A drive mechanism for a yaw system of a wind turbine

Abstract

The application discloses a driving mechanism of a yaw system of a wind driven generator. The driving mechanism comprises a yaw gear wheel horizontally installed at a yaw rotating part of the wind driven generator, a plurality of groups of driving input components uniformly and evenly distributed along a circumferential edge of the yaw gear wheel and meshed with the yaw gear wheel, and upper and lower transmission components installed on the upper and lower sides of each driving input component and used for driving. The application adopts a cycloid hydraulic motor for driving, has low cost and large torque; adopts a trapezoidal screw, can realize self-locking when being static, and has strong wind resistance; adopts a plurality of groups of evenly distributed input ends and synchronous rotation of each group of input ends, and has good motion stability.

Description

Technical Field

[0001] This invention relates to a drive mechanism, specifically to a drive mechanism for a wind turbine yaw system. Background Technology

[0002] Wind power is a renewable energy source with advantages such as being pollution-free, low-emission, and widely distributed. To maximize wind energy utilization, wind turbines use a yaw system to quickly and smoothly align the blades with the wind direction based on changes in wind speed vectors, achieving maximum operating efficiency.

[0003] The drive system of a wind turbine yaw system consists of a motor, a reducer, and a controller. The motor outputs power to the drive pinion via the reducer, causing the meshing large gear to rotate, thus achieving yaw of the wind turbine. This drive system uses a one-to-one power transmission method between the motor, reducer, and drive pinion, resulting in higher costs; the motor and reducer are prone to problems, leading to poor reliability; and it lacks a self-locking mechanism, resulting in a lower safety factor. Summary of the Invention

[0004] To address the problems existing in the background art, the present invention provides a drive mechanism for a wind turbine yaw system. The present invention can reduce the cost of the yaw system drive structure and improve its reliability and safety.

[0005] The technical solution adopted in this invention is:

[0006] The drive mechanism of the wind turbine yaw system of the present invention includes a yaw gear horizontally mounted at the yaw rotation point of the wind turbine, a plurality of drive input components evenly spaced along the circumferential edge of the yaw gear and meshing with the yaw gear, and upper and lower transmission components mounted on the upper and lower sides of each drive input component for driving.

[0007] Each set of drive input components includes a drive pinion assembly and a crankshaft assembly. The drive pinion assembly includes a first drive pinion and a second drive pinion, and the crankshaft assembly includes a first crankshaft and a second crankshaft. The first and second drive pinions are arranged at intervals and both mesh with the yaw gear. The first and second drive pinions are respectively mounted between the first and second crankshafts. The first and second crankshafts are symmetrical about the central axis of the yaw gear. The upper ends of the first and second crankshafts are connected to the upper transmission assembly, and the lower ends are connected to the lower transmission assembly. When the first and second crankshafts rotate, their upper and lower ends remain symmetrical about their mid-sections. All drive pinions directly mesh with the yaw gear and rotate on their own axis, while simultaneously revolving around the yaw gear as planetary gears.

[0008] The upper and lower transmission components are located inside two housings, which are mounted on the wind turbine and positioned above and below each of their respective drive input components. Each transmission component includes a helical transmission assembly, a slider linear guide, a slider mechanism, six lead screw supports, and four cycloidal hydraulic motors. The helical transmission assembly includes a double-nut trapezoidal lead screw and a lead screw nut. The slider linear guide includes two slider linear guides, and the slider mechanism includes a slider. The helical transmission assembly and the slider linear guide are horizontally arranged and perpendicular to the central axis of the yaw gear. One first slider linear guide and the second slider linear guide are installed parallel to each other on the top surface of the upper housing, while the other first slider linear guide and the second slider linear guide are installed parallel to each other on the bottom surface of the lower housing. The upper double-nut trapezoidal lead screw and the lower double-nut trapezoidal lead screw are horizontally mounted on the upper and lower sides of the two housings via their respective three lead screw supports. The upper double-nut trapezoidal lead screw is located directly below the middle of the upper first slider linear guide and the lower double-nut trapezoidal lead screw. Above, the top surfaces of the first and second upper sliders of the upper slider mechanism are slidably mounted on the upper first and second slider linear guides. The first and second lower sliders of the lower slider mechanism are slidably mounted on the lower first and second slider linear guides. The first and second upper screw nuts are respectively fitted on both sides of the upper double-nut trapezoidal screw. The first and second upper sliders are respectively connected to the first and second upper screw nuts. The first and second lower screw nuts are respectively fitted on both sides of the lower double-nut trapezoidal screw. The first and second lower sliders are respectively connected to the first and second lower screw nuts. The upper and lower ends of the first crankshaft are respectively connected to the sliding grooves on the bottom and top surfaces of the first upper slider and the first lower slider. The upper and lower ends of the second crankshaft are respectively connected to the sliding grooves on the bottom and top surfaces of the second upper slider and the second lower slider. The bodies of four cycloidal hydraulic motors are installed in pairs inside the upper and lower housings and located at both ends of the double-nut trapezoidal screw. The ends of the upper and lower double-nut trapezoidal screws are synchronously connected to the horizontal output shaft of a cycloidal hydraulic motor. Symmetrically arranged cycloidal hydraulic motors offer stronger drive, a more symmetrical structure, and smoother operation.

[0009] The lead screw nut is symmetrical about the middle section of the double-nut trapezoidal lead screw. The slider fixed to the lead screw nut is symmetrical about the middle section of the double-nut trapezoidal lead screw. The lead screw nut below the drive pinion is symmetrical about the middle section of the double-nut trapezoidal lead screw. The slider fixed to the lead screw nut is symmetrical about the middle section of the double-nut trapezoidal lead screw.

[0010] The double-nut trapezoidal lead screw adopts a forward and reverse thread structure, with the threads on both sides of the double-nut trapezoidal lead screw rotating in opposite directions.

[0011] The phase difference between the first upper slider and the second upper slider is 180 degrees, the phase difference between the first lower slider and the second lower slider is 180 degrees, the phase difference between the first upper slider and the first lower slider is 90 degrees, and the phase difference between the second upper slider and the second lower slider is 90 degrees.

[0012] There is a phase difference between each group of driving input components, so that each group of driving input components will not have a "dead point" at the same time during driving.

[0013] The driving method of the drive mechanism of the wind turbine yaw system of the present invention includes:

[0014] The drive mechanism is electrically connected to the wind sensor of the wind turbine's yaw system. When the drive mechanism receives data signals from the wind sensor, it controls the direction and angle of rotation of the two cycloidal hydraulic motors at the top of the drive mechanism, driving the upper double-nut trapezoidal screw to rotate. This causes the first and second upper screw nuts to move towards or away from each other, causing the first and second upper sliders to translate along the slider linear guide rail. The drive mechanism also controls the direction and angle of rotation of the two lower cycloidal hydraulic motors, driving the lower double-nut trapezoidal screw to rotate. This causes the first and second lower screw nuts to move towards or away from each other, causing the first and second lower sliders to translate along the slider linear guide rail. The translation of the first and second upper and lower sliders causes the first crankshaft to rotate, causing the first drive pinion to rotate. The translation of the second upper and second lower sliders causes the second crankshaft to rotate, causing the second drive pinion to rotate. Ultimately, this causes the meshing yaw gear to rotate by a preset angle, achieving yaw of the wind turbine against the wind.

[0015] The beneficial effects of this invention are:

[0016] 1. This invention uses a cycloidal hydraulic motor for drive, which has low cost and high torque.

[0017] 2. This invention uses a single cycloidal hydraulic motor that can continue to be used even if it fails, thus ensuring high reliability.

[0018] 3. It adopts a double-nut trapezoidal lead screw, which transmits large torque and can achieve self-locking when stationary, thus ensuring high safety.

[0019] 4. This invention uses multiple sets of input terminals, each of which drives a small gear to rotate synchronously, resulting in good motion stability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the drive structure of the yaw system of a wind turbine.

[0021] Figure 2 A front view of a set of input terminal structures;

[0022] Figure 3A top view of a set of input terminal structures;

[0023] Figure 4 A partial schematic diagram showing the dead point of the driving pinion;

[0024] In the diagram: 1. Drive pinion assembly, 1-1. First drive pinion, 1-2. Second drive pinion, 2. Screw drive assembly, 2-1a. Upper double-nut trapezoidal lead screw, 2-2a. First upper lead screw nut, 2-3a. Second upper lead screw nut, 2-1b. Lower double-nut trapezoidal lead screw, 2-2b. First lower lead screw nut, 2-3b. Second lower lead screw nut, 3. Slider linear guide, 3-1. First slider linear guide, 3-2. Second slider linear guide, 4. Upper slider mechanism, 4-1. First upper slider, 4-2. Second upper slider, 5. Lower slider mechanism, 5-1. First lower slider, 5-2. Second lower slider, 6. Crankshaft assembly, 6-1. First crankshaft, 6-2. Second crankshaft, 7. Lead screw support, 8. Cycloidal hydraulic motor, 9. Housing, 10. Yaw gear. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, the drive mechanism of the wind turbine yaw system of the present invention includes a yaw gear 10, several sets of drive input components, and upper and lower transmission components. The yaw gear 10 is horizontally mounted at the yaw rotation point of the wind turbine. The several sets of drive input components are evenly spaced along the circumferential edge of the yaw gear 10 and mesh with each other. The upper and lower transmission components are mounted on the upper and lower sides of each drive input component and are used for driving. There is a phase difference between each set of drive input components, so that each set of drive input components will not have a "dead point" at the same time during driving.

[0027] like Figure 2 and Figure 3As shown, each drive input assembly includes a drive pinion assembly 1 and a crankshaft assembly 6. The drive pinion assembly 1 includes a first drive pinion 1-1 and a second drive pinion 1-2. The crankshaft assembly 6 includes a first crankshaft 6-1 and a second crankshaft 6-2. The first drive pinion 1-1 and the second drive pinion 1-2 are arranged at intervals and both mesh with the yaw gear 10. The first drive pinion 1-1 and the second drive pinion 1-2 are respectively mounted between the first crankshaft 6-1 and the second crankshaft 6-2. The first crankshaft 6-1 and the second crankshaft 6-2 are symmetrical about the central axis of the yaw gear 10. The upper ends of the first crankshaft 6-1 and the second crankshaft 6-2 are connected to the upper transmission assembly, and the lower ends of the first crankshaft 6-1 and the second crankshaft 6-2 are connected to the lower transmission assembly. When the first crankshaft 6-1 and the second crankshaft 6-2 rotate, the upper and lower ends respectively remain symmetrical about the middle section. All drive pinions 1-1 and 1-2 directly mesh with the yaw gear 10 and rotate on their own axis, while simultaneously revolving around the yaw gear 10 as planetary gears.

[0028] The upper and lower transmission components are located inside two housings 9, which are mounted on the wind turbine and positioned on the upper and lower sides of their respective drive input components. The upper and lower transmission components include a helical transmission assembly 2, a slider linear guide rail 3, slider mechanisms 4 and 5, six lead screw support seats 7, and four cycloidal hydraulic motors 8. The helical transmission assembly 2 includes double-nut trapezoidal lead screws 2-1a and 2-1b and lead screw nuts 2-2a, 2-3a, 2-2b, and 2-3b. The slider linear guide rail 3 includes two slider linear guide rails 3-1 and 3-2. The slider mechanisms 4 and 5 include sliders 4-1, 4-2, 5-1, and 5-2. The helical transmission assembly 2 and the slider linear guide rail 3 are arranged horizontally and perpendicular to the central axis of the yaw gear 10. One first slider linear guide rail 3-1 and the second slider linear guide rail 3-2 are installed parallel to each other on the top surface of the upper housing 9. The other first slider linear guide rail 3-1 and the second slider linear guide rail 3-2 are installed parallel to each other on the bottom surface of the lower housing 9. The upper double-nut trapezoidal lead screw 2-1a and the lower double-nut trapezoidal lead screw 2-1b are horizontally installed on the upper and lower sides of the two housings 9 respectively via their three lead screw support seats 7. The upper double-nut trapezoidal lead screw 2-1a is located directly below the middle of the upper first slider linear guide rail 3-1 and the second slider linear guide rail 3-2, and the lower double-nut trapezoidal lead screw 2-1b is located directly above the middle of the lower first slider linear guide rail 3-1 and the second slider linear guide rail 3-2. The top surfaces of the first upper slider 4-1 and the second upper slider 4-2 of the upper slider mechanism 4 are slidably mounted on the upper first slider linear guide rail 3-1 and the second slider linear guide rail 3-2. The first lower slider 5-1 and the second lower slider 5-2 of the lower slider mechanism 5 are slidably mounted on the lower first slider linear guide rail 3-1 and the second slider linear guide rail 3-2. The first upper screw nut 2-2a and the second upper screw nut 2-3a are respectively fitted on both sides of the upper double nut trapezoidal screw 2-1a. The first upper slider 4-1 and the second upper slider 4-2 are respectively connected to the first upper screw nut 2-2a and the second upper screw nut 2-3a. The first lower screw nut 2-2b and the second lower screw nut 2-3b are respectively fitted on the lower double nut trapezoidal screw. On both sides of lever 2-1b, the first lower slider 5-1 and the second lower slider 5-2 are respectively connected to the first lower lead screw nut 2-2b and the second lower lead screw nut 2-3b. The upper and lower ends of the first crankshaft 6-1 are respectively connected to the sliding grooves on the bottom surface of the first upper slider 4-1 and the top surface of the first lower slider 5-1. The upper and lower ends of the second crankshaft 6-2 are respectively connected to the sliding grooves on the bottom surface of the second upper slider 4-2 and the top surface of the second lower slider 5-2. The bodies of the four cycloidal hydraulic motors 8 are installed in pairs inside the upper and lower outer shells 9 and located at both ends of the double-nut trapezoidal lead screws 2-1a and 2-1b. The ends of the upper double-nut trapezoidal lead screw 2-1a and the lower double-nut trapezoidal lead screw 2-1b are synchronously connected to the horizontal output shaft of one cycloidal hydraulic motor 8. The symmetrically arranged cycloidal hydraulic motors 8 have stronger drive, more symmetrical structure, and smoother drive.

[0029] Lead screw nuts 2-2a and 2-3a are symmetrical about the middle section of the double-nut trapezoidal lead screw 2-1a. Slider blocks 4-1 and 4-2, fixed to lead screw nuts 2-2a and 2-3a, are symmetrical about the middle section of the double-nut trapezoidal lead screw 2-1a. Lead screw nuts 2-2b and 2-3b below the drive pinion 1 are symmetrical about the middle section of the double-nut trapezoidal lead screw 2-1b. Slider blocks 5-1 and 5-2, fixed to lead screw nuts 2-2b and 2-3b, are symmetrical about the middle section of the double-nut trapezoidal lead screw 2-1b.

[0030] The double-nut trapezoidal lead screws 2-1a and 2-1b adopt a forward and reverse thread structure, and the two sides of the double-nut trapezoidal lead screws 2-1a and 2-1b have opposite thread directions.

[0031] The phase difference between the first upper slider 4-1 and the second upper slider 4-2 is 180 degrees, the phase difference between the first lower slider 5-1 and the second lower slider 5-2 is 180 degrees, the phase difference between the first upper slider 4-1 and the first lower slider 5-1 is 90 degrees, and the phase difference between the second upper slider 4-2 and the second lower slider 5-2 is 90 degrees.

[0032] The driving method of the drive mechanism of the wind turbine yaw system of the present invention is as follows:

[0033] The drive mechanism is electrically connected to the wind sensor of the wind turbine's yaw system. When the drive mechanism receives data signals from the wind sensor, it controls the direction and angle of rotation of the two upper cycloidal hydraulic motors 8, driving the upper double-nut trapezoidal screw 2-1a to rotate. This causes the first upper screw nut 2-2a and the second upper screw nut 2-3a to move towards or away from each other, thus moving the first upper slider 4-1 and the second upper slider 4-2 along the slider linear guide 3. This also controls the direction and angle of rotation of the two lower cycloidal hydraulic motors 8, driving the lower double-nut trapezoidal screw 2-1b to rotate, causing the first upper slider 4-1 and the second upper slider 4-2 to translate along the slider linear guide 3. The lower lead screw nut 2-2b and the second lower lead screw nut 2-3b move toward or away from each other, causing the first lower slider 5-1 and the second lower slider 5-2 to translate along the slider linear guide rail 3; the translation of the first upper slider 4-1 and the first lower slider 5-1 causes the first crankshaft 6-1 to rotate, causing the first drive pinion 1-1 to rotate; the translation of the second upper slider 4-2 and the second lower slider 5-2 causes the second crankshaft 6-2 to rotate, causing the second drive pinion 1-2 to rotate, ultimately causing the meshed yaw gear 10 to rotate by a preset angle, thus achieving the yaw of the wind turbine against the wind.

[0034] like Figure 4As shown, the drive mechanism of the wind turbine yaw system uses a cycloidal hydraulic motor 8 to drive the double-nut trapezoidal lead screws 2-1a and 2-1b to rotate. This is converted into the translation of the lead screw nuts 2-2a, 2-3a, 2-2b, 2-3b and the sliders 4-1, 4-2, 5-1, 5-2 fixed to them, moving towards or away from each other. This drives the crankshafts 6-1 and 6-2 to rotate, thereby driving the pinion gears 1-1 and 1-2 to rotate. The two crankshafts 6-1 and 6-2 are connected to the upper left and right sliders 4-1 and 4-2 with a phase difference of 180 degrees to achieve symmetrical movement. When the crankshafts 6-1 and 6-2 above or below the driving pinions 1-1 and 1-2 are aligned on the same straight line, a "dead point" will occur. At this time, sliders 4-1 and 4-2 will only exert a radial force on the driving pinions 1-1 and 1-2, which is insufficient to rotate them. Therefore, the sliders 4-1, 5-1 and 4-2, 5-2 above and below the same crankshaft 6-1 and 6-2 will each have a 90-degree phase difference. When sliders 4-1 and 4-2 or 5-1 and 5-2 above or below the driving pinions 1-1 and 1-2 experience a "dead point," a tangential force can be provided by sliders 5-1 and 5-2 or 4-1 and 4-2 in another position to overcome the "dead point" during the movement of the driving pinions 1-1 and 1-2. Multiple sets of input terminals evenly distributed around the yaw gear 10 have a certain phase difference to prevent simultaneous occurrence of "dead points."

[0035] The technical solutions of the present invention are not limited to the specific embodiments described above. Any technical modifications made in accordance with the technical solutions of the present invention fall within the protection scope of the present invention.

Claims

1. A drive mechanism for a wind turbine yaw system, characterized in that: Including the yaw gear (10) which is horizontally installed at the yaw rotation point of the wind turbine. Includes several sets of drive input components that are evenly spaced along the circumferential edge of the yaw gear (10) and mesh with each other; This includes upper and lower transmission components installed on the upper and lower sides of each drive input component for driving; The upper and lower transmission components are respectively located in two housings (9), which are mounted on the wind turbine and located on the upper and lower sides of one of their respective drive input components. The upper and lower transmission components include a screw transmission component (2), a slider linear guide (3), a slider mechanism (4, 5), six lead screw support seats (7) and four cycloidal hydraulic motors (8). The screw transmission component (2) includes a double-nut trapezoidal lead screw (2-1a, 2-1b) and a lead screw nut (2-2a, 2-3a, 2-2b, 2-3b). The slider linear guide (3) includes two slider linear guides (3-1, 3-2). The slider mechanism (4, 5) includes sliders (4-1, 4-2, 5-1, 5-2). The screw transmission component (2) and the slider linear guide (3) include two slider linear guides (3-1, 3-2). The slider mechanism (4, 5) includes sliders (4-1, 4-2, 5-1, 5-2). The linear guide (3) is arranged horizontally and perpendicular to the central axis of the yaw gear (10). One of the first slider linear guides (3-1) and the second slider linear guide (3-2) are installed parallel to each other on the top surface of the upper housing (9). The other first slider linear guide (3-1) and the second slider linear guide (3-2) are installed parallel to each other on the bottom surface of the lower housing (9). The upper double nut trapezoidal screw (2-1a) and the lower double nut trapezoidal screw (2-1b) are respectively installed horizontally on the upper and lower sides of the upper and lower housings (9) through their respective three screw support seats (7). The upper double nut trapezoidal screw (2-1a) is located between the upper first slider linear guide (3-1) and the second slider linear guide (3-2). Directly below, the lower double-nut trapezoidal screw (2-1b) is located directly above the middle of the lower first slider linear guide (3-1) and the second slider linear guide (3-2). The top surfaces of the first upper slider (4-1) and the second upper slider (4-2) of the upper slider mechanism (4) are slidably mounted on the upper first slider linear guide (3-1) and the second slider linear guide (3-2). The first lower slider (5-1) and the second lower slider (5-2) of the lower slider mechanism (5) are slidably mounted on the lower first slider linear guide (3-1) and the second slider linear guide (3-2). The first upper screw nut (2-2a) and the second upper screw nut (2-3a) are respectively fitted on both sides of the upper double-nut trapezoidal screw (2-1a). The first upper slider (4-1) and the second upper slider (4-2) are respectively connected to the first upper lead screw nut (2-2a) and the second upper lead screw nut (2-3a). The first lower lead screw nut (2-2b) and the second lower lead screw nut (2-3b) are respectively fitted on both sides of the lower double nut trapezoidal lead screw (2-1b). The first lower slider (5-1) and the second lower slider (5-2) are respectively connected to the first lower lead screw nut (2-2b) and the second lower lead screw nut (2-3b). The upper and lower ends of the first crankshaft (6-1) are respectively connected to the bottom surface of the first upper slider (4-1) and the top surface of the first lower slider (5-1). The upper and lower ends of the second crankshaft (6-2) are respectively connected to the bottom surface of the second upper slider (4-2) and the top surface of the second lower slider (5-2).The bodies of the four cycloidal hydraulic motors (8) are installed in pairs inside the upper and lower outer shells (9) and located at both ends of the double-nut trapezoidal screws (2-1a, 2-1b). The upper double-nut trapezoidal screw (2-1a) and the lower double-nut trapezoidal screw (2-1b) are synchronously connected to the horizontal output shaft of a cycloidal hydraulic motor (8). The double-nut trapezoidal lead screws (2-1a, 2-1b) adopt a forward and reverse thread structure, and the threads on both sides of the double-nut trapezoidal lead screws (2-1a, 2-1b) have opposite directions.

2. The drive mechanism of the wind turbine yaw system according to claim 1, characterized in that: Each set of drive input components includes a drive pinion assembly (1) and a crankshaft assembly (6). The drive pinion assembly (1) includes a first drive pinion (1-1) and a second drive pinion (1-2). The crankshaft assembly (6) includes a first crankshaft (6-1) and a second crankshaft (6-2). The first drive pinion (1-1) and the second drive pinion (1-2) are arranged at intervals and both mesh with the yaw gear (10). (1-2) are respectively fitted between the first crankshaft (6-1) and the second crankshaft (6-2); the first crankshaft (6-1) and the second crankshaft (6-2) are symmetrical about the central axis of the yaw gear (10); the upper ends of the first crankshaft (6-1) and the second crankshaft (6-2) are connected to the upper transmission assembly; the lower ends of the first crankshaft (6-1) and the second crankshaft (6-2) are connected to the lower transmission assembly; when the first crankshaft (6-1) and the second crankshaft (6-2) rotate, the upper and lower ends respectively remain symmetrical about the middle section.

3. The drive mechanism of the wind turbine yaw system according to claim 1, characterized in that: The phase difference between the first upper slider (4-1) and the second upper slider (4-2) is 180 degrees, the phase difference between the first lower slider (5-1) and the second lower slider (5-2) is 180 degrees, the phase difference between the first upper slider (4-1) and the first lower slider (5-1) is 90 degrees, and the phase difference between the second upper slider (4-2) and the second lower slider (5-2) is 90 degrees.

4. The drive mechanism of the wind turbine yaw system according to claim 1, characterized in that: There is a phase difference between the drive input components described in each group.

5. The driving method for the driving mechanism of the wind turbine yaw system according to any one of claims 1-4, characterized in that, include: The drive mechanism is electrically connected to the wind sensor of the wind turbine generator yaw system. When the drive mechanism receives the data signal from the wind sensor, it controls the direction and angle of rotation of the two cycloidal hydraulic motors (8) at the top of the drive mechanism, driving the upper double-nut trapezoidal screw (2-1a) to rotate, so that the first upper screw nut (2-2a) and the second upper screw nut (2-3a) move towards or away from each other, driving the first upper slider (4-1) and the second upper slider (4-2) to translate on the slider linear guide rail (3), controlling the direction and angle of rotation of the two cycloidal hydraulic motors (8) at the bottom, driving the lower double-nut trapezoidal screw (2-1b) to rotate, so that the first lower screw... The lever nut (2-2b) and the second lower lead screw nut (2-3b) move toward or away from each other, causing the first lower slider (5-1) and the second lower slider (5-2) to translate on the slider linear guide rail (3); the translation of the first upper slider (4-1) and the first lower slider (5-1) causes the first crankshaft (6-1) to rotate, causing the first drive pinion (1-1) to rotate; the translation of the second upper slider (4-2) and the second lower slider (5-2) causes the second crankshaft (6-2) to rotate, causing the second drive pinion (1-2) to rotate, and finally causing the meshing yaw gear (10) to rotate by a preset angle, thereby realizing the yaw of the wind turbine.

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