Adjustment method of driving mechanism of windmill and adjustment method of driving mechanism

Abstract

The present invention relates to a method for adjusting a drive mechanism of a windmill and a method for adjusting a drive mechanism. A method for determining the positions of a plurality of drive devices and a method for adjusting the positions of a plurality of drive devices are provided. The method for adjusting a drive mechanism comprises the following steps: a measuring step for measuring the backlash between each of a plurality of drive devices and a ring gear; and a determining step for determining the position of the drive device relative to the ring gear based on the plurality of backlashes measured in the measuring step, wherein the measuring step at least comprises the following steps: aligning a pinion of one of the plurality of drive devices in a manner facing a reference position in the circumferential direction of the ring gear, and measuring the backlash between the drive device and the ring gear; and rotating the plurality of drive devices relative to the ring gear, aligning a pinion of another drive device different from the drive device for which the backlash has been measured in a manner facing a reference position of the ring gear, and measuring the backlash between the other drive device and the ring gear.

Description

Technical Field

[0001] The invention relates to an adjustment method of a driving mechanism of a windmill and an adjustment method of the driving mechanism. Background Art

[0002] In the past, it is known that there is a driving mechanism in which a plurality of driving devices cooperate to drive a movable part. For example, the wind power generation device described in Patent Document 1 has: a tower, which is installed on the ground or at sea and serves as a support for a generator; a nacelle, which is installed on the tower and has a built-in generator; and a rotor composed of a hub and blades, which is installed at one end of the nacelle and receives wind power and converts it into rotational energy. The wind power generation device also has a yaw bearing gear installed on the tower, and has a plurality of yaw actuators installed in the nacelle as a plurality of driving devices. The wind power generation device causes the yaw bearing gear to mesh with the pinion of the yaw actuator and outputs rotation from the yaw actuator, thereby rotating the nacelle in the yaw direction relative to the tower.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-140777 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] A drive mechanism having a plurality of drive devices is preferably configured in such a way that the deviation of the loads applied to the plurality of drive devices is small. This is because if the deviation of the loads applied to the plurality of drive devices is large, the life of the drive device with a large load will be shortened, and as a result, the life of the entire drive mechanism will be shortened. Therefore, a method for determining the positions of the plurality of drive devices and a method for adjusting the positions of the plurality of drive devices based on the determination result are sought.

[0008] The present invention has been made in consideration of such a situation, and an object of the present invention is to provide a method for determining positions of a plurality of drive devices and a method for adjusting positions of a plurality of drive devices.

[0009] Solutions for solving problems

[0010] The windmill drive mechanism adjustment method of the present invention is a windmill drive mechanism adjustment method, the drive mechanism comprises: a ring gear; and a plurality of drive devices, each of which has a pinion gear meshing with the ring gear and a drive unit driving the pinion gear, wherein:

[0011] The method for adjusting the driving mechanism of the windmill comprises the following steps:

[0012] a measuring step of measuring a backlash between each of the plurality of driving devices and the ring gear; and

[0013] a judging step of judging the position of the driving device relative to the ring gear based on the plurality of tooth gaps measured in the measuring step,

[0014] The measurement process includes at least the following steps:

[0015] aligning a pinion of one of the plurality of drive devices so as to face a reference position in the circumferential direction of the ring gear, and measuring a backlash between the drive device and the ring gear; and

[0016] The plurality of drive devices are rotated relative to the ring gear, and pinions of other drive devices different from the drive device for which the backlash is measured are aligned to face the reference position of the ring gear, and the backlash between the other drive devices and the ring gear is measured.

[0017] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0018] The method for adjusting the driving mechanism of the windmill comprises the following steps:

[0019] an acquisition step of acquiring deviation information related to deviations in distances from a rotation center of the ring gear having a plurality of teeth to the tip ends of each of the plurality of teeth,

[0020] In the determining step, the position of the drive device relative to the ring gear is determined based on the backlash measured in the measuring step and the deviation information acquired in the acquiring step.

[0021] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0022] The judging process includes the following steps:

[0023] Based on the relative standard deviation of the tooth gap measured in the measuring process and the relative standard deviation of the distance from the rotation center of the ring gear to the front end of each of the multiple teeth acquired in the acquisition process, the degree of deviation in the position of the drive device relative to the ring gear between the multiple drive devices is evaluated.

[0024] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0025] In the acquisition process, based on at least any one of information related to the manufacturing tolerance of the ring gear, the tooth clearance between a specific drive device and the ring gear measured at different circumferential positions of the ring gear, and an inspection result related to the circumferential deformation of the ring gear, deviation information related to the deviation of the distance from the rotation center of the ring gear to the front end portion of each of the multiple teeth is acquired.

[0026] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0027] The gear ring has a plurality of internal teeth,

[0028] In the measuring step, the backlash is measured using as a reference position a position where an internal tooth whose tip end is located closest to the rotation center of the ring gear meshes with the pinion gear.

[0029] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0030] The gear ring has a plurality of external teeth,

[0031] In the measuring step, the backlash is measured using a position where an external tooth whose tip end is located farthest from the rotation center of the ring gear among the plurality of external teeth meshes with the pinion gear as a reference position.

[0032] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0033] Each of the plurality of drive devices includes: an actuator that outputs a rotation; and a speed reducer that reduces the speed of the output from the actuator and transmits the speed to the pinion gear.

[0034] The measuring process has the following steps:

[0035] After the teeth of the pinion gear located at the reference position and between a pair of adjacent reference teeth in the circumferential direction of the ring gear are brought into contact with one of the pair of reference teeth, the actuator outputs rotation to the pinion gear to rotate the pinion gear, and the amount of rotation output from the actuator until the teeth of the pinion gear come into contact with the other of the pair of reference teeth is measured; and

[0036] The backlash between the pinion gear and the ring gear is calculated based on the measured rotation amount, the backlash inside the speed reducer, and the reduction ratio of the speed reducer.

[0037] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0038] The method for adjusting the driving mechanism of the windmill further comprises the following steps:

[0039] The adjusting step adjusts the position of the pinion gear based on the result of the determining step.

[0040] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0041] In the adjustment step, the position of the pinion gear of at least one of the plurality of drive devices is adjusted so as to change the distance from the rotation center of the ring gear.

[0042] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0043] In the adjustment step, the position of the pinion gear is adjusted so that the degree of deviation of the backlash between each of the plurality of drive devices and the ring gear becomes equal to or smaller than a reference value.

[0044] In the method for adjusting the drive mechanism of the wind turbine of the present invention, it is also possible that:

[0045] In the adjustment step, the position of the pinion gear of at least one of the plurality of drive devices is adjusted while the position of the pinion gear of the drive devices other than the drive device that performs the position adjustment of the pinion gear is fixed.

[0046] The drive mechanism adjustment method of the present invention is a drive mechanism adjustment method for driving a movable part, the drive mechanism comprises: a ring gear; and a plurality of drive devices, each of which has a pinion gear meshing with the ring gear and a drive part driving the pinion gear, wherein:

[0047] The adjustment method of the driving mechanism comprises the following steps:

[0048] a measuring step of measuring a backlash between each of the plurality of driving devices and the ring gear; and

[0049] a judging step of judging the position of the driving device relative to the ring gear based on the plurality of tooth gaps measured in the measuring step,

[0050] The measurement process includes at least the following steps:

[0051] aligning a pinion of one of the plurality of drive devices so as to face a reference position in the circumferential direction of the ring gear, and measuring a backlash between the drive device and the ring gear; and

[0052] The plurality of drive devices are rotated relative to the ring gear, and pinions of other drive devices different from the drive device for which the backlash is measured are aligned to face the reference position of the ring gear, and the backlash between the other drive devices and the ring gear is measured.

[0053] Effects of the Invention

[0054] According to the present invention, a method for determining positions of a plurality of drive devices and a method for adjusting positions of a plurality of drive devices can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a perspective view showing a structural example of a wind turbine in this embodiment.

[0056] Figure 2 It is a top view showing the driving mechanism in this embodiment.

[0057] Figure 3 It is a diagram showing a configuration example of a driving device in this embodiment.

[0058] Figure 4 It is a plan view showing an example of the positions of the plurality of drive devices relative to the ring gear in the present embodiment.

[0059] Figure 5 It is a top view showing the state of the measurement process in this embodiment.

[0060] Figure 6 It is a top view showing the state of the measurement process in this embodiment.

[0061] Figure 7 It is a top view showing the state of the adjustment process in this embodiment.

[0062] Figure 8 It is a plan view showing a part of the driving mechanism in this embodiment in an enlarged manner.

[0063] Fig. 9 It is a top view showing a driving mechanism in a modified example.

[0064] Description of Reference Numerals

[0065] 1. Driving mechanism; 2. Driving device; 3. Driving unit; 30. Actuator; 31. Braking unit; 32. Speed ​​reducer; 33. Shaft; 4. Pinion; 41. Tooth; 101. Windmill body; 102. Tower; 103. Nacelle; 104. Rotor; 105. Blade; 106. Ring gear; 107. Tooth; 107a. Reference tooth; 108. Internal tooth; 108a. Front end; 108b. Innermost internal tooth; 109. External tooth; 109a. Front end; 109b. Outermost external tooth. DETAILED DESCRIPTION

[0066] The embodiment of the present invention is described in detail with reference to the accompanying drawings. In addition, in this embodiment, the adjustment method of the drive mechanism 1 of the windmill is described as an example of the adjustment method of the drive mechanism 1. However, the adjustment method of the drive mechanism 1 is not limited to the drive mechanism 1 of the windmill, but can be widely applied to the drive mechanism 1 having a plurality of drive devices 2.

[0067] First, a wind turbine including a drive mechanism 1 to which the adjustment method according to the present embodiment is applied will be described. Figure 1 1 is a perspective view showing a structural example of a wind turbine. The wind turbine includes a wind turbine body 101. The wind turbine body 101 includes a tower 102, a nacelle 103, a rotor 104 (main shaft), and a plurality of blades 105 (wings). The tower 102 extends upward in a vertical direction on the ground or on the sea.

[0068] The windmill includes a driving mechanism 1 in addition to a windmill body 101. Furthermore, the windmill body 101 has a movable portion driven by the driving mechanism 1. In the present embodiment, the nacelle 103 is mounted on the tower 102 in a manner rotatable relative to the upper portion of the tower 102. That is, the connection portion between the tower 102 and the nacelle 103 becomes a movable portion that allows the nacelle 103 to rotate relative to the tower 102. Furthermore, the driving mechanism 1 rotates the nacelle 103 relative to the tower 102 by driving the movable portion. The driving mechanism 1 drives the nacelle 103 in a manner that allows the nacelle 103 to rotate with the longitudinal direction of the tower 102 as the rotation axis. As a result, the nacelle 103 rotates in the yaw direction (YAW) relative to the tower 102.

[0069] The rotor 104 rotates in a swivel direction (ROLL) in the nacelle 103. A plurality of (eg, three) blades 105 are provided on the rotor 104 at equal angles to each other so as to extend in radial directions from a rotation axis in the swivel direction.

[0070] The drive mechanism 1 will be described in more detail. Figure 2 1 is a top view showing the drive mechanism 1 in this embodiment. The drive mechanism 1 in this embodiment includes a ring gear 106 and a plurality of drive devices 2 to be discussed later. The ring gear 106 has a plurality of teeth 107. In addition, each of the plurality of drive devices 2 includes a pinion 4 meshing with the ring gear 106. Figure 2 In the example shown, the pinions 4 of the plurality of drive devices 2 each have a plurality of teeth 41, and the teeth 107 of the ring gear 106 mesh with the teeth 41 of the pinions 4. Figure 2Although not shown in the figure, as will be discussed later, each of them has a drive unit 3 for driving a pinion gear 4. In this embodiment, the drive device 2 is installed in the nacelle 103 to generate a yaw drive force. In this embodiment, four drive devices 2-1, 2-2, 2-3, and 2-4 are installed in the nacelle 103. When the drive device 2 is installed in the nacelle 103, the drive unit 3 may also be accommodated inside the nacelle 103.

[0071] Hereinafter, when collectively referring to the drive device, it is simply referred to as “drive device 2 .” In addition, the direction in which the ring gear 106 rotates is also referred to as the circumferential direction D1 .

[0072] A plurality of driving devices 2 cooperate to drive the movable part. Figure 2 In the example shown, a gear ring 106 is formed on the inner wall of the tower 102. In this case, Figure 2 As shown, the ring gear 106 has a plurality of internal teeth 108 provided on the inner circumference as the plurality of teeth 107. Furthermore, the pinion 4 of the drive device 2 meshes with the ring gear 106 formed on the inner wall of the tower 102. In each drive device 2, the drive unit 3 drives the pinion 4 to rotate around the rotation axis C1. In other words, the rotation axis C1 of the pinion 4 refers to the rotation axis about which the pinion 4 is driven by the drive unit 3 to rotate. Figure 2 In the example shown, the pinion 4 of the first drive device 2-1 rotates around the rotation axis C1-1, the pinion 4 of the second drive device 2-2 rotates around the rotation axis C1-2, the pinion 4 of the third drive device 2-3 rotates around the rotation axis C1-3, and the pinion 4 of the fourth drive device 2-4 rotates around the rotation axis C1-4. Due to the rotation of the pinion 4, each drive device 2 moves along the circumferential direction D1 of the ring gear 106. The plurality of drive devices 2 move together in the circumferential direction D1, so that the movable part between the tower 102 and the nacelle 103 is driven, and the nacelle 103 on which the plurality of drive devices 2 are mounted rotates in the yaw direction relative to the tower 102 on which the ring gear 106 is formed.

[0073] In addition, the yaw turning unit in the wind turbine body 101 that rotates the nacelle 103 in the yaw direction relative to the tower 102 is provided with a brake that applies a braking force to a plurality of drive devices 2 that rotate relative to the ring gear 106. In the present embodiment, the brake is a hydraulic brake that is mounted on the nacelle 103 and applies a braking force to the ring gear 106. The hydraulic brake is, for example, a caliper brake mechanism. The hydraulic brake has a hydraulic brake drive unit (not shown) and a Figure 2 The hydraulic brake driving unit makes the friction body 50 move in accordance with the control signal supplied from the outside. Figure 2 The direction parallel to the direction in which the rotation axis C1 of the pinion 4 extends (with Figure 2The hydraulic brake driving unit applies a braking force to the ring gear 106 by pressing the friction body 50 against the ring gear 106. It is desirable that the windmill can adjust the braking force applied to the ring gear 106.

[0074] Figure 3 2 is a diagram showing a configuration example of the drive device 2. Figure 3 This is a schematic diagram in which the teeth 107 of the ring gear 106 and the teeth 41 of the pinion 4 are omitted. Figure 3 In the example shown, the ring gear 106 is disposed at an upper portion of the tower 102 .

[0075] Each of the plurality of drive devices 2 includes an actuator 30 that outputs rotation and a speed reducer 32 that reduces the speed of the output from the actuator and transmits it to the pinion 4. In the present embodiment, the drive unit 3 in the drive device 2 includes the actuator 30 and the speed reducer 32. In addition, the drive unit 3 further includes a brake unit 31 and a shaft 33.

[0076] The actuator 30 is, for example, a motor, and the actuator 30 rotates the shaft 33 with the longitudinal direction of the shaft 33 as a rotation axis according to the current supplied to the actuator 30 .

[0077] The speed reducer 32 includes gears as a speed reduction mechanism. The speed reducer 32 determines the rotation speed of the shaft 33 using the gears included in the speed reducer 32 .

[0078] In addition, in this embodiment, the braking unit 31 uses an electromagnetic brake to suppress the rotation speed of the shaft 33. The braking unit 31 may maintain the rotation of the shaft 33 in a stopped state using an electromagnetic brake.

[0079] The shaft 33 is driven by the actuator 30 to rotate at a rotation speed determined by the speed reducer 32. The shaft 33 is driven by the actuator 30 to rotate at a predetermined torque (shaft torque). The pinion 4 rotates while meshing with the teeth 107 of the ring gear 106 according to the rotation amount of the shaft 33. In addition, the pinion 4 is provided at the end of the shaft 33 in the drive unit 3. Therefore, the pinion 4 rotates with the rotation of the shaft 33. The actuator 30 rotates the pinion 4 via the shaft 33, thereby rotating the nacelle 103 in the yaw direction relative to the tower 102 as described above.

[0080] As an example, the driving unit 3 is fixed to the nacelle 103 using a plurality of bolts (not shown).

[0081] Next, a method of determining the positions of the plurality of drive devices 2 of the drive mechanism 1 and a method of adjusting the positions of the drive devices 2 will be described.

[0082] First, the significance of determining the positions of the plurality of drive devices 2 and adjusting the positions of the plurality of drive devices 2 will be described.

[0083] When multiple drive devices 2 drive the movable part, it is preferred that the tooth gaps between each of the multiple drive devices 2 and the ring gear 106 are uniform. This is due to the following reasons. The smaller the tooth gap between the drive device 2 and the ring gear 106, the deeper the teeth 41 of the pinion 4 of the drive device 2 mesh with the teeth 107 of the ring gear 106, and therefore, it can be considered that the load applied to the drive device 2 is larger. On the other hand, the larger the tooth gap between the drive device 2 and the ring gear 106, the shallower the teeth 41 of the pinion 4 of the drive device 2 mesh with the teeth 107 of the ring gear 106, and therefore, it can be considered that the load applied to the drive device 2 is smaller. In summary, if there is a deviation in the tooth gap between each of the multiple drive devices 2 and the ring gear 106, there is also a deviation in the load applied to the multiple drive devices 2. In contrast, by making the tooth gaps between each of the multiple drive devices 2 and the ring gear 106 close to uniform, the load applied to the multiple drive devices 2 can be made close to uniform. As a result, it is possible to suppress the load from being concentrated on a part of the multiple drive devices 2, thereby extending the life of the drive mechanism 1 as a whole. However, when the plurality of drive devices 2 drive the movable portion, there may be variations in the backlash between each of the plurality of drive devices 2 and the ring gear 106 .

[0084] One of the reasons why the backlashes between each of the plurality of drive devices 2 and the ring gear 106 vary is that the positions of the plurality of drive devices 2 vary. Figure 4 1 is a diagram showing an example of the positions of the plurality of drive devices 2 relative to the ring gear 106, and in particular shows a situation where the positions of the plurality of drive devices 2 are offset. Figure 4 In the example shown, the distance between the rotation axis C1 of each pinion gear 4 and the rotation center C2 of the ring gear 106 varies. Here, the rotation center C2 of the ring gear 106 refers to the axis that is the center of the ring when the ring gear 106 is assumed to have a shape in which a plurality of teeth 107 are provided in a non-deformed ring. In addition, the rotation center C2 of the ring gear 106 can also be determined as a straight line that passes through the theoretical center of gravity of the ring gear 106 and is perpendicular to the extended surface of the ring gear 106. The straight line that is the rotation center C2 of the ring gear 106 is parallel to the straight line that is the rotation axis C1 of the pinion gear 4.

[0085] exist Figure 4 In the example shown, the length of the distance w4 between the rotation axis C1-4 of the pinion 4 of the fourth drive device 2-4 and the rotation center C2 of the ring gear 106 is different from the length of the distance w1 between the rotation axis C1-1 of the pinion 4 of the first drive device 2-1 and the rotation center C2 of the ring gear 106, the distance w2 between the rotation axis C1-2 of the pinion 4 of the second drive device 2-2 and the rotation center C2 of the ring gear 106, and the distance w3 between the rotation axis C1-3 of the pinion 4 of the third drive device 2-3 and the rotation center C2 of the ring gear 106. In addition, Figure 4In the example shown, the distance w1, the distance w2, and the distance w3 are equal in length. Figure 4 A circle L1 indicated by a dotted line is a virtual circle having a center at the rotation center C2 of the ring gear 106 and a radius equal to the lengths of the distances w1 , w2 , and w3 .

[0086] In the case where the ring gear 106 has internal teeth 108, the longer the distance between the rotation axis C1 of the pinion gear 4 and the rotation center C2 of the ring gear 106, the deeper the meshing of the teeth 41 of the pinion gear 4 with the internal teeth 108 of the ring gear 106. On the other hand, the shorter the distance between the rotation axis C1 of the pinion gear 4 and the rotation center C2 of the ring gear 106, the shallower the meshing of the teeth 41 of the pinion gear 4 with the internal teeth 108 of the ring gear 106. Therefore, compared with the drive device 2 having the pinion gear 4 having the shorter distance between its own rotation axis C1 and the rotation center C2 of the ring gear 106, the drive device 2 having the pinion gear 4 having the longer distance between its own rotation axis C1 and the rotation center C2 of the ring gear 106 is likely to have a smaller backlash between the drive device 2 and the ring gear 106. Figure 4 In the example shown, the distance w4 is shorter than the distance w1, the distance w2, and the distance w3. Therefore, from the perspective of the distance between the rotation axis C1 and the rotation center C2 of the ring gear 106, the backlash between the drive device 2-4 and the ring gear 106 is likely to be larger than that between the drive devices 2-1, 2-2, and 2-3.

[0087] By determining the positions of the plurality of drive devices 2, it is possible to detect Figure 4 The deviation of the positions of the plurality of drive devices 2 shown in the figure indicates that there is a deviation in the backlash between each of the plurality of drive devices 2 and the ring gear 106. Furthermore, by adjusting the positions of the plurality of drive devices 2, the backlash between each of the plurality of drive devices 2 and the ring gear 106 can be made nearly uniform.

[0088] Another reason why the backlash between each of the plurality of drive devices 2 and the ring gear 106 varies is that the shape of the ring gear 106 is deformed. Figure 4In the example shown, the ring gear 106 has a shape in which a plurality of internal teeth 108 are provided in a deformed circular ring. Therefore, the length of a distance w5 from the front end portion 108a of one internal tooth 108 to the rotation center C2 of the ring gear 106 is different from the length of a distance w6 from the front end portion 108a of an internal tooth 108 different from the one internal tooth 108 to the rotation center C2 of the ring gear 106. In this case, the backlash between the drive device 2 and the ring gear 106 is larger when the pinion 4 of the drive device 2 meshes with the internal teeth 108 having the front end portion 108a farther from the rotation center C2 of the ring gear 106. In addition, the backlash between the drive device 2 and the ring gear 106 is smaller when the pinion 4 of the drive device 2 meshes with the internal teeth 108 having the front end portion 108a closer to the rotation center C2 of the ring gear 106.

[0089] Here, when the deformation of the shape of the ring gear 106 is large, if the deviation of the positions of the plurality of drive devices 2 is not suppressed to be smaller, the degree of deviation of the tooth gaps between the plurality of drive devices 2 and the ring gear 106 as a whole will become large. In contrast, when the deformation of the shape of the ring gear 106 is small, even if the deviation of the positions of the plurality of drive devices 2 is large to a certain extent, the degree of deviation of the tooth gaps between the plurality of drive devices 2 and the ring gear 106 as a whole is not likely to become large. Therefore, from the viewpoint of limiting the adjustment of the position of the drive device 2 to a minimum and suppressing the degree of deviation of the tooth gaps between the plurality of drive devices 2 and the ring gear 106 from becoming too large, it is preferable to determine and adjust the positions of the plurality of drive devices 2 in consideration of the deformation of the shape of the ring gear 106.

[0090] Next, a method for determining the positions of the plurality of drive devices 2 of the drive mechanism 1 and a method for adjusting the positions of the plurality of drive devices 2 are described. Figure 4 A method for adjusting the positions of the plurality of drive devices 2 of the drive mechanism 1 shown and an adjustment method for adjusting the positions of the plurality of drive devices 2 are described. The adjustment method of the drive mechanism 1 of the present embodiment comprises a measuring process for measuring the backlash between each of the plurality of drive devices 2 and the ring gear 106 and a judging process for judging the position of the drive device 2 relative to the ring gear 106 based on the backlash measured in the measuring process. Here, the adjustment method of the drive mechanism 1 may also include an adjustment process for adjusting the position of the drive device 2 based on the result of the judging process, or may not include the adjustment process. In the present embodiment, as an example, an adjustment method of the drive mechanism 1 having an adjustment process is described. In addition, the adjustment method of the drive mechanism 1 of the present embodiment comprises an acquisition process for obtaining deviation information related to the deviation of the distance from the rotation center C2 of the ring gear 106 to the front end portion of each of the plurality of teeth 107.

[0091] First, the measuring process is described. In the measuring process, as described above, the backlash between each of the plurality of drive devices 2 and the ring gear 106 is measured. As an example, the backlash measured is the backlash in the circumferential direction between the drive device 2 and the ring gear 106. The measuring process includes at least a process of measuring the backlash between one of the plurality of drive devices 2 and the ring gear 106 (hereinafter, also referred to as the first measuring process) and a process of measuring the backlash between the pinion 4 of the other drive device 2 and the ring gear 106 (hereinafter, also referred to as the second measuring process).

[0092] In the first measurement process, the pinion 4 of one drive device 2 is aligned so as to face the reference position P1 in the circumferential direction D1 of the ring gear 106. Then, the backlash between the one drive device 2 and the ring gear 106 is measured. In the present embodiment, the backlash between the first drive device 2-1 and the ring gear 106 is measured in the first measurement process. Figure 5 and Figure 6 This is a diagram showing a state of the drive mechanism 1 in which the pinion 4 of the first drive device 2 - 1 is positioned so as to face the reference position P1 .

[0093] In the second measurement process, the plurality of drive devices 2 are rotated relative to the ring gear 106. Thus, the pinion 4 of another drive device 2 different from the drive device 2 for which the backlash is measured is aligned so as to face the reference position P1 of the ring gear 106. Then, the backlash between the other drive device 2 and the ring gear 106 is measured. In the present embodiment, the backlash between the second drive device 2-2 and the ring gear 106 is measured in the second measurement process.

[0094] In addition, when the drive mechanism 1 has n drive devices 2, the measuring process may also include (n-2) processes from the third measuring process to the nth measuring process for measuring the backlash of the drive device 2 whose backlash was not measured in the first measuring process and the second measuring process. In the process from the third measuring process to the nth measuring process, first, the pinion 4 of the drive device 2 whose backlash was not measured is aligned in a manner facing the reference position P1 of the ring gear 106. Then, the backlash between the drive device 2 aligned in a manner facing the reference position P1 and the ring gear 106 is measured. The measuring process includes n processes from the first measuring process to the nth measuring process, so that the backlash between each of the plurality of drive devices 2 and the ring gear 106 can be measured.

[0095] As an example of a method for measuring backlash in each of the first to nth measurement steps, refer to Figure 5 and Figure 6, a method for measuring the backlash between the first drive device 2-1 and the ring gear 106 in the first measuring process will be described in more detail. The description of the method for measuring the backlash between the first drive device 2-1 and the ring gear 106 in the first measuring process is also applicable to the method for measuring the backlash between the drive device 2 and the ring gear 106 as the measurement object in the processes from the second measuring process to the nth measuring process when there is no contradiction.

[0096] First, the plurality of driving devices 2 are made to rotate relative to the ring gear 106, such as Figure 5 As shown, the pinion 4 of the drive device 2 as the measurement object is aligned so as to face the reference position P1 of the ring gear 106. More specifically, the pinion 4 of the drive device 2 as the measurement object is aligned so that one of the teeth 41 is located between the pair of reference teeth 107a of the ring gear 106. Here, the pair of reference teeth 107a refers to a pair of teeth of the teeth 107 of the ring gear 106, which is the tooth closest to the reference position P1 in the circumferential direction D1 and the tooth second closest to the reference position P1.

[0097] Here, the internal tooth 108 whose tip end portion 108a is located at the position closest to the rotation center C2 of the ring gear 106 among the plurality of internal teeth 108 is also referred to as the innermost internal tooth 108b. In the present embodiment, the reference position P1 is determined in such a manner that the innermost internal tooth 108b becomes one of a pair of reference teeth 107a. In other words, in the present embodiment, the innermost internal tooth 108b and one of the internal teeth 108 adjacent to the innermost internal tooth 108b in the circumferential direction D1 are set as a pair of reference teeth 107a. In other words, in the present embodiment, the backlash is measured with the position where the internal tooth 108 (the innermost internal tooth 108b) whose tip end portion 108a is located at the position closest to the rotation center C2 of the ring gear 106 among the plurality of internal teeth 108 meshes with the pinion 4 as the reference position P1. As an example, the reference position P1 is determined between the innermost internal tooth 108 b and the internal tooth 108 having the front end portion 108 a closer to the rotation center C2 of the ring gear 106 among the two internal teeth 108 adjacent to the innermost internal tooth 108 b in the circumferential direction D1 .

[0098] In the ring gear 106 having a plurality of internal teeth 108, the reference position P1 is determined as described above, so that the following effects can be obtained. If the backlash between the pinion 4 and the ring gear 106 is too small, the rotation of the pinion 4 may be hindered due to the interference between the teeth 41 of the pinion 4 and the internal teeth 108 of the ring gear 106. And when the pinion 4 is located in the position meshing with the innermost internal teeth 108b in the circumferential direction D1, the backlash between the pinion 4 and the ring gear 106 is the smallest. In contrast, the reference position P1 is determined as described above, so that in the measurement process, the backlash is measured with the state where the pinion 4 is meshing with the innermost internal teeth 108b as a reference. In addition, based on the backlash measured in this way, the judgment process and the adjustment process described later are performed. Therefore, after the position of the pinion 4 is adjusted in the adjustment process, it is possible to prevent the backlash from becoming too small when the pinion 4 is meshing with the innermost internal teeth 108b.

[0099] An example of a method for relatively rotating the plurality of drive devices 2 with respect to the ring gear 106 will be described. In the present embodiment, the plurality of drive devices 2 are mounted on the nacelle 103, and the ring gear 106 is formed on the tower 102. Therefore, by relatively rotating the nacelle 103 with respect to the tower 102 using the plurality of drive devices 2, the plurality of drive devices 2 can be relatively rotated with respect to the ring gear 106.

[0100] After the pinion 4 of the drive device 2 to be measured for backlash is made to face the reference position P1 of the ring gear 106, the relative position of the rotation axis C1 of the pinion 4 with respect to the ring gear 106 is fixed. In the present embodiment, the relative position of the rotation axis C1 of the pinion 4 can be fixed by fixing the relative position between the nacelle 103 on which the drive device 2 is mounted and the tower 102 on which the ring gear 106 is formed. For example, by applying a braking force to the ring gear 106 using a brake mounted on the nacelle 103 and having a friction body 50, the relative position between the nacelle 103 and the tower 102 can be fixed.

[0101] Then, if Figure 5 As shown in FIG. 1 , the tooth 41 of the pinion 4 located at the reference position P1 and between the adjacent pair of reference teeth 107a in the circumferential direction D1 of the ring gear 106 is brought into contact with one of the pair of reference teeth 107a. Then, the self-actuator 30 outputs rotation to the pinion 4, causing the pinion 4 to rotate until the rotation is as shown in FIG. Figure 6As shown, the tooth 41 of the pinion gear contacts the other of the pair of reference teeth 107a. Then, the amount of rotation output from the actuator 30 is measured until the tooth 41 of the pinion gear contacts the other of the pair of reference teeth 107a. As an example, rotation is input to the actuator 30 by a human hand, so that rotation can be output from the actuator 30. In this case, the measurement of the amount of rotation output from the actuator 30 can be performed by visually counting the number of rotations input to the actuator 30 by a human hand. A pulse counter can also be used for the measurement of the amount of rotation output from the actuator 30. In addition, a torque meter can also be used to detect such as Figure 5 The tooth 41 of the pinion 4 shown in FIG. 1 is in contact with one of the pair of reference teeth 107a, or as shown in FIG. Figure 6 The pinion tooth 41 shown is in contact with the other of the pair of reference teeth 107a. In this case, the torque applied to the rotating pinion 4 is measured using a torque meter, and the situation where a large torque is applied to the pinion 4 is detected, so that the contact between the pinion tooth 41 and the reference tooth 107a can be detected.

[0102] Then, the backlash between the drive device 2 and the ring gear 106 is calculated based on the rotation amount output from the actuator 30 from the state where the pinion gear tooth 41 is in contact with one of the pair of reference teeth 107a to the state where the pinion gear tooth 41 is in contact with the other of the pair of reference teeth 107a.

[0103] When calculating the backlash between the drive device 2 and the ring gear 106, the backlash between the pinion 4 and the ring gear 106, in particular, the backlash in the circumferential direction between the pinion 4 and the ring gear 106, can be calculated based on the measured rotation amount output from the actuator 30, the backlash inside the reducer 32, and the reduction ratio of the reducer 32. Thus, the judgment process and the adjustment process to be discussed later can be performed based on the backlash between the pinion 4 and the ring gear 106. In particular, the influence of the backlash inside the reducer 32 and the reduction ratio of the reducer 32 can be removed from the rotation amount output from the actuator 30, and the positions of the plurality of drive devices 2 can be judged and adjusted based on the absolute value of the backlash actually generated between the pinion 4 and the ring gear 106.

[0104] In addition, the measurement result of the rotation amount output from the actuator 30 from the state where the teeth 41 of the pinion gear are in contact with one of the pair of reference teeth 107a to the state where the teeth 41 of the pinion gear are in contact with the other of the pair of reference teeth 107a can also be used as the backlash between the drive device 2 and the ring gear 106. Generally, the reducers 32 included in the plurality of drive devices 2 provided in the drive mechanism 1 are all of the same model, so it can be assumed that the backlash inside the reducer 32 and the reduction ratio of the reducer 32 are constant among the plurality of drive devices 2. Based on this assumption, it can be assumed that the backlash between the pinion gear 4 and the ring gear 106 is also large in the drive device 2 with a large rotation amount output from the actuator 30, and the backlash between the pinion gear 4 and the ring gear 106 is also small in the drive device 2 with a small rotation amount output from the actuator 30. Therefore, by comparing the magnitude of the rotation amount output from the actuator 30 for each of the plurality of drive devices 2, the magnitude of the backlash between the pinion gear 4 and the ring gear 106 can be compared. For example, in the judgment process discussed later, by comparing the magnitude of the rotation amount output from the actuator 30, it is possible to determine the drive device 2 in which the backlash between the pinion 4 and the ring gear 106 is greatly different from that of other drive devices 2. Therefore, the rotation amount output from the actuator 30 itself can be used as a value replacing the backlash between the pinion 4 and the ring gear 106.

[0105] By using the rotation amount output from the actuator 30 as the backlash between the drive device 2 and the ring gear 106 , it is no longer necessary to calculate the absolute value of the backlash between the pinion 4 and the ring gear 106 in consideration of the backlash inside the speed reducer 32 and the reduction ratio of the speed reducer 32 .

[0106] Next, the acquisition process is described. In the acquisition process, as described above, deviation information related to the deviation of the distance from the rotation center C2 of the ring gear 106 to the front end portion of each of the plurality of teeth 107 is acquired. In addition, the deviation of the distance from the rotation center C2 of the ring gear 106 to the front end portion of each of the plurality of teeth 107 is caused, for example, by deformation of the shape of the ring gear 106. The acquisition process can be performed after the measurement process or before the measurement process. In addition, when the acquisition process is performed before the measurement process, the innermost inner tooth 108b and the reference position P1 can be determined based on the deviation information acquired in the acquisition process, and the measurement process can be performed based on the determined innermost inner tooth 108b and the reference position P1.

[0107] As an example, in the acquisition process, based on at least any one of information related to the manufacturing tolerance of the ring gear 106, the backlash between the specific drive device 2 and the ring gear 106 measured at different circumferential positions of the ring gear 106, and the inspection result related to the deformation in the circumferential direction D1 of the ring gear 106, the deviation information related to the deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the plurality of teeth 107 is acquired. Thus, the deviation information can be acquired based on the information that can be easily obtained. In addition, in the judgment process discussed later, by considering the deviation information, it is possible to accurately judge the position of the drive device 2 relative to the ring gear 106, especially the position of the pinion 4 of the drive device 2 relative to the ring gear 106.

[0108] In the acquisition step, a method of acquiring deviation information on deviations in distances from the rotation center C1 of the ring gear 106 to the tips of the plurality of teeth 107 from the backlash between the specific drive device 2 and the ring gear 106 measured at different circumferential positions of the ring gear 106 will be described.

[0109] First, a specific driving device 2 is selected from among the plurality of driving devices 2. For example, the first driving device 2-1 is selected as the specific driving device 2 from among the plurality of driving devices 2.

[0110] Next, the selected specific drive device 2 is made to face the first position on the circumferential direction D1 of the ring gear 106, and the tooth clearance between the specific drive device 2 and the ring gear 106 is measured. The method of measuring the tooth clearance in the acquisition process is, for example, the same as the method of measuring the tooth clearance in the measurement process. Next, the multiple drive devices 2 are rotated relative to the ring gear 106, so that the selected specific drive device 2 faces the second position (a position different from the first position) on the circumferential direction D1 of the ring gear 106. Then, the tooth clearance between the specific drive device 2 and the ring gear 106 at the second position is measured. In this way, the tooth clearance between the specific drive device 2 and the ring gear 106 can be measured at multiple different circumferential positions of the ring gear 106.

[0111] Here, it can be considered that the larger the deviation of the backlash measured at different multiple circumferential positions of the ring gear 106, the larger the deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the multiple teeth 107. In the case where the ring gear 106 has internal teeth 108, it can be considered that the larger the backlash measured at a specific circumferential position of the ring gear 106, the shallower the meshing of the teeth 41 of the pinion 4 of the drive device 2 and the internal teeth 108 of the ring gear 106 at the circumferential position. Therefore, it can be considered that the larger the backlash measured at the circumferential position of the ring gear 106, the longer the distance from the front end 108a of the internal teeth 108 at the circumferential position to the rotation center C2. In summary, by measuring the backlash between a specific drive device 2 and the ring gear 106 at different multiple circumferential positions of the ring gear 106, it is possible to obtain deviation information related to the deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the multiple teeth 107.

[0112] Furthermore, as deviation information related to the deviation of the distance from the rotation center C1 of the ring gear 106 to the tip of each of the plurality of teeth 107, specifically, the value of the backlash itself measured at different circumferential positions can be obtained. In addition, as the deviation information, information derived based on the value of the backlash measured can also be obtained. For example, the distance from the tip of the tooth 107 located at different circumferential positions to the rotation center C2 can be calculated based on the value of the backlash measured, and the distance can be obtained as the deviation information.

[0113] After the measuring step and the acquiring step, a judging step is performed to judge the position of the drive device 2 relative to the ring gear 106 based on the plurality of backlashes measured in the measuring step. As an example, in the judging step, it is particularly judged whether the degree of deviation of the positions of the plurality of drive devices 2 relative to the ring gear 106 is a degree that is acceptable from the viewpoint of making the degree of deviation of the backlashes between each of the plurality of drive devices 2 and the ring gear 106 sufficiently small. In addition, assuming that the degree of deviation of the positions of the plurality of drive devices 2 is so large that it is not acceptable, it is also possible to judge how much the position of which drive device 2 is deviated from the other drive devices 2. Specifically, in the judging step, it is also possible to judge which drive device 2 is the one whose distance of the rotation axis C1 from the rotation center C2 of the ring gear 106 is greatly different from that of the other drive devices 2. In addition, it is also possible to judge to what extent the distance of the rotation axis C1 from the rotation center C2 of the drive device 2 judged to have a larger position deviation than that of the other drive devices 2 is different from that of the rotation axis C1 from the rotation center C2 of the other drive devices 2.

[0114] In the judgment process, as an example, if the degree of deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 is below the reference value, the degree of deviation of the position of the drive device 2 relative to the ring gear 106 is suppressed to be sufficiently small, and it is evaluated that it is not necessary to adjust the positions of the plurality of drive devices 2. In addition, if the degree of deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 exceeds the reference value, the degree of deviation of the position of the drive device 2 relative to the ring gear 106 is too large, and it is evaluated that it is necessary to adjust the positions of the plurality of drive devices 2.

[0115] As an example, in the judgment process, the position of the drive device 2 relative to the ring gear 106 is judged based on the backlash measured in the measurement process and the deviation information obtained in the acquisition process. Thus, the position of the drive device 2 relative to the ring gear 106 can be judged by considering the deviation of the distance from the rotation center C2 of the ring gear 106 to the front end of each of the plurality of teeth 107 caused by the deformation of the shape of the ring gear 106. Therefore, for example, although the deviation of the positions of the plurality of drive devices 2 is large to a certain extent, the deformation of the shape of the ring gear 106 is small, and therefore, the deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 is not large as a whole. In this case, in the judgment process, it can be judged that the position of the drive device 2 does not need to be adjusted. Thus, unnecessary adjustment can be avoided and the workload of position adjustment can be reduced. In addition, in this case, the reference value of the degree of deviation of the position of the drive device 2 relative to the ring gear 106 can be set to a value that changes according to the deviation information obtained in the acquisition process.

[0116] As an example, as a numerical value indicating the degree of deviation of the backlash, the relative standard deviation of the backlash measured in the measuring process can be used. In addition, in the judging process, in the case of considering the deviation information acquired in the acquiring process, the relative standard deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the plurality of teeth 107 acquired in the acquiring process can be used as the deviation information. In this case, the judging process includes a process of evaluating the degree of deviation of the position of the drive device 2 relative to the ring gear 106 among the plurality of drive devices 2 based on the relative standard deviation of the backlash and the relative standard deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the plurality of teeth 107 (hereinafter also referred to as the relative standard deviation evaluation process). In the relative standard deviation evaluation process, for example, the degree of deviation of the position of the drive device 2 relative to the ring gear 106 among the plurality of drive devices 2 can be evaluated by the following method. The reference of the total value of the relative standard deviation of the backlash and the relative standard deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the plurality of teeth 107, that is, the total reference value, is determined in advance. Then, the value obtained by subtracting the relative standard deviation of the distance from the rotation center C1 of the ring gear 106 to the front end of each of the plurality of teeth 107 acquired in the acquisition process from the total reference value is set as the reference value of the relative standard deviation of the backlash measured in the measurement process. Then, if the relative standard deviation of the backlash measured in the measurement process is larger than the reference value, it is evaluated that the degree of deviation of the position of the drive device 2 relative to the ring gear 106 is too large. In addition, if the relative standard deviation of the backlash measured in the measurement process is less than the reference value, it is evaluated that the degree of deviation of the position of the drive device 2 relative to the ring gear 106 is suppressed to be sufficiently small.

[0117] The relative standard deviation evaluation process can be used to easily evaluate the degree of deviation of the position of the drive device 2 relative to the ring gear 106 among the plurality of drive devices 2. In particular, by using the relative standard deviation, it is possible to quantitatively determine the evaluation criterion, and to perform the evaluation by considering the backlash measured in the measuring process and the deviation information acquired in the acquiring process together.

[0118] about Figure 4 When the position of the drive device 2 relative to the ring gear 106 is determined in the determination process, the following determination result can be obtained, for example. The degree of deviation of the tooth gap between each of the multiple drive devices 2 and the ring gear 106 exceeds the reference value, and therefore, a determination result can be obtained that the degree of deviation of the position of the drive device 2 relative to the ring gear 106 is too large. In addition, the tooth gap between the fourth drive device 2-4 and the ring gear 106 is larger than the tooth gaps between the other drive devices 2-1, 2-2, and 2-3 and the ring gear 106, and therefore, a determination result can be obtained. Figure 4The distance w4 shown is smaller than the distances w1, w2, and w3. Figure 4 How should the length of the distance w4 shown be changed so that the degree of deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 becomes equal to or less than a reference value?

[0119] Furthermore, in the determination step, the position of the drive device 2 relative to the ring gear 106 may be determined based only on the backlash measured in the measurement step without taking into account the deviation information acquired in the acquisition step. In this case, the reference value of the degree of deviation of the position of the drive device 2 relative to the ring gear 106 may be set to a fixed value that does not vary according to the deviation information acquired in the acquisition step.

[0120] After the judgment step, an adjustment step is performed to adjust the position of the drive device 2 based on the result of the judgment step. In the adjustment step, the position of the drive device 2, especially the pinion 4, is adjusted based on the result of the judgment step. As an example, when it is determined in the judgment step that the degree of deviation of the positions of the plurality of drive devices 2 relative to the ring gear 106 is so large that it is unacceptable, the adjustment step is performed.

[0121] In the adjustment process, as an example, it is assumed that if the judgment process is performed again after the adjustment process, the position of the drive device 2 is adjusted in such a manner that the degree of deviation of the position of the plurality of drive devices 2 relative to the ring gear 106 is judged to be small to an allowable degree. For example, in the adjustment process, the position of the pinion 4 is adjusted in such a manner that the degree of deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 becomes less than the reference value. As an example, the reference value in the adjustment process is the same as the reference value when judging the degree of deviation of the position of the drive device 2 relative to the ring gear 106 in the judgment process. That is, the reference value in the adjustment process can be either a value that changes according to the deviation information acquired in the acquisition process or a fixed value that does not change. By adjusting the position of the pinion 4 in such a manner that the degree of deviation of the backlash between each of the plurality of drive devices 2 and the ring gear 106 becomes less than the reference value, the degree of deviation of the backlash can be made sufficiently small.

[0122] As an example, the position of the drive device 2 relative to the ring gear 106 is as follows: Figure 4 The adjustment process for the case of such deviation is described below. Figure 4In the example shown, as described above, the distance w4 between the rotation axis C1-4 of the pinion 4 of the fourth drive device 2-4 and the rotation center C2 of the ring gear 106 is shorter than the distances w1, w2, and w3 between the rotation axes C1-1, C1-2, and C1-3 of the pinion 4 of the other drive devices 2-1, 2-2, and 2-3 and the rotation center C2 of the ring gear 106. Therefore, the degree of deviation of the positions of the plurality of drive devices 2 relative to the ring gear 106 is large.

[0123] Based on the results of the judgment process, Figure 4 In such a situation, in the adjustment process, Figure 7 As shown, the position of the pinion 4 of at least one of the plurality of drive devices 2 can be adjusted in a manner that changes the distance from the rotation center C2 of the ring gear 106. In particular, the position of the rotation axis C1 of the pinion 4 of at least one of the plurality of drive devices 2 can be adjusted in a manner that changes the distance from the rotation center C2 of the ring gear 106. As a result, the degree of deviation of the positions of the plurality of drive devices 2 relative to the ring gear 106 can be reduced compared to the state before the adjustment process. In addition, in the drawings, the dotted line marked with the reference numeral L2 is an imaginary line indicating the position of the pinion 4 before the movement in the adjustment process. In addition, in the drawings, the circle drawn by the dotted line marked with the reference numeral C3 is a circle indicating the position of the rotation axis C1 of the pinion 4 before the movement in the adjustment process.

[0124] exist Figure 7 In the example shown, the position of the rotation axis C1-4 of the pinion 4 of the fourth drive device 2-4 is adjusted to be aligned with Figure 4 Compared with the state before the adjustment process shown in FIG. 1 , the distance from the rotation center C2 of the ring gear 106 becomes longer. Figure 4 Compared to the state before the adjustment process shown, the degree of deviation in the positions of the plurality of drive devices 2 relative to the ring gear 106 is reduced.

[0125] In addition, in the adjustment process, the position adjustment of the pinion 4 of at least one of the plurality of drive devices 2 may be performed while the position of the pinion 4 of the drive devices 2 other than the drive device 2 for which the position adjustment of the pinion 4 is performed is fixed. In particular, the position adjustment of the pinion 4 of the drive device 2 can be performed while the position of the pinion 4 of all the drive devices 2 other than the drive device 2 for which the position adjustment of the pinion 4 is performed is fixed. For example, in the case of adjusting the position of the pinion 4 of the fourth drive device 2-4 as described above, the position adjustment can be performed while the position of the pinion 4 of the drive devices 2-1, 2-2, and 2-3 other than the fourth drive device 2-4 is fixed. By performing the position adjustment in this way, it is possible to suppress the position of the pinion 4 other than the pinion 4 for which the position adjustment is performed from moving, and only the position of the pinion 4 whose position is not ideal can be adjusted. Thus, the amount of work for the position adjustment can be reduced. The fixing of the position of the drive devices 2 other than the drive device 2 for which the position adjustment of the pinion 4 is performed, for example, can be performed by applying a brake to the rotation of the shaft 33 using the brake portion 31 of each of the drive devices 2.

[0126] In addition, in the adjustment process, the relative positional relationship between the plurality of drive devices 2 may not be changed, but the plurality of drive devices 2 may be moved relative to the ring gear 106 to adjust the position of the drive devices 2. Such position adjustment can be performed, for example, by adjusting the relative position of the nacelle 103 on which the plurality of drive devices 2 are mounted relative to the tower 102 on which the ring gear 106 is formed.

[0127] The adjustment process can be used to sufficiently reduce the degree of deviation of the position of the drive device 2 relative to the ring gear 106. In particular, the adjustment process is performed based on the result of the above-mentioned determination process, thereby reducing the workload of position adjustment and reducing the degree of deviation of the position of the drive device 2 relative to the ring gear 106.

[0128] According to the method for determining the positions of the plurality of drive devices 2 of the drive mechanism 1 and the method for adjusting the positions of the plurality of drive devices 2, the positions of the plurality of drive devices 2 relative to the ring gear 106 can be determined by a simple method. In addition, the positions of the plurality of drive devices 2, in particular the position of the pinion 4, can be adjusted based on the result of such determination.

[0129] Reference Figure 8 , further illustrating the effect of a method for determining the positions of the plurality of driving devices 2 of the driving mechanism 1 and a method for adjusting the positions of the plurality of driving devices 2. Figure 8 It is magnified Figure 4 FIG. 1 is a diagram of a portion of the drive mechanism 1 where the teeth 107 of the ring gear 106 mesh with the teeth 41 of the pinion 4. Figure 8 The curve L3 indicated by the dotted line in FIG. 1 is a line constituting a part of an imaginary circle centered on the rotation center C2 of the ring gear 106. Figure 8 The straight line L4 indicated by the one-dot chain line in FIG. 1 is a tangent line to the curve L3 .

[0130] As a method for adjusting the drive mechanism 1 for driving the movable part, in particular, Figure 1 The driving movable part of the windmill shown in FIG. Figure 4 The following method is also considered as a method for adjusting the drive mechanism 1 having the ring gear 106 and a plurality of drive devices 2 as shown. First, by directly measuring Figure 8 The backlash is measured by measuring the length of the gap between the teeth 107 of the ring gear 106 and the teeth 41 of the pinion 4 which are meshed as shown. Here, in the measurement of the backlash, for example, a clearance gauge is inserted into the gap between the tooth surface 107b of the tooth 107 of the ring gear 106 and the tooth surface 41a of the tooth 41 of the pinion 4, and the normal direction backlash w7 or the tangential direction backlash w8 is measured as the backlash. Then, the position of the drive device 2 relative to the ring gear 106 is determined based on the measured backlash, and the drive mechanism 1 is adjusted based on the determination result. However, in the case of this adjustment method, it is necessary to adjust the direction (relative to the direction of the rotation axis (rotation axis C1, rotation center C2) extending from the ring gear 106 and the pinion 4. Figure 8 The backlash gauge is inserted from the direction perpendicular to the paper surface of the paper (observing the ring gear 106 and the pinion 4). Therefore, if another component is installed around the ring gear 106 and the pinion 4, the component may hinder the measurement of the backlash. Therefore, this adjustment method may not be applicable to the case where the backlash gauge is installed. Figure 1 The partial drive mechanism 1 of the windmill assembled in this way is shown. In addition, the lubricating oil between the ring gear 106 and the pinion 4 may also hinder the measurement of the backlash gauge.

[0131] The following method is also conceivable as a method for adjusting the drive mechanism 1. First, while the pinion 4 is rotated relative to the fixed ring gear 106, the probe of the micrometer is brought into contact with the tooth surface 41a of the tooth 41 of the pinion 4. Thus, the micrometer reads the movement of the tooth surface 41a in the rotation direction of the pinion 4 and measures the Figure 8 The circumferential tooth gap w9 shown in the figure. Then, the position of the drive device 2 relative to the ring gear 106 is determined based on the measured tooth gap, and the drive mechanism 1 is adjusted based on the determination result. However, in the case of this adjustment method, a micrometer is required, and the operation of installing the micrometer is also required. In addition, the lubricating oil between the ring gear 106 and the pinion 4 may also hinder the installation and measurement of the micrometer.

[0132] In contrast, according to the adjustment method of the present embodiment, the backlash can be measured without having to largely disassemble an object such as a windmill in which the drive mechanism 1 is assembled in order to measure the backlash or set up a measuring instrument for the measurement. In addition, the backlash can be measured without being hindered by the lubricating oil between the ring gear 106 and the pinion 4. Therefore, the position of the drive device 2 relative to the ring gear 106 can be determined by a simple method. In particular, the position of the drive device 2 relative to the ring gear 106 can also be easily determined for the drive mechanism 1 of the windmill in the set state.

[0133] As described above, one embodiment is described with reference to specific examples, but the above specific examples are not intended to limit one embodiment. The above one embodiment can be implemented with various other specific examples, and various omissions, substitutions, and changes can be made without departing from the scope of the gist.

[0134] In the following description and the drawings used in the following description, for parts that can be configured in the same manner as the above-mentioned specific example, the same reference numerals as those used for the corresponding parts in the above-mentioned specific example are used, and repeated descriptions are omitted.

[0135] (Variation Example)

[0136] In the above embodiment, the method of determining the positions of the plurality of drive devices 2 and the method of adjusting the positions of the drive devices 2 are described with respect to the drive mechanism 1 in which the ring gear 106 has the plurality of internal teeth 108. However, the form of the ring gear 106 is not limited thereto. Fig. 9 FIG. 1 is a top view of a drive mechanism 1 including a ring gear 106 according to a modified example. Fig. 9 In the example shown, the ring gear 106 has a plurality of external teeth 109. Fig. 9 In the example shown, the ring gear 106 has a shape in which a plurality of external teeth 109 are provided on a deformed ring. The external teeth 109 of the ring gear 106 mesh with the teeth 41 of the pinion 4. Fig. 9 In the figure, the friction body 50 is omitted.

[0137] In the case where the ring gear 106 has a plurality of external teeth 109, the backlash between the drive device 2 and the ring gear 106 is larger when the pinion 4 of the drive device 2 meshes with the external teeth 109 having the front end portion 109a closer to the rotation center C2 of the ring gear 106. In addition, the backlash between the drive device 2 and the ring gear 106 is smaller when the pinion 4 of the drive device 2 meshes with the external teeth 109 having the front end portion 109a farther from the rotation center C2 of the ring gear 106.

[0138] Here, the external tooth 109 whose tip end portion 109a is located at the position farthest from the rotation center C2 of the ring gear 106 among the plurality of external teeth 109 is also referred to as the outermost external tooth 109b. In this modification, the reference position P1 is determined in such a manner that the outermost external tooth 109b becomes one of a pair of reference teeth 107a. In other words, in this modification, the outermost external tooth 109b and one of the external teeth 109 adjacent to the outermost external tooth 109b in the circumferential direction D1 are set as a pair of reference teeth 107a. In other words, in this embodiment, the backlash is measured with the position where the external tooth 109 (outermost external tooth 109b) whose tip end portion 109a is located at the position farthest from the rotation center C2 of the ring gear 106 among the plurality of external teeth 109 meshing with the pinion 4 as the reference position P1. As an example, the reference position P1 is determined between the outermost external tooth 109 b and the external tooth 109 having the front end portion 109 a closer to the rotation center C2 of the ring gear 106 among the two external teeth 109 adjacent to the outermost external tooth 109 b in the circumferential direction D1 .

[0139] In the ring gear 106 having a plurality of external teeth 109, the reference position P1 is determined as described above, thereby obtaining the following effects. When the pinion 4 is located in a position meshing with the outermost external teeth 109b in the circumferential direction D1, the tooth gap between the pinion 4 and the ring gear 106 is minimized. In contrast, the reference position P1 is determined as described above, so that in the measurement process, the tooth gap is measured based on the state in which the pinion 4 is meshing with the outermost external teeth 109b. In addition, based on the tooth gap measured in this way, the judgment process and the adjustment process discussed later are performed. Therefore, after the position of the pinion 4 is adjusted in the adjustment process, the tooth gap when the pinion 4 is meshing with the outermost external teeth 109b can be prevented from becoming too small.

[0140] Furthermore, the description regarding the internal teeth 108 and the innermost internal teeth 108 b of the ring gear 106 in the above-described embodiment is also applicable to the external teeth 109 and the outermost external teeth 109 b of the ring gear 106 of the present modification, unless there is any contradiction.

[0141] In the embodiments disclosed in this specification, for a component composed of multiple objects, the multiple objects can also be integrated, and conversely, a component composed of one object can also be divided into multiple objects. Regardless of whether it is integrated or not, it can be constructed in a manner that can achieve the purpose of the invention.

[0142] The form of the present invention is not limited to the above-mentioned embodiments, but also includes various modifications that can be thought of by those skilled in the art, and the effect of the present invention is not limited to the above-mentioned contents. That is, various additions, changes and partial deletions can be made within the scope of the conceptual ideas and the main purpose of the present invention derived from the contents specified in the claims and their equivalents.

Claims

1. A method for adjusting a drive mechanism of a windmill, which is a method for adjusting a drive mechanism of a drive movable part of a windmill, wherein the drive mechanism comprises: a ring gear; and a plurality of drive devices, each of which has a pinion gear meshing with the ring gear and a drive part driving the pinion gear, wherein: The method for adjusting the driving mechanism of the windmill comprises the following steps: A measuring step of measuring the backlash between each of the plurality of driving devices and the gear ring; as well as a judging step of judging the position of the drive device relative to the ring gear based on the plurality of tooth gaps measured in the measuring step, The measurement process includes at least the following steps: aligning a pinion of one of the plurality of drive devices so as to face a reference position in the circumferential direction of the ring gear, and measuring a backlash between the drive device and the ring gear; as well as The plurality of drive devices are rotated relative to the ring gear, a pinion of another drive device different from the drive device for which the backlash is measured is aligned so as to face the reference position of the ring gear, and the backlash between the other drive device and the ring gear is measured. The method for adjusting the driving mechanism of the windmill further comprises the following steps: The adjusting step adjusts the position of the pinion gear based on the result of the determining step.

2. The method for adjusting the driving mechanism of a windmill according to claim 1, wherein: The method for adjusting the driving mechanism of the windmill comprises the following steps: an acquisition step of acquiring deviation information related to deviations in distances from a rotation center of the ring gear having a plurality of teeth to the tip ends of each of the plurality of teeth, In the determining step, the position of the drive device relative to the ring gear is determined based on the backlash measured in the measuring step and the deviation information acquired in the acquiring step.

3. The method for adjusting the driving mechanism of a windmill according to claim 2, wherein: The judging process includes the following steps: Based on the relative standard deviation of the tooth gap measured in the measuring process and the relative standard deviation of the distance from the rotation center of the ring gear to the front end of each of the multiple teeth acquired in the acquisition process, the degree of deviation in the position of the drive device relative to the ring gear between the multiple drive devices is evaluated.

4. The method for adjusting the driving mechanism of a windmill according to claim 2 or 3, wherein: In the acquisition process, based on at least any one of information related to the manufacturing tolerance of the ring gear, the tooth clearance between a specific drive device and the ring gear measured at different circumferential positions of the ring gear, and an inspection result related to the circumferential deformation of the ring gear, deviation information related to the deviation of the distance from the rotation center of the ring gear to the front end portion of each of the multiple teeth is acquired.

5. The method for adjusting a wind turbine drive mechanism according to any one of claims 1 to 3, wherein: The gear ring has a plurality of internal teeth, In the measuring step, the backlash is measured using as a reference position a position where an internal tooth whose tip end is located closest to the rotation center of the ring gear meshes with the pinion gear.

6. The method for adjusting a wind turbine drive mechanism according to any one of claims 1 to 3, wherein: The gear ring has a plurality of external teeth, In the measuring step, the backlash is measured using a position where an external tooth whose tip end is located farthest from the rotation center of the ring gear among the plurality of external teeth meshes with the pinion gear as a reference position.

7. The method for adjusting a wind turbine drive mechanism according to any one of claims 1 to 3, wherein: Each of the plurality of drive devices includes: an actuator that outputs rotation; and a speed reducer that reduces the speed of the output from the actuator and transmits it to the pinion gear. The measuring process has the following steps: After the teeth of the pinion gear located at the reference position and between a pair of adjacent reference teeth in the circumferential direction of the ring gear are brought into contact with one of the pair of reference teeth, the actuator outputs a rotation to the pinion gear to rotate the pinion gear, and the amount of rotation output from the actuator until the teeth of the pinion gear are brought into contact with the other of the pair of reference teeth is measured; as well as The backlash between the pinion gear and the ring gear is calculated based on the measured rotation amount, the backlash inside the speed reducer, and the reduction ratio of the speed reducer.

8. The method for adjusting a wind turbine drive mechanism according to any one of claims 1 to 3, wherein: In the adjustment step, the position of the pinion gear of at least one of the plurality of drive devices is adjusted so as to change the distance from the rotation center of the ring gear.

9. The method for adjusting a drive mechanism of a wind turbine according to any one of claims 1 to 3, wherein: In the adjustment step, the position of the pinion gear is adjusted so that the degree of deviation of the backlash between each of the plurality of drive devices and the ring gear becomes equal to or smaller than a reference value.

10. The method for adjusting a drive mechanism of a wind turbine according to any one of claims 1 to 3, wherein: In the adjustment step, the position of the pinion gear of at least one of the plurality of drive devices is adjusted while the position of the pinion gear of the drive devices other than the drive device that performs the position adjustment of the pinion gear is fixed.

11. A method for adjusting a driving mechanism, which is a method for adjusting a driving mechanism that drives a movable part, the driving mechanism comprising: a ring gear; and a plurality of driving devices, each of which has a pinion gear meshing with the ring gear and a driving part driving the pinion gear, wherein: The adjustment method of the driving mechanism comprises the following steps: A measuring step of measuring the backlash between each of the plurality of driving devices and the gear ring; as well as a judging step of judging the position of the drive device relative to the ring gear based on the plurality of tooth gaps measured in the measuring step, The measurement process includes at least the following steps: aligning a pinion of one of the plurality of drive devices so as to face a reference position in the circumferential direction of the ring gear, and measuring a backlash between the drive device and the ring gear; as well as The plurality of drive devices are rotated relative to the ring gear, a pinion of another drive device different from the drive device for which the backlash is measured is aligned so as to face the reference position of the ring gear, and the backlash between the other drive device and the ring gear is measured. The adjustment method of the driving mechanism also includes the following steps: The adjusting step adjusts the position of the pinion gear based on the result of the determining step.

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