A multi-rope constant moment pulling system based on differential gear train

Abstract

The application discloses a multi-rope equal-torque pulling system based on a differential wheel system and relates to the field of aircraft load release. The differential wheel system torque distributor comprises a top distribution layer, a middle distribution layer and a bottom distribution layer, the transmission structure of the top distribution layer, the middle distribution layer and the bottom distribution layer is arranged, the output gear corresponding to each distribution layer can output the same rotating torque, a driving force is provided for the launch reel, and different launch reels can realize equal-torque traction.

Description

Technical Field

[0001] This invention relates to a rope retrieval and traction system, and more particularly to a multi-rope equal-torque traction system based on a differential pulley system, belonging to the field of aircraft load release. Background Technology

[0002] When a vehicle payload is released from a launch platform, it requires its own power or onboard power to push the payload off the platform. A release system with high load-bearing capacity and small size can effectively ensure payload launch. Currently, the main power methods for payload release include the payload's own high-pressure gas, a multi-section rod installed on the launch platform and driven by high-pressure gas, and a flexible rope-driven launch pad. Among them, the flexible rope-driven launch pad mainly uses a winding roller to pull the flexible rope up and down, thereby driving the launch pad to push the payload out. Traditional flexible rope drive systems use one or two ropes for drive. Due to the limited space inside the launch tube, the winding guide wheel cannot be too large, which means the diameter of the flexible rope cannot be too large. When using one or two flexible ropes for drive, it is not possible to obtain a large load-bearing capacity. When using multiple ropes, it is difficult to balance the tension on each rope. When the launch pad moves with resistance, the resulting uneven load can easily break the flexible rope. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a multi-rope equal torque traction system based on differential wheel train, which improves the load-bearing capacity of the payload launch platform and the integration of the flexible rope traction system, reduces the size of the launch device, and effectively improves the reliability during launch.

[0004] The technical solution of this invention is:

[0005] A multi-rope equal torque traction system based on a differential gear train includes a differential gear train torque distributor and a launching reel;

[0006] The differential gear train torque distributor includes a top distribution layer, an intermediate distribution layer, and a bottom distribution layer;

[0007] The top-level distribution layer includes a first planet carrier, a first sun gear, a first planet gear, and a first output gear. The first sun gear is rotatably connected to the first planet carrier, meshes with the outer circumference of the first planet gear, and is fixedly connected to the first output gear through a first gear shaft. The first planet gear is rotatably connected to the first planet carrier.

[0008] The intermediate distribution layer includes a second planetary carrier, a first central gear, a second sun gear, a second planetary gear large gear, a second planetary gear small gear, and a second output gear. The first central gear is an internal gear mounted on the second planetary carrier. The second sun gear and the second planetary carrier form a revolute pair. The second planetary gear large gear and the second planetary gear small gear are integrally connected. The second planetary carrier is rotatably connected to the integrally connected second planetary gear large gear and the second planetary gear small gear. The second sun gear and the second planetary gear small gear, and the second sun gear and the second output gear are fixedly connected through a second gear shaft.

[0009] The bottom distribution layer includes a third planetary carrier, a second central gear, and a third output gear. The second central gear is an internal gear located on the third planetary carrier, and the second central gear and the third output gear are connected by a third gear shaft.

[0010] The first planetary carrier is the input. The first planetary carrier, the second planetary carrier, and the third planetary carrier are coaxially rotatably connected. The second gear shaft is sleeved outside the first gear shaft, and the third gear shaft is sleeved outside the second gear shaft. The first planetary gear meshes with the first central gear, the second sun gear meshes with the second planetary pinion, and the second planetary gear large gear meshes with the second central gear.

[0011] The first output gear, the third output gear, and the fourth output gear are used to drive the corresponding launch reel to release or retract the flexible rope.

[0012] When the intermediate distribution layer is multi-layered, between two adjacent intermediate distribution layers, the second planetary gear of the intermediate distribution layer closest to the bottom layer meshes with the second central gear of the next intermediate distribution layer.

[0013] It also includes a housing, and a pullback reel, a power distribution gear set, a motor, and a launching reel connected to the housing;

[0014] The motor is used to provide driving force to the power distribution gear set. The power distribution gear set drives the motor to distribute the driving force to the first output end and the second output end. The reduction ratio of the first output end and the second output end satisfies the following: the winding speed of the pullback reel is equal to the unwinding speed of the launching reel, or the unwinding speed of the pullback reel is equal to the winding speed of the launching reel.

[0015] The first output end is connected to the pullback reel and is used to drive the pullback reel to release or retract the flexible rope.

[0016] The second output terminal is connected to the differential gear train torque distributor, which distributes the input power from the second output terminal to multiple different output gears with equal torque.

[0017] The power distribution gear set includes a launching power input gear, a pulling-back power input gear, a launching power output gear, and a pulling-back power output gear. The launching power input gear and the pulling-back power input gear are fixedly connected and connected to the output end of the motor. The launching power input gear meshes with the launching power output gear, and the pulling-back power input gear meshes with the pulling-back power output gear. The launching power output gear and the pulling-back power output gear are connected by a revolute joint. The launching power output gear is fixedly connected to the first planetary carrier, and the pulling-back power output gear is connected to the pulling-back winding device.

[0018] The reduction ratios at the first and second output ends, and the reduction ratio between the winding roller power input gear (B-5) and any output gear are respectively i 收 i 展 i 线辊 Any output gear is either the first output gear (D-1'), the second output gear (D-4'), or the third output gear (D-6'), and their quantitative relationship satisfies: i 收 =i 展 i 线辊 At this time, the take-up / unwinding speeds of the pullback reel (B) and the launching reel (F) are the same.

[0019] Both the pull-back reel and the launch reel include a reel planetary gear shaft, a fixed gear, a reel planetary carrier, a splined shaft, and a reel roller. The reel roller is sleeved on the outside of the splined shaft and forms a sliding pair with the splined shaft. The reel planetary carrier is fixedly connected to the reel roller and forms a lead screw thread pair with the thread on the reel planetary gear shaft. The fixed gear is fixedly connected to the housing and connected to the splined shaft through a rotating pair. The reel planetary carrier is fixedly connected to the splined shaft. The reel planetary gear is rotatably connected to the reel planetary carrier. The fixed gear meshes with the reel planetary gear. The reel planetary gear has a coaxial reel planetary gear shaft, which is threadedly connected to the reel roller. The splined shaft serves as the input.

[0020] The inner wall of the winding roller is connected to a spline slider, which cooperates with the spline shaft to form a sliding pair along the axial direction of the spline shaft.

[0021] The splined shaft of the pullback reel is connected to the pullback power input gear.

[0022] The splined shaft of the launching reel is connected to a power input gear, and the power input gears of different pullback reels mesh with the first output gear, the third output gear, and the third output gear, respectively.

[0023] In summary, this application includes at least the following beneficial technical effects:

[0024] (1) The present invention realizes equal torque drive of multiple flexible ropes, so that the flexible ropes bear equal force and improve the load-bearing capacity during launch.

[0025] (2) The present invention achieves the equidistant arrangement of flexible ropes, and the flexible ropes are always perpendicular to the axis of the winding roller. There is no additional force or additional displacement at the deflection angle, which improves the stress environment of the flexible ropes and the displacement accuracy during winding and unwinding.

[0026] (3) The present invention achieves a high degree of integration of the flexible rope pulling device, which is small in size and can maximize the output of high power density. Attached Figure Description

[0027] Figure 1 This is a diagram showing the overall system composition of the present invention;

[0028] Figure 2 This is a diagram showing the composition of the winding roller of the present invention;

[0029] Figure 3 This is a diagram of the power distribution gear assembly of the present invention;

[0030] Figure 4 This is a diagram showing the composition of the differential gear set torque distributor of the present invention.

[0031] In the picture:

[0032] Figure 1 A. Retractor pulley assembly; B. Retractor reel; C. Power distribution gear set; D. Differential gear train torque distributor; E. Motor; F. Launcher reel; G. Launcher pulley assembly; H. Housing.

[0033] Figure 2 B-1, Wire winding planetary gear; B-2, Fixed gear; B-3, Lead screw nut; B-4, Spline slider; B-5, Power input gear; B-6, Spline shaft; B-7, Wire winding planetary carrier; B-8, Wire winding roller.

[0034] Figure 3 C-1, Retracting power input gear; C-2, Launching power input gear; C-3, Limit bearing; C-4, Retracting power output gear; C-5, Launching power output gear.

[0035] Figure 4 H1, First-stage planetary carrier; D-1, First sun gear; D-2, First planetary gear; D-3, First central gear; D-4, Second sun gear; D-5, Second planetary gear large gear; D-5', Second planetary gear small gear; D-6, Second central gear; D-1', First output gear; D-4', Second output gear; D-6', Third output gear;

[0036] H1, First planetary carrier; H2, Second planetary carrier; H3, Third planetary carrier;

[0037] D-11, First gear shaft; D-41, Second gear shaft; D-61, Third gear shaft. Detailed Implementation

[0038] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0039] like Figure 1 As shown in the figure, this application discloses a multi-rope equal torque traction system based on a differential gear train, which is mainly used for the release and equal torque winding of flexible ropes, as well as the arrangement without transmission changes during winding and unwinding. It includes a pullback reversing guide wheel group A, a pullback reel B, a power distribution gear group C, a differential gear train torque distributor D, a motor E, a launching reel F, and a launching reversing guide wheel group G.

[0040] Motor E provides driving force to power distribution gear set C. Power distribution gear set C drives the driving force of motor E to obtain a first output end and a second output end. The first output end and the second output end are respectively connected to pullback reel B and differential gear train torque distributor D. Differential gear train torque distributor D distributes the driving force of the second output end to obtain multiple output ends with equal torque. This output end is used to drive the launching reel F to release or reel in the flexible rope.

[0041] Figure 2 The image shows a cable reel in this invention, used to achieve a non-transmission-dependent arrangement during winding and unwinding. The cable reel includes a pull-back reel B and a launch reel F, comprising a winding planetary gear B-1, a fixed gear B-2, a winding planetary carrier B-7, a winding planetary carrier B-3, a spline slider B-4, a power input gear B-5, a spline shaft B-6, and a winding roller B-8. The power input gear B-5 is fixedly connected to the spline shaft B-6. The spline slider B-4 forms a sliding pair with the spline shaft B-6 and is fixedly connected to the winding roller B-8. Two winding planetary gears B-1 are provided, and the arrangement of the winding planetary gears B-1... 1. The winding planetary gears are distributed relatively from each other. A coaxial winding planetary gear shaft is provided on the winding planetary gear B-1. The winding planetary gear shaft is a lead screw. The winding planetary carrier B-3 is fixedly connected to the winding roller B-8 and forms a lead screw thread pair with the thread on the winding planetary gear shaft. The fixed gear B-2 is fixedly connected to the housing, connected to the spline shaft B-6 through a revolute joint, and forms a gear pair with the gear on the winding planetary gear shaft B-1. The winding planetary carrier B-7 is connected to the winding planetary gear through a revolute joint and is fixedly connected to the spline shaft B-6.

[0042] For the launching reel F, the driving force is transmitted from the power distribution gear set C to the power input gear B-5. The rotation of the power input gear B-5 drives the splined shaft B-6 to rotate, which in turn drives the winding planetary carrier B-7 and the winding planetary gear B-1 to rotate together. Simultaneously, the winding planetary carrier B-7 drives the winding roller B-8 to rotate, and the winding planetary gear B-1 rotates around the fixed gear B-2. The thread on the winding planetary gear B-1 meshes with the winding planetary carrier B-3, causing the winding planetary carrier B-3 to move up and down axially along the splined shaft B-6. This ensures that the flexible rope remains evenly distributed outside the winding roller B-8 during winding and unwinding, achieving a uniform arrangement of the flexible rope. For the pulling reel B, the driving force is transmitted from the power distribution gear set C to the splined shaft B-6.

[0043] Figure 3 The power distribution gear set C, used for power distribution during pullback and launch, includes a launch power input gear C-2, a pullback power input gear C-1, a launch power output gear C-5, a pullback power output gear C-4, and a limit bearing C-3. Launch power input gear C-2 and pullback power input gear C-1 are fixedly connected and mesh with launch power output gear C-5 and pullback power output gear C-4, respectively. Launch power output gear C-5 and pullback power output gear C-4 form a rotating pair through the limit bearing C-3. Launch power output gear C-5 is fixedly connected to the first planetary carrier of the torque distributor. The output shaft of motor E is coaxially connected to launch power input gear C-2 and pullback power input gear C-1. The forward rotation of motor E drives the power distribution gear set C to rotate. The splined shaft B-6 of the pullback reel B is inserted into the axis of the pullback power output gear C-4 via a spline. The launching power output gear C-5 is connected to the launching power output gear C-4. The launching power output gear C-5 and the pullback power output gear C-4 of the power distribution gear set C respectively drive the differential gear train torque distributor D and the pullback reel B to rotate.

[0044] Figure 4A differential gear train torque distributor D, which forms the intermediate distribution layer, includes a first-stage planetary carrier H1, a first sun gear D-1, a first planetary gear D-2, a second planetary carrier H2, a first central gear D-3, a second sun gear D-4, a second planetary gear large gear D-5, a second planetary gear small gear D-5', a third planetary carrier H3, a second central gear D-6, a first output gear D-1', a second output gear D-4', and a third output gear D-6'. The first sun gear D-1 is connected to the first planetary carrier via a revolute joint, meshes with the first planetary gear D-2, and is fixedly connected to the first output gear D-1' via a first gear shaft D-11. The first planetary gear D-2 is connected to the first planetary carrier via a revolute joint, meshes with the first sun gear D-1, and meshes with the first central gear D-3. The first central gear D-3 and the second planetary carrier are the same rigid body. The second planetary gear large gear D-5 and the second planetary gear small gear D-5' are the same rigid body. The rigid body formed by the second planetary carrier, the second planetary gear large gear D-5, and the second planetary gear small gear D-5' is connected by a revolute joint. The second sun gear D-4 meshes with the second planetary gear small gear D-5' and forms a revolute joint with the first sun gear D-1. The second central gear D-6 is an internal gear set on the third planetary carrier H3. The second planetary gear large gear D-5 and the second central gear D-6 mesh through a gear pair. The second sun gear D-4 and the second output gear D-4' are fixedly connected through the second gear shaft D-41. The second central gear D-6 and the third output gear D-6' are the same rigid body, specifically fixedly connected through the third gear shaft D-61.

[0045] The power output gear C-5 is fixedly connected to the first planetary carrier H1, and is coaxial with the first sun gear D-1. The first planetary carrier H1, the second planetary carrier H2, and the third planetary carrier H3 are rotatably connected coaxially. The second gear shaft D-41 is sleeved outside the first gear shaft D-11, and the third gear shaft D-61 is sleeved outside the second gear shaft D-41. Three launching reels F are evenly distributed around the circumference of the differential gear train torque distributor D. The power input gear B-5 of different launching reels F meshes with the first output gear (D-1′), the third output gear (D-6′), and the third output gear (D-6′), respectively. The input torque is generated by the first planetary carrier H1, and output through the first sun gear D-1, the second sun gear D-4, and the second central gear D-6. Finally, the output is generated through the first output gear (D-1′), the third output gear (D-6′), and the third output gear (D-6′). The input torque is divided into three equal parts and output through the two-stage differential gear train.

[0046] The reduction ratios at the first output end, the second output end, and the reduction ratio between the winding roller power input gear B-5 and any output gear are respectively i 收 i 展 i 线辊Any output gear is either the first output gear D-1′, the second output gear D-4′, or the third output gear D-6′, and their quantitative relationship satisfies: i 收 =i 展 i 线辊 At this time, the take-up / unwinding speeds of the pullback reel B and the launching reel F are the same.

[0047] The first sun gear D-1, the first planetary gear D-2, the first central gear D-3, the second sun gear D-4, the second planetary pinion D-5′, the second planetary gear gear D-5, and the second central gear have the following number of teeth: z1, z2, z3, z4, z5′, and z5, respectively, and satisfy the following quantitative relationship.

[0048]

[0049] The application scenario of the traction system can be as follows: a top-level telescopic sleeve, multiple intermediate telescopic sleeves, and a final-level telescopic sleeve are sequentially nested from the inside out. The top of the final-level telescopic sleeve is rotatably connected to a final-level top reel, the bottom of the intermediate telescopic sleeve is rotatably connected to an intermediate-level bottom reel, the top of the intermediate telescopic sleeve is rotatably connected to an intermediate-level top reel, and the bottom of the top-level telescopic sleeve is rotatably connected to a top-level bottom reel. The launching flexible rope connected to the launching reel F is guided by the launching reversing pulley group G, passes around the final-level top reel, then sequentially passes around the intermediate-level bottom reel and the intermediate-level top reel, and finally connects to the top of the top-level telescopic sleeve. One end of the returning flexible rope connected to the returning reel B is guided by the returning reversing pulley group A, passes the top-level bottom reel, and the other end is fixed to the bottom of the top-level telescopic sleeve.

[0050] The working process of the traction system is as follows:

[0051] When motor E rotates forward, it drives the power distribution gear set C to rotate. The launching power output gear C-5 and the pulling power output gear C-4 of the power distribution gear set C drive the differential gear train torque distributor D and the pulling coiler B to rotate, respectively. The pulling coiler B releases the pulling flexible rope sequentially. The differential gear train torque distributor D distributes the input power to the first output gear D-1', the second output gear D-4', and the third output gear D-6' with equal torque. The three output gears drive the corresponding launching coiler F to wind the flexible rope sequentially onto the launching coiler roller B-8, thereby achieving the winding of the flexible rope. When motor E rotates in reverse, the flexible rope is wound back and released.

[0052] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. A multi-rope equal-torque traction system based on a differential gear train, characterized in that: Includes a differential gear train torque distributor (D) and a launching reel (F); The differential gear train torque distributor (D) includes a top distribution layer, an intermediate distribution layer, and a bottom distribution layer; The top-level distribution layer includes a first planet carrier, a first sun gear (D-1), a first planet gear (D-2), and a first output gear (D-1'). The first sun gear (D-1) is rotatably connected to the first planet carrier, meshes with the outer circumference of the first planet gear (D-2), and is fixedly connected to the first output gear (D-1'). The first planet gear (D-2) is rotatably connected to the first planet carrier. The intermediate distribution layer includes a second planetary carrier, a first central gear (D-3), a second sun gear (D-4), a second planetary gear large gear (D-5), a second planetary gear small gear (D-5'), and a second output gear (D-4'). The first central gear (D-3) is an internal gear located on the second planetary carrier. The second sun gear (D-4) and the second planetary carrier form a rotating pair. The second planetary gear large gear (D-5) and the second planetary gear small gear (D-5') are integrally connected. The second planetary carrier is rotatably connected to the integrally connected second planetary gear large gear (D-5) and second planetary gear small gear (D-5'). The second sun gear (D-4) and the second output gear (D-4') are fixedly connected. The bottom distribution layer includes a third planetary carrier, a second central gear (D-6), and a third output gear (D-6'). The second central gear (D-6) is an internal gear located on the third planetary carrier, and the second central gear (D-6) is connected to the third output gear (D-6'). The first planetary carrier is the input. The first planetary carrier, the second planetary carrier, and the third planetary carrier are coaxially rotatably connected. The first planetary gear (D-2) meshes with the first central gear (D-3). The second sun gear (D-4) meshes with the second planetary pinion (D-5'). The second planetary gear large gear (D-5) meshes with the second central gear (D-6). The first output gear (D-1'), the second output gear (D-4'), and the third output gear (D-6') are used to drive the corresponding launching reel (F) to release or retract the flexible rope; The differential gear train torque distributor (D) distributes the input power to the first output gear (D-1'), the second output gear (D-4'), and the third output gear (D-6') with equal torque. The first sun gear (D-1), the first planetary gear (D-2), the first central gear (D-3), the second sun gear (D-4), the second planetary pinion (D-5'), the second planetary gear gear (D-5), and the second central gear have the following numbers of teeth: z1, z2, z3, z4, z5', and z5, respectively, and satisfy the following quantitative relationship. 。 2. The multi-rope equal-torque traction system based on a differential gear train according to claim 1, characterized in that: When the intermediate distribution layer has multiple layers. Between two adjacent intermediate distribution layers, the second planetary gear (D-5) of the intermediate distribution layer closer to the bottom layer meshes with the second central gear (D-6) of the next intermediate distribution layer.

3. A multi-rope equal-torque traction system based on a differential pulley system according to any one of claims 1-2, characterized in that: It also includes a housing, and a pullback reel (B), a power distribution gear set (C), a motor (E), and a launch reel (F) connected to the housing; The motor (E) provides driving force to the power distribution gear set (C). The power distribution gear set (C) distributes the driving force of the motor (E) to obtain the first output end and the second output end. The reduction ratio of the first output end and the second output end satisfies the following: the take-up speed of the pullback reel (B) is equal to the unwinding speed of the launch reel (F), or the unwinding speed of the pullback reel (B) is equal to the take-up speed of the launch reel (F). The first output end is connected to the pullback reel (B) and is used to drive the pullback reel (B) to release or retract the flexible rope; The second output terminal is connected to the differential gear train torque distributor, which distributes the input power from the second output terminal to multiple different output gears with equal torque.

4. A multi-rope equal-torque traction system based on a differential gear train according to claim 3, characterized in that: The power distribution gear set (C) includes a launching power input gear (C-2), a pullback power input gear (C-1), a launching power output gear (C-5), and a pullback power output gear (C-4). The launching power input gear (C-2) and the pullback power input gear (C-1) are fixedly connected and connected to the output end of the motor. The launching power input gear (C-2) meshes with the launching power output gear (C-5). The pullback power input gear (C-1) meshes with the pullback power output gear (C-4). The launching power output gear (C-5) and the pullback power output gear (C-4) are connected by a revolute joint. The launching power output gear (C-5) is fixedly connected to the first planetary carrier. The pullback power output gear (C-4) is connected to the pullback winding device (B).

5. A multi-rope equal-torque traction system based on a differential gear train according to claim 3, characterized in that: The reduction ratios at the first and second output ends, and the reduction ratio between the winding roller power input gear (B-5) and any output gear are respectively , , Any output gear is either the first output gear (D-1'), the second output gear (D-4'), or the third output gear (D-6'), and their quantitative relationships satisfy the following: At this time, the take-up / unwinding speeds of the pullback reel (B) and the launching reel (F) are the same.

6. A multi-rope equal-torque traction system based on a differential gear train according to claim 3, characterized in that: Both the pullback reel (B) and the launch reel (F) include a winding planetary gear shaft (B-1), a fixed gear (B-2), a winding planetary carrier (B-7), a splined shaft (B-6), and a winding roller (B-8). The winding roller (B-8) is sleeved on the outside of the splined shaft (B-6) and forms a sliding pair with the splined shaft (B-6). The winding planetary carrier (B-3) is fixedly connected to the winding roller (B-8) and forms a lead screw thread pair with the thread on the winding planetary gear shaft (B-1). The wheel (B-2) is fixedly connected to the housing and connected to the splined shaft (B-6) via a rotating pair. The winding planetary carrier (B-7) is fixedly connected to the splined shaft (B-6). The winding planetary gear (B-1) is rotatably connected to the winding planetary carrier (B-7). The fixed gear (B-2) meshes with the winding planetary gear (B-1). The winding planetary gear (B-1) is provided with a coaxial winding planetary gear shaft, which is threadedly connected to the winding roller (B-8). The splined shaft (B-6) serves as the input.

7. A multi-rope equal-torque traction system based on a differential gear train according to claim 6, characterized in that: The inner wall of the winding roller (B-8) is connected to a spline slider (B-4), and the spline slider (B-4) cooperates with the spline shaft (B-6) to form a moving pair along the axial direction of the spline shaft (B-6).

8. A multi-rope equal-torque traction system based on a differential pulley system according to claim 6, characterized in that: The splined shaft (B-6) of the pullback reel (B) is connected to the pullback power input gear (C-1).

9. A multi-rope equal-torque traction system based on a differential gear train according to claim 6, characterized in that: The splined shaft (B-6) of the launching reel (F) is connected to a power input gear (B-5), and the power input gears (B-5) of different pullback reels (B) mesh with the first output gear (D-1'), the third output gear (D-6'), and the third output gear (D-6') respectively.

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