를 조절하는 피치 컨트롤러테스트 장치
JP2009257262A (ja) * 2008-04-18 2009-11-05 Nabtesco Corp 風車用ヨー駆動装置
KR101104127B1 (ko) * 2011-09-02 2012-01-13 한국전력공사 풍력터빈 시뮬레이션 시스템 및 그 방법

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104460656A (zh) * 2014-11-13 2015-03-25 湖南世优电气股份有限公司 一种风力发电机组变桨距控制系统综合测试平台及其测试方法
CN109899246A (zh) * 2019-04-09 2019-06-18 内蒙古工业大学 风力发电机的模拟旋转测试装置
CN109899246B (zh) * 2019-04-09 2023-10-24 内蒙古工业大学 风力发电机的模拟旋转测试装置
CN109882353A (zh) * 2019-04-11 2019-06-14 尉立 偏航变桨驱动装置及采用该装置的偏航装置和变桨装置

Also Published As

Publication number Publication date
KR101343076B1 (ko) 2013-12-20
KR20130123520A (ko) 2013-11-13
CN103827481A (zh) 2014-05-28
CN103827481B (zh) 2016-04-20

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