Modeling method, device and equipment for multi-planet-row transmission system configuration and medium

Abstract

The invention relates to the technical field of planet row transmission systems, and discloses a modeling method and device for a multi-planet row transmission system configuration, equipment and a medium. The method comprises the following steps: enabling the multi-planet-row transmission system to be equivalent to a point-line connected functional hierarchy graph; enumerating to obtain all possible function level diagram schemes of the multi-planet-row transmission system; describing a function level diagram scheme and motion characteristics, connectivity and motion rules of the multi-planet-row transmission system through a plurality of loop matrixes; based on the loop matrix, screening out a function level graph scheme conforming to motion characteristics, connectivity and motion laws; determining a loop matrix of a motion behavior model group used for describing a motion relationship among multiple stages of planet rows in the multi-planet-row transmission system; modeling is conducted on the motion behavior model set, a motion behavior model diagram is generated, the motion behavior model diagram is mapped into a motion sketch, and configuration design of the multi-planet-row transmission system is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary gear train drive systems, and particularly to a modeling method, device, equipment and medium for a multi-planetary gear train drive system configuration. Background Art

[0002] Planetary gear train drive systems are widely used in aerospace, automobiles and industrial equipment due to their advantages such as compact structure, wide transmission ratio range and strong load-bearing capacity. In the prior art, the design of planetary gear train drive system configuration schemes mainly relies on selecting drive types by experience, lacking universality. This not only takes time and effort, but also easily causes problems such as non-standard design and missed inspections.

[0003] In recent years, software-assisted modeling methods have begun to emerge. The design methods of planetary gear transmission mainly include analogy analysis method, line graph synthesis method, component analysis method, graph theory method and rod analysis method, etc. However, these methods generally have the defects of narrow application scope and difficulty in efficiently generating complex planetary gear train drive system configurations. Summary of the Invention

[0004] The purpose of the present invention is to provide a modeling method, device, equipment and medium for a multi-planetary gear train drive system configuration, which can solve the technical problem that the application scope of the planetary gear train drive system configuration modeling method is narrow and it is difficult to efficiently generate complex planetary gear train drive system configurations.

[0005] To solve the above technical problem, an embodiment of the present invention provides a modeling method for a multi-planetary gear train drive system configuration, including the following steps: Based on graph theory, each functional unit in the multi-planetary gear train drive system is represented by a point, and the connection relationship between each functional unit is represented by a line, and the multi-planetary gear train drive system is equivalent to a functional hierarchy diagram connected by points and lines; According to the number of planetary gear trains, the number of core components and the degrees of freedom of the multi-planetary gear train drive system, determine the layout relationship of each functional unit in the functional hierarchy diagram, and use the layout relationship to preliminarily connect each functional unit to enumerate all possible functional hierarchy diagram schemes of the multi-planetary gear train drive system; Use different element values in the loop matrix to represent the lines between different functional units in the functional hierarchy diagram, so as to describe all possible functional hierarchy diagram schemes through multiple first loop matrices, and describe the motion characteristics, connectivity and motion laws of the multi-planetary gear train drive system through a second loop matrix; Screen multiple first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that meets the motion characteristics, connectivity and motion laws as the standard functional hierarchy diagram; Determine the third loop matrix for describing the motion behavior model group according to the first loop matrix corresponding to the standard function hierarchy diagram and the inversion rule from the standard function hierarchy diagram to the motion behavior model group used to describe the motion relationship between multiple planetary gear trains in the multi-planetary gear train drive system; Model the motion behavior model group according to the third loop matrix, generate a motion behavior model diagram, and map the motion behavior model diagram to a motion sketch to complete the configuration design of the multi-planetary gear train drive system.

[0006] Optionally, the function hierarchy diagram is divided into three layers, from bottom to top: the frame layer, the core component layer including the sun gear, the planet carrier, and the ring gear, and the planet gear layer; The layout relationship of each functional unit in the function hierarchy diagram is: the function hierarchy diagram contains N 0 + k + 1 points, and has n = N 0 + k connections. The frame layer has 1 point, the core component layer has N 0 points, and the planet gear layer has k points; Among them, N 0 is the number of core components, F is the number of degrees of freedom, and k is the number of planetary gear trains.

[0007] Optionally, the motion characteristics of the multi-planetary gear train drive system are: the three core components of each planetary gear train rotate around the frame, so that each functional unit of the frame layer and the core component layer in the function hierarchy diagram is separately connected, and there is no direct connection relationship between the functional units in the core component layer; the three core components of each planetary gear train are connected to the functional units of the planet gear layer, so that each functional unit of the planet gear layer in the function hierarchy diagram is connected to each functional unit of the core component layer through 3 connection relationships; The connectivity of the multi-planetary gear train drive system is: all components of each planetary gear train have an effective transmission path, so that each functional unit of the core component layer in the function hierarchy diagram is connected to the functional units of the planet gear layer; The motion law of the multi-planetary gear train drive system is: the solid lines in the function hierarchy diagram represent the rotating pairs of the planetary gear train drive system, and the dashed lines represent the gear pairs. The planet gears of each planetary gear train form 2 gear pairs with the sun gear and the ring gear, and form 1 rotating pair with the planet carrier, so that among the 3 connecting lines of each functional unit of the planet gear layer in the function hierarchy diagram, 2 are dashed lines and 1 is a solid line.

[0008] Optionally, the connections between different functional units in the function hierarchy diagram are represented by different element values in the loop matrix, including: When the value of any element in the loop matrix is ​​0, it means that there is no connection between the two functional units in the functional hierarchy diagram; when the value of any element in the loop matrix is ​​1, it means that the connection line between the two functional units in the functional hierarchy diagram is a solid line; when the value of any element in the loop matrix is ​​2, it means that the connection line between the two functional units in the functional hierarchy diagram is a dotted line; The description of the motion characteristics, connectivity and motion law of the multi-planetary gear transmission system by the second loop matrix includes: Using matrix A m Each functional unit in the rack layer and the core component layer in the functional hierarchy diagram is connected separately, and there is no direct connection between the functional units in the core component layer. The matrix A m From the 2nd column in the first row to 1+N 0 The value of the column is 1, and the value of rows 2 to 1+N 0 The first column of the row is 1, and the rest are 0; Using matrix A original Each functional unit of the planetary gear layer in the functional hierarchy diagram is connected to each functional unit of the core component layer through three connection relationships. The matrix A original Through the matrix A all Change generation, matrix A all Through the matrix A m Change generation; Among them, the matrix A m The matrix A is obtained by the following changes all : Row 2 to row 1+N 0 Row, 2nd+N 0 The value of the last column is 1, the value of the 2nd + Nth column is 1 0 Row to the last row, Column 2 to 1+N 0 The value of the column is 1, and the other values ​​remain unchanged, and the matrix A is obtained all ; Matrix A all The matrix A is obtained by the following transformation original : In the matrix A all From row 2 to row 1+N 0 Row and 2+N 0 Randomly select 3k elements in the intersection area from the last column to the last column and keep them as 1. In each column, only 3 elements have a value of 1, and the rest become 0. Other elements outside the intersection area remain unchanged. Introduce a mask matrix R, R is a size of N 0 ×k matrix, R ij =1 means that the element at the corresponding position is 1 after the change, R ij =0 means that the element at the corresponding position is 0 after the change, 3k elements in R are 1, and the remaining elements are 0. The mask matrix R is: ; Matrix A all The lower left part is transformed according to the matrix symmetry principle to obtain Matrix A original’ : ; Make Matrix A original’ In the cross - region of the 2nd row to the (1 + N0)th row and the (2 + N0)th column to the last column of Matrix A, each column has only 3 element values of 1 and the rest are 0, obtaining Matrix A original : ; Adopt Matrix A st Among the 3 connecting lines of each functional unit in the planetary gear layer of the functional hierarchy diagram, 2 should be dashed lines and 1 should be a solid line. Matrix A st Through Matrix A original The change is as follows: For Matrix A original from the 2nd row to the (1 + N 0 rows and the (2 + N 0 columns to the last column, randomly select two of the 3 elements with a value of 1 in each column and change their values to 2, while the rest of the elements remain unchanged; Define the index range of the upper - right corner region R 0 : ; Find the set of row indices with a value of 1 in the current column: ; Randomly select two indices from the set , , let , , Matrix A original The lower left part is transformed according to the matrix symmetry principle to obtain Matrix A st : .

[0009] Optionally, the set of motion behavior models is composed of motion behavior models corresponding to each multi - stage planetary gear train. The planetary gear trains at all levels of the planetary gear transmission system are connected in series or in parallel through the core components of the sun gear, planet carrier, and ring gear, so that each motion behavior model only includes the sun gear, planet carrier, and ring gear of the planetary gear trains at all levels to describe the connection relationship of the planetary gear trains at all levels in the core component layer; The inversion rules from the standard functional hierarchy diagram to the motion behavior model group are as follows: Select the first planetary gear set as the reference. The first three functional units in the core component layer of the standard functional hierarchy diagram respectively correspond to the sun gear, ring gear, and planet carrier of the first planetary gear set; when the number of functional unit connection lines in the core component layer of the standard functional hierarchy diagram is 3, it indicates that the functional units in the core component layer are shared components between the front and rear planetary gear sets; convert the functional units in the core component layer that are solid-line connected to the planet gear layer in the standard functional hierarchy diagram into planet carriers; convert the functional units in the core component layer that are dashed-line connected to the planet gear layer in the standard functional hierarchy diagram into sun gears and ring gears.

[0010] Optionally, determining the third loop matrix for describing the motion behavior model group according to the first loop matrix corresponding to the standard functional hierarchy diagram and the inversion rules from the standard functional hierarchy diagram to the motion behavior model group for describing the motion relationship between multiple planetary gear sets in a multi-planetary gear transmission system includes: According to the following extraction rules, extract the sub-matrix B from matrix A st : Select the cross-region of the 2nd row to the (1 + N)th row and the (2 + N)th column to the last column of matrix A st to form the sub-matrix B. The structure of the sub-matrix B is: 0 ; where each column B 0 is a permutation and combination of j ; Select adjacent columns in the sub-matrix B as a pair, called a column pair; Describe the motion behavior model group with matrix M. The size of matrix M is 3k×3k. All elements of matrix M are initialized to 0. The columns in matrix M are divided into several groups, each group containing 3 columns, and the rows in matrix M are divided into several groups, each group containing 3 rows; According to the sub-matrix B, fill matrix M using the following filling rules: When B [i] = 2 and B x [i] = 2, the first column of the (x + 1)th group of columns and the first row of the xth group of rows in M are 1; when B x+1 [i] = 2 and B x [i] = 1, the third column of the (x + 1)th group of columns and the first row of the xth group of rows in M are 1; when B x+1 [i] = 1 and B x [i] = 2, the second column of the (x + 1)th group of columns and the third row of the xth group of rows in M are 1; when B x+1 [i] = 1 and B x [i] = 1, fill the 13th column of the (x + 1)th group of columns and the third row of the xth group of rows in M with 1; x+1 ; The column pair corresponding to the queue number x in the sub-matrix B is (Bx, Bx+1), and the judgment formula obtained according to the filling rule is: In the formula, Bx[i] represents the element in the i-th row of the x-th column in the sub-matrix B, , representing B x and B x+1 The possible value combinations in; represents the n-th column of the (x + 1)-th group of columns and the m-th row of the x-th group of rows in the matrix M. The values of m and n are selected according to the following rules: ; ; ; .

[0011] Optionally, the motion behavior model diagram is mapped to a motion sketch, including: Extract the motion relationships in the motion behavior model diagram to determine the relative motion and transmission paths between the planetary rows at all levels; Determine the common components in the motion behavior model diagram according to the relative motion and transmission paths between the planetary rows at all levels; Connect all the common components in the motion sketch according to the connection relationships in the motion behavior model diagram to generate a motion sketch.

[0012] An embodiment of the present invention also provides a modeling device for a multi-planetary row transmission system configuration, including: The first conversion module is used to, based on the graph theory, represent each functional unit in the multi-planetary row transmission system by points and represent the connection relationships between the functional units by lines, and equivalent the multi-planetary row transmission system to a functional hierarchy diagram connected by points and lines; The enumeration module is used to determine the layout relationships of the functional units in the functional hierarchy diagram according to the number of planetary rows, the number of core components, and the degrees of freedom of the multi-planetary row transmission system, and use the layout relationships to preliminarily connect the functional units to enumerate all possible functional hierarchy diagram schemes of the multi-planetary row transmission system; The second conversion module is used to represent the connections between different functional units in the functional hierarchy diagram by different element values in the loop matrix, so as to describe all possible functional hierarchy diagram schemes through multiple first loop matrices, and describe the motion characteristics, connectivity, and motion laws of the multi-planetary row transmission system through the second loop matrix; The screening module is used to screen the multiple first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that conforms to the motion characteristics, connectivity, and motion laws as the standard functional hierarchy diagram; A matrix generation module, which is used to determine a third loop matrix for describing a motion behavior model group according to a first loop matrix corresponding to a standard function hierarchy diagram and an inversion rule from the standard function hierarchy diagram to a motion behavior model group for describing the motion relationship between multiple planetary gear trains in a multi-planetary gear train transmission system; A modeling module, which is used to model the motion behavior model group according to the third loop matrix, generate a motion behavior model diagram, and map the motion behavior model diagram into a motion sketch diagram to complete the configuration design of the multi-planetary gear train transmission system.

[0013] An embodiment of the present invention further provides a computer device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, instructions executable by the at least one processor are stored in the memory, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned modeling method for the configuration of the multi-planetary gear train transmission system.

[0014] An embodiment of the present invention further provides a computer-readable storage medium, storing a computer program, and when the computer program is executed by a processor, the above-mentioned modeling method for the configuration of the multi-planetary gear train transmission system is implemented.

[0015] The modeling method for the configuration of the multi-planetary gear train transmission system provided by the present invention has at least the following beneficial effects: By using graph theory to describe the multi-planetary gear train transmission system, the multi-planetary gear train transmission system is equivalent to a function hierarchy diagram connected by points and lines, and based on the layout relationship of the function hierarchy diagram, multiple possible function hierarchy diagram schemes of all multi-planetary gear train transmission systems are enumerated, and then the function hierarchy diagram finally used for configuration modeling is screened out. It is not limited by the topological structure of the planetary gear train transmission system, and the configuration modeling of the planetary gear train transmission system with a complex topological structure (i.e., a multi-planetary gear train transmission system) is realized.

[0016] When screening, the motion characteristics, connectivity, and motion laws of the multi-planetary gear train transmission system are considered, so that the screened function hierarchy diagram can accurately reflect the motion behavior of the multi-planetary gear train transmission system, thereby improving the modeling accuracy of the final configuration of the multi-planetary gear train transmission system. Moreover, there are multiple levels of planetary gear trains in the multi-planetary gear train transmission system. When modeling, the inversion rule of the motion behavior model group for describing the motion relationship between multiple levels of planetary gear trains in the multi-planetary gear train transmission system is considered at the same time, further improving the modeling accuracy of the configuration of the multi-planetary gear train transmission system.

[0017] Furthermore, multiple enumerated function hierarchy diagram schemes and the motion characteristics, connectivity, and motion laws of the multi-planetary gear train transmission system are all described by loop matrices, realizing screening based on loop matrices, with high efficiency. Description of the Drawings

[0018] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings, and these exemplary illustrations do not constitute a limitation on the embodiments.

[0019] Figure 1 It is a flowchart of a modeling method for a multi-planetary gear train transmission system configuration according to an embodiment of the present invention; Figure 2 It is a schematic layout diagram of a function hierarchy diagram according to an embodiment of the present invention; Figure 3 It is a schematic layout diagram of a function hierarchy map according to an embodiment of the present invention Figure 4 It is a schematic diagram of a group of motion behavior models according to an embodiment of the present invention; Figure 5 It is a schematic diagram of a kinematic sketch according to an embodiment of the present invention. Detailed implementation manners

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be elaborated in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in the embodiments of the present invention, many technical details are proposed to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present invention can still be implemented. The following division of each embodiment is for convenience of description and should not constitute any limitation on the specific implementation manner of the present invention. Each embodiment can be combined and cross-referenced with each other on the premise of no contradiction.

[0021] An embodiment of the present invention relates to a modeling method for a multi-planetary gear train transmission system configuration. The specific process of the modeling method for the multi-planetary gear train transmission system configuration in this embodiment can be as Figure 1 shown and includes: Step 101: Based on graph theory, represent each functional unit in the multi-planetary gear train transmission system with a point, and represent the connection relationship between each functional unit with a line, so as to equivalently transform the multi-planetary gear train transmission system into a function hierarchy diagram connected by points and lines.

[0022] Step 102: Determine the layout relationship of each functional unit in the function hierarchy diagram according to the number of planetary gear trains, the number of core components, and the degrees of freedom of the multi-planetary gear train transmission system, and use the layout relationship to preliminarily connect each functional unit to enumerate all possible function hierarchy diagram schemes of the multi-planetary gear train transmission system.

[0023] Step 103: Represent the connections between different functional units in the functional hierarchy diagram by different element values in the loop matrix, so as to describe all possible functional hierarchy diagram schemes through multiple first loop matrices, and describe the motion characteristics, connectivity, and motion laws of the multi-planetary gear train system through the second loop matrix.

[0024] Step 104: Screen the multiple first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that conforms to the motion characteristics, connectivity, and motion laws as the standard functional hierarchy diagram.

[0025] Step 105: Determine the third loop matrix for describing the motion behavior model group according to the first loop matrix corresponding to the standard functional hierarchy diagram and the inversion rule from the standard functional hierarchy diagram to the motion behavior model group for describing the motion relationship between multiple planetary gear sets in the multi-planetary gear train system.

[0026] Step 106: Model the motion behavior model group according to the third loop matrix, generate a motion behavior model diagram, and map the motion behavior model diagram to a motion sketch to complete the configuration design of the multi-planetary gear train system.

[0027] In this embodiment, the multi-planetary gear train system is described through graph theory. The multi-planetary gear train system is equivalent to a functional hierarchy diagram connected by points and lines. Based on the layout relationship of the functional hierarchy diagram, multiple possible functional hierarchy diagram schemes of the multi-planetary gear train system are enumerated, and then the functional hierarchy diagram finally used for configuration modeling is screened out. It is not limited by the topological structure of the planetary gear train system, and the configuration modeling of the planetary gear train system with a complex topological structure (i.e., the multi-planetary gear train system) is realized. When screening, the motion characteristics, connectivity, and motion laws of the multi-planetary gear train system are considered, so that the screened functional hierarchy diagram can accurately reflect the motion behavior of the multi-planetary gear train system, thereby improving the modeling accuracy of the final configuration of the multi-planetary gear train system. Moreover, there are multiple planetary gear sets in the multi-planetary gear train system. When modeling, the inversion rule of the motion behavior model group for describing the motion relationship between multiple planetary gear sets in the multi-planetary gear train system is considered at the same time, which further improves the modeling accuracy of the configuration of the multi-planetary gear train system. Furthermore, the multiple enumerated functional hierarchy diagram schemes and the motion characteristics, connectivity, and motion laws of the multi-planetary gear train system are all described through the loop matrix, realizing the screening based on the loop matrix, with high efficiency.

[0028] The implementation details of the modeling method for the configuration of the multi-planetary gear train system in this embodiment are specifically described below. The following content is only the implementation details provided for convenient understanding and is not necessary for implementing this solution.

[0029] In step 101, the functional hierarchy diagram definition is obtained in advance. In this embodiment, based on graph theory, the planetary gear train transmission system is equivalent to a functional hierarchy diagram connected by points and lines, and the specific definition is as follows: Each component in the system corresponds to a functional unit; in the functional hierarchy diagram, "points" represent the various functional units of the planetary gear train transmission system, and "connections" represent the connection relationships between the various functional units. Among them, the functional hierarchy diagram is divided into three layers, from bottom to top in sequence: The first layer: the frame layer; the second layer: the core component layer, including the sun gear, the planet carrier, and the ring gear; the third layer: the planet gear layer; and the frame is located in the first layer, the core components are located in the second layer, and the planet gears are located in the third layer.

[0030] In step 102, first, the design conditions are clarified, and the number of core components of the transmission system is determined according to the degree-of-freedom calculation formula. The degree-of-freedom formula is: N 0 =F + k. In the planetary gear train transmission system, N 0 is the number of core components, F is the degree of freedom, and k is the number of planetary gear trains. Then, through the number of planetary gear trains, the number of core components, and the degree of freedom of the multi-planetary gear train transmission system, the layout relationship of each functional unit in the functional hierarchy diagram can be determined. As Figure 2 shown, the layout of each layer of the functional hierarchy diagram is as follows: The first layer, the frame layer, is 1 point; the second layer, the core component layer, has N 0 points; the third layer, the planet gear layer, has k points. The functional hierarchy diagram contains a total of (N 0 +k + 1) points and a total of (n = N 0 +k) connections. Finally, through graph theory, all possible connection schemes can be enumerated in the form of a functional hierarchy diagram, that is, all possible functional hierarchy diagram schemes of the multi-planetary gear train transmission system are enumerated.

[0031] In steps 103 and 104, first, according to the motion characteristics, connectivity requirements, and motion law restrictions of the planetary gear train transmission system, the following screening rules are formulated: (1) Motion characteristic constraints: The three core components of each stage of the planetary gear train all rotate around the frame. Therefore, each functional unit in the frame layer and the core component layer in the functional hierarchy diagram needs to be connected separately. At the same time, there should be no direct connection relationship between the various functional units in the core component layer. If this condition is not met, it is screened out; The three core components of each stage of the planetary gear train should be connected to the functional units in the planet gear layer. Therefore, each functional unit in the planet gear layer in the functional hierarchy diagram must be connected to each functional unit in the core component layer through 3 connection relationships. If this condition is not met, it is screened out.

[0032] (2) Connectivity requirements: All components of each planetary gear train should have an effective transmission path to ensure that each functional unit in the core component layer of the functional hierarchy diagram is connected to the functional units in the planetary gear layer. If this condition is not met, it will be screened out.

[0033] (3) Limitation of motion law: Define that the solid lines in the functional hierarchy diagram represent the revolute pairs of the planetary gear train transmission system, and the dashed lines represent the gear pairs; Each planetary gear of each planetary gear train should form 2 gear pairs with the sun gear and the ring gear, and form 1 revolute pair with the planet carrier. That is, among the 3 connecting lines of each functional unit in the planetary gear layer of the functional hierarchy diagram, 2 should be dashed lines and 1 should be a solid line. If this condition is not met, it will be screened out.

[0034] For the functional hierarchy diagram screened according to the above conditions, the remaining solutions are the standard functional hierarchy diagrams that meet the design requirements. In order to implement the automated screening process based on these screening rules, in this embodiment, through the expression of the loop matrix, the functional hierarchy diagram solutions that meet the requirements are screened according to the above screening rules, and automatic modeling is realized in computer software to ensure that only the effective solutions that meet the design requirements are retained.

[0035] First, define the relationship between the values of the elements in the loop matrix and the lines in the functional hierarchy diagram: when the value of an element in the loop matrix is 0, it means that there is no connection relationship between the two functional units in the functional hierarchy diagram; when the value of an element in the loop matrix is 1, it means that the connection line between the two functional units in the functional hierarchy diagram is a solid line; when the value of an element in the loop matrix is 2, it means that the connection line between the two functional units in the functional hierarchy diagram is a dashed line.

[0036] By generating a zero matrix A of order (N 0 + k + 1), the initial value of each element of this matrix is zero, which is used to fill the connection line information of each layer later. Then, based on the loop matrix A 0 , perform motion characteristic constraints: 0 Use the matrix A to express that each functional unit in the frame layer and the core component layer in the functional hierarchy diagram needs to be connected separately, and there should be no direct connection relationship between the functional units within the core component layer. The matrix A m is generated by changing based on A m . The values of the 2nd to (1 + N 0 )th columns in the first row are 1, and the first column of the 2nd to (1 + N 0 )th rows is 1, and the remaining positions are still 0. 0

[0037] .

[0038] Use the matrix A originalEach functional unit in the planetary gear layer of the expression functional hierarchy diagram must be connected to each functional unit in the core component layer by three connection relationships, matrix A original Based on A all generate by variation, matrix A all Based on A m generate by variation; Matrix A m obtain matrix A through such variation all : From the 2nd row to the (1 + N)th 0 row, and from the (2 + N)th 0 column to the last column, the values are 1; From the (2 + N)th 0 row to the last row, and from the 2nd column to the (1 + N)th 0 column, the values are 1, and the rest remain unchanged, obtaining matrix A all : .

[0039] Matrix A all obtain matrix A through such variation original : In matrix A all from the 2nd row to the (1 + N)th 0 row and the cross-region of the (2 + N)th 0 column to the last column, randomly select 3k elements in the region to remain 1, and only 3 elements in each column have the value of 1, and the rest of the elements become 0, and the other elements outside the region remain unchanged; Introduce a mask matrix R, R is a matrix of size (N 0 ×k), R ij = 1 indicates that the corresponding element becomes 1 after variation, R ij = 0 indicates that the corresponding element becomes 0 after variation, there are 3k elements in R that are 1, and the remaining elements are 0, and these positions are randomly selected; ; At the same time, the lower left part of matrix A all is transformed accordingly according to the matrix symmetry principle, obtaining matrix A original’ ; ; Perform another screening on matrix A original’ from the 2nd row to the (1 + N)th 0 row and the (2 + N)th 0In the intersection area from the last column to the last column, each column has only 3 elements with values ​​of 1, and the rest of the elements have values ​​of 0. Finally, the matrix A that can express that each functional unit of the planetary gear layer in the functional hierarchy diagram must be connected to each functional unit of the core component layer through 3 connections is obtained. original ; .

[0040] Next, based on the loop matrix A original Perform restricted screening of motion patterns: Using matrix A st Of the three connecting lines for each functional unit of the planetary gear layer in the functional hierarchy diagram, two should be dashed lines and one should be a solid line. st Based on A original The matrix A is obtained by changing original From row 2 to row 1+N 0 Row and 2+N 0 In the intersection area from the last column to the last column, randomly select two elements from each column with a value of 1 and change their values ​​to 2, while the rest of the elements remain unchanged.

[0041] Define the upper right corner area R 0 Index range: ; Find the set of row indices whose value in the current column is 1: ; Random from the set Select two indexes from , ,make , , while the matrix A original The lower left corner is transformed according to the matrix symmetry principle to obtain the matrix A. In the matrix expression function hierarchy diagram, two of the three connecting lines of each functional unit of the planetary gear layer should be dotted lines and one should be a solid line. st : ; The screening is now complete.

[0042] This embodiment uses computer software to convert the matrix A st All combinations of can be expressed as standard functional hierarchical diagrams that meet the design conditions; for any given planetary gear transmission system with a given number of planetary gears and degrees of freedom, the matrix A st Generate the final qualified standard functional level map, such as Figure 3 shown.

[0043] In step 105, first, define the motion behavior model group: The planetary rows at all levels of the planetary gear train system are connected in series or parallel through the core components, i.e., the sun gear, the planet carrier, and the ring gear. Therefore, each motion behavior model only contains the sun gear, the planet carrier, and the ring gear of the planetary rows at all levels, which can intuitively and accurately display the connection relationships of the planetary rows at all levels in the core component layer. All the motion behavior models that meet the design requirements together constitute the motion behavior model group. In this model group, the sun gear, the planet carrier, and the ring gear of the i-th level planetary row are represented by S i 、C i 、R i respectively.

[0044] Then, on the premise of the screening steps in steps 103 and 104, formulate the inversion rules from the standard function level graph to the motion behavior model group: Select the first-level planetary row as the reference. The first three function units in the core component layer of the standard function level graph respectively correspond to the sun gear, the ring gear, and the planet carrier of the first-level planetary row; when the number of function unit connection lines in the core component layer of the standard function level graph is 3, it means that they are the common components between the front and rear planetary rows; convert the function units in the core component layer that are solid-line connected to the planet gear layer in the standard function level graph into planet carriers; convert the function units in the core component layer that are dotted-line connected to the planet gear layer in the standard function level graph into sun gears and ring gears.

[0045] To realize the automated modeling process based on the formulated inversion rules, these inversion rules can be expressed by the loop matrix M, determine the common components of the planetary gear train system, and automatically generate the motion behavior model group in computer software.

[0046] Specifically, according to the following extraction rules, extract the sub-matrix B from the matrix A st : Select the cross-region of the 2nd row to the (1 + N st )-th row and the (2 + N 0 )-th column to the last column of the matrix A 0 to form the sub-matrix B. The structure of the sub-matrix B is: ; where each column B j is the permutation and combination of .

[0047] Define the column pairs of the matrix B: Each time, select two adjacent columns in the matrix B as a pair, which is called a column pair: Let B j represent the j-th column in the matrix B, and B j [i] represent the element in the i-th row and j-th column of the matrix B. Each column pair (B j , B j+1 ) consists of two adjacent columns in the matrix B. Define that the queue number x corresponds to the column pair in the matrix B as (B x , B x+1 ).

[0048] Define the loop matrix M: The loop matrix M is the matrix representation of the generated motion behavior model group. The size of the matrix M is 3k×3k, where k is the number of planetary gear sets. All elements of this matrix are initialized to 0. During the subsequent modeling process, the filling of the matrix M will maintain symmetry. .

[0049] Define the group columns and group rows of the matrix M: Define the group columns: Divide the columns in the matrix M into several groups, with each group containing 3 columns. For example, the first group of columns refers to the first to the third columns of the matrix M, the second group of columns refers to the fourth to the sixth columns, and so on; Define the group rows: Divide the rows in the matrix M into several groups, with each group containing 3 rows. For example, the first group of rows refers to the first to the third rows of the matrix M, the first group of rows refers to the fourth to the sixth rows, and so on.

[0050] The filling of the matrix M is carried out according to the determination of the matrix B. The determination conditions for the matrix B and the filling rules for the filled matrix M are as follows: Determination 1: When B x [i]=2 and B x+1 [i]=2, the first column of the (x + 1)-th group of columns of M and the first row of the x-th group of rows are 1; Determination 2: When B x [i]=2 and B x+1 [i]=1, the third column of the (x + 1)-th group of columns of M and the first row of the x-th group of rows are 1; Determination 3: When B x [i]=1 and B x+1 [i]=2, the second column of the (x + 1)-th group of columns of M and the third row of the x-th group of rows are 1; Determination 4: When B x [i]=1 and B x+1 [i]=1, the 13th column of the (x + 1)-th group of columns of the filled M and the third row of the x-th group of rows are 1.

[0051] Among them, it is defined that the queue number x corresponds to the column pair of the matrix B as (B x , B x+1 ).

[0052] The determination formula obtained according to the filling rule is: In the formula, Bx[i] represents the element in the i-th row of the x-th column in the sub-matrix B. , represents the possible value combinations in B x and B x+1 . It represents the nth column of the (x + 1)-th group of columns of matrix M and the mth row of the x-th group of rows. The values of m and n are selected according to the following rules: ; ; ; .

[0053] In step 106, first, the matrix M is expressed as a set of motion behavior models that meet the design conditions by using computer software. The sun gear, planet carrier, and ring gear of each planetary gear train are represented by Si, Ci, and Ri respectively, realizing the automatic generation of the set of motion behavior models by the computer, as shown in Figure 4 . Then, the components of the kinematic schematic diagram are established: the sun gear, planet carrier, ring gear, and planet gears are all basic components of each planetary gear train; map the motion behavior model to the kinematic schematic diagram: extract the motion relationships in the motion behavior model diagram, determine the relative motion and transmission paths between the planetary gear trains; determine the common components in the motion behavior model diagram; connect these common components in the kinematic schematic diagram according to the connection relationships in the motion behavior model diagram to form the final kinematic schematic diagram, as shown in Figure 5 . For the design requirements of different numbers of planetary gear trains and degrees of freedom, follow the above process to gradually form the specific design scheme of the planetary gear train transmission system.

[0054] The modeling method for the configuration of the multi-planetary gear train transmission system of the present invention, based on the automatic enumeration of the functional hierarchy diagram, the screening rules and inversion rules of the loop matrix, can quickly generate the standard functional hierarchy diagram and the set of motion behavior models that meet the design requirements through calculation, and draw the kinematic schematic diagram. Through this design process, the present invention not only ensures the comprehensiveness and efficiency of the configuration scheme design, avoids the problem of missed selection caused by manual design, but also significantly reduces the design complexity, making the screening results more reliable, the model generation more standardized, and the schematic diagram expression more intuitive. This method is simple and efficient, with a low time complexity in the calculation process, greatly shortening the design time and effort of the planetary gear train transmission system. It shows significant advantages especially in the design of high-complexity and multi-degree-of-freedom systems, is applicable to the design requirements of complex systems, and has broad engineering application value and promotion potential.

[0055] The step division of the above various methods is only for clear description. When implemented, they can be combined into one step or some steps can be split into multiple steps. As long as the same logical relationships are included, they are all within the protection scope of the present invention; adding insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core designs of their algorithms and processes are all within the protection scope of this invention.

[0056] Another embodiment of the present invention relates to a modeling device for a multi-planetary gear train drive system configuration. The implementation details of the modeling device for the multi-planetary gear train drive system configuration in this embodiment will be specifically described below. The following content is only the implementation details provided for convenience of understanding and is not necessary for implementing this solution. The modeling device for the multi-planetary gear train drive system configuration in this embodiment includes: A first conversion module, configured to, based on graph theory, represent each functional unit in the multi-planetary gear train drive system with points and the connection relationships between each functional unit with lines, and equivalent the multi-planetary gear train drive system to a functional hierarchy diagram connected by points and lines; An enumeration module, configured to determine the layout relationships of each functional unit in the functional hierarchy diagram according to the number of planetary gear trains, the number of core components, and the degrees of freedom of the multi-planetary gear train drive system, and perform preliminary connection on each functional unit using the layout relationships to enumerate all possible functional hierarchy diagram schemes of the multi-planetary gear train drive system; A second conversion module, configured to represent the lines between different functional units in the functional hierarchy diagram with different element values in the loop matrix, so as to describe all possible functional hierarchy diagram schemes through multiple first loop matrices respectively, and describe the motion characteristics, connectivity, and motion laws of the multi-planetary gear train drive system through a second loop matrix; A screening module, configured to screen the multiple first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that meets the motion characteristics, connectivity, and motion laws as the standard functional hierarchy diagram; A matrix generation module, configured to determine a third loop matrix for describing the motion behavior model group according to the first loop matrix corresponding to the standard functional hierarchy diagram and the inversion rule from the standard functional hierarchy diagram to the motion behavior model group for describing the motion relationships between multiple planetary gear trains in the multi-planetary gear train drive system; A modeling module, configured to model the motion behavior model group according to the third loop matrix, generate a motion behavior model diagram, and map the motion behavior model diagram to a motion sketch to complete the configuration design of the multi-planetary gear train drive system.

[0057] It is not difficult to find that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in cooperation with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiment are still valid in this embodiment, and in order to reduce repetition, they will not be elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiment.

[0058] It is worth mentioning that all the modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative part of the present invention, units that are not closely related to solving the technical problems proposed by the present invention are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.

[0059] Another embodiment of the present invention relates to a computer device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the modeling method of the multi-planetary gear train transmission system configuration in the above embodiments.

[0060] Among them, the memory and the processor are connected by a bus. The bus can include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and the memory together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be an element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor is transmitted on the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor.

[0061] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory can be used to store the data used by the processor when executing operations.

[0062] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above method embodiments are implemented.

[0063] That is, those skilled in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructing relevant hardware through a program, and this program is stored in a storage medium, including several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0064] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made to them in form and details without departing from the spirit and scope of the present invention.

Claims

1. A modeling method for a multi-planetary gear transmission system configuration, characterized in that: include: Based on graph theory, each functional unit in the multi-planetary gear transmission system is represented by a point, and the connection relationship between each functional unit is represented by a line. The multi-planetary gear transmission system is equivalent to a functional hierarchical graph connected by points and lines. According to the number of planetary gears, the number of core components and the degree of freedom of the multi-planetary gear transmission system, the layout relationship of each functional unit in the functional hierarchy diagram is determined, and each functional unit is preliminarily connected using the layout relationship to enumerate all possible functional hierarchy diagram schemes of the multi-planetary gear transmission system; The connections between different functional units in the functional hierarchy diagram are represented by different element values ​​in the loop matrix, so that all possible functional hierarchy diagram schemes are described respectively by a plurality of first loop matrices, and the motion characteristics, connectivity and motion laws of the multi-planetary gear transmission system are described by the second loop matrix; Screening the plurality of first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that meets the motion characteristics, connectivity, and motion law as a standard functional hierarchy diagram; Determine a third loop matrix for describing the motion behavior model group according to a first loop matrix corresponding to the standard function hierarchy diagram and an inversion rule from the standard function hierarchy diagram to a motion behavior model group for describing the motion relationship between multi-stage planetary gears in a multi-planetary gear transmission system; The motion behavior model group is modeled according to the third loop matrix, a motion behavior model diagram is generated, and the motion behavior model diagram is mapped into a motion diagram to complete the configuration design of the multi-planetary gear transmission system.

2. The modeling method of the multi-planetary gear transmission system configuration according to claim 1, characterized in that: The functional hierarchy diagram is divided into three layers, from bottom to top: a frame layer, a core component layer including a sun gear, a planet carrier and a ring gear, and a planet gear layer; The layout relationship of each functional unit in the functional hierarchy diagram is as follows: the functional hierarchy diagram contains N0+k+1 points in total, has n=N0+k connecting lines in total, the rack layer has 1 point, the core component layer has N0 points, and the planetary gear layer has k points; Among them, N0 is the number of core components, F is the number of degrees of freedom, and k is the number of planetary rows.

3. The modeling method of the multi-planetary gear transmission system configuration according to claim 2, characterized in that: The motion characteristics of the multi-planetary gear transmission system are as follows: the three core components of each planetary gear rotate around the frame, so that the frame layer in the functional hierarchy diagram is individually connected to each functional unit of the core component layer, and there is no direct connection relationship between the functional units in the core component layer; the three core components of each planetary gear are connected to the functional units of the planetary gear layer, so that each functional unit of the planetary gear layer in the functional hierarchy diagram is connected to each functional unit of the core component layer through three connection relationships; The connectivity of the multi-planet gear transmission system is that all components of each level of planet gear have an effective transmission path, so that each functional unit of the core component layer in the functional hierarchy diagram is connected to the functional unit of the planet gear layer; The motion law of the multi-planetary gear transmission system is as follows: the solid line in the functional hierarchy diagram represents the rotating pair of the planetary gear transmission system, and the dotted line represents the gear pair. The planetary gear of each level of the planetary gear forms two gear pairs with the sun gear and the ring gear, and forms one rotating pair with the planet carrier, so that among the three connecting lines of each functional unit of the planetary gear layer in the functional hierarchy diagram, two are dotted lines and one is a solid line.

4. The modeling method of the multi-planetary gear transmission system configuration according to claim 3 is characterized in that: The connection lines between different functional units in the functional hierarchy diagram are represented by different element values ​​in the loop matrix, including: When the value of any element in the loop matrix is ​​0, it means that there is no connection between the two functional units in the functional hierarchy diagram; when the value of any element in the loop matrix is ​​1, it means that the connection line between the two functional units in the functional hierarchy diagram is a solid line; when the value of any element in the loop matrix is ​​2, it means that the connection line between the two functional units in the functional hierarchy diagram is a dotted line; The description of the motion characteristics, connectivity and motion law of the multi-planetary gear transmission system by the second loop matrix includes: Using matrix A m Each functional unit in the rack layer and the core component layer in the functional hierarchy diagram is connected separately, and there is no direct connection between the functional units in the core component layer. The matrix A m The values ​​of the 2nd to 1+N0th columns in the first row are 1, the first column of the 2nd to 1+N0th rows is 1, and the rest of the positions are 0; Using matrix A original Each functional unit of the planetary gear layer in the functional hierarchy diagram is connected to each functional unit of the core component layer through three connection relationships. The matrix A original Through the matrix A all Change generation, matrix A all Through the matrix A m Change generation; Among them, the matrix A m The matrix A is obtained by the following changes all : The values ​​from the 2nd row to the 1+N0th row and the 2nd+N0th column to the last column are 1, the values ​​from the 2nd+N0th row to the last row and the 2nd column to the 1+N0th column are 1, and the rest of the values ​​remain unchanged, resulting in matrix A all ; Matrix A all The matrix A is obtained by the following changes original : In the matrix A all Randomly select 3k elements in the intersection area from the 2nd row to the 1+N0th row and the 2+N0th column to the last column and keep them as 1. In each column, only 3 elements have a value of 1, and the rest become 0. Other elements outside the intersection area remain unchanged. Introduce a mask matrix R, R is a matrix of size N0×k, R ij =1 means that the element at the corresponding position is 1 after the change, R ij =0 means that the element at the corresponding position is 0 after the change, 3k elements in R are 1, and the remaining elements are 0. The mask matrix R is: ； Matrix A all The lower left corner part is transformed accordingly according to the matrix symmetry principle, and the matrix A is obtained. original’ : ； Let the matrix A original’ In the intersection area from the 2nd row to the 1+N0th row and from the 2+N0th column to the last column, each column has only 3 elements with values ​​of 1 and the rest of the elements are 0, resulting in the matrix A. original : ； Using matrix A st Of the three connecting lines for each functional unit of the planetary gear layer in the functional hierarchy diagram, two should be dotted lines and one should be a solid line. st Through the matrix A original Changes to: The matrix A original In the intersection area from the 2nd row to the 1+N0th row and from the 2+N0th column to the last column, randomly select two elements with a value of 1 in each column and change their values ​​to 2, while the rest of the elements remain unchanged; Define the index range of the upper right corner area R0: ； Find the set of row indices whose value in the current column is 1: ； Random from the set Select two indexes from , ,make , , matrix A original The lower left corner is transformed according to the matrix symmetry principle to obtain the matrix A st : 。 5. The modeling method of the multi-planetary gear transmission system configuration according to claim 4, characterized in that: The motion behavior model group is composed of motion behavior models corresponding to each of the multiple planetary gears. The planetary gears of each level of the planetary gear transmission system are connected in series or in parallel through the core components of the sun gear, the planet carrier and the ring gear, so that each motion behavior model only includes the sun gear, the planet carrier and the ring gear of each level of the planetary gear to describe the connection relationship of the planetary gears of each level in the core component layer; The inversion rule from the standard functional hierarchy diagram to the motion behavior model group is: the first-stage planetary gear is selected as the benchmark, and the first three functional units of the core component layer in the standard functional hierarchy diagram correspond to the sun gear, ring gear and planet carrier of the first-stage planetary gear respectively; When the number of functional unit connections of the core component layer in the standard functional hierarchy diagram is 3, it means that the functional units of the core component layer are common components between the front and rear planetary gears; the functional units of the core component layer connected to the planetary gear layer with solid lines in the standard functional hierarchy diagram are converted to planet carriers; the functional units of the core component layer connected to the planetary gear layer with dotted lines in the standard functional hierarchy diagram are converted to sun gears and ring gears.

6. The modeling method of the multi-planetary gear transmission system configuration according to claim 5, characterized in that: The method of determining a third loop matrix for describing the motion behavior model group according to the first loop matrix corresponding to the standard function hierarchy diagram and the inversion rule from the standard function hierarchy diagram to the motion behavior model group for describing the motion relationship between the multi-stage planetary gears in the multi-planetary gear transmission system comprises: According to the following extraction rules, from matrix A st Extract submatrix B from: Select matrix A st The intersection area from the 2nd row to the 1+N0th row and the 2+N0th column to the last column of constitutes a submatrix B. The structure of submatrix B is: ; In the formula, each column B j yes Permutations and combinations of; Select adjacent columns in submatrix B as a pair, called a column pair; The motion behavior model group is described by a matrix M, the size of the matrix M is 3k×3k, all elements of the matrix M are initialized to 0, the columns in the matrix M are divided into several groups, each group contains 3 columns, and the rows in the matrix M are divided into several groups, each group contains 3 rows; According to the submatrix B, the matrix M is filled using the following filling rules: When B x [i]=2, B x+1 When [i]=2, the first column of the x+1th column and the first row of the xth row of M is 1; when B x [i]=2, B x+1 When [i]=1, the 3rd column of the x+1th column and the 1st row of the xth row of M is 1; when B x [i]=1, B x+1 When [i]=2, the 2nd column of the x+1th column and the 3rd row of the xth row of M is 1; when B x [i]=1, B x+1 When [i]=1, fill the 13th column of the x+1th column group of M and the 3rd row of the xth row group with 1; The column pair corresponding to the submatrix B for the column number x is (Bx, Bx+1). The determination formula obtained according to the filling rule is: Where Bx[i] represents the element in the i-th row of the x-th column in the submatrix B. , indicating B x and B x+1 The possible value combinations in represents the nth column of the x+1th group of columns and the mth row of the xth group of rows of the matrix M. The values ​​of m and n are selected according to the following rules: ； ； ； 。 7. The modeling method of the multi-planetary gear transmission system configuration according to claim 6, characterized in that: The motion behavior model diagram is mapped into a motion diagram, including: Extract the motion relationship in the motion behavior model diagram to determine the relative motion and transmission path between the planetary gears at each level; According to the relative motion and transmission path between the planetary gears at each level, the common components in the motion behavior model diagram are determined; According to the connection relationship of the motion behavior model diagram, all common components are connected in the motion diagram to generate a motion diagram.

8. A modeling device for a multi-planetary gear transmission system configuration, characterized in that: include: The first conversion module is used to represent each functional unit in the multi-planetary gear transmission system with a point based on graph theory, and to represent the connection relationship between each functional unit with a line, so as to make the multi-planetary gear transmission system equivalent to a functional hierarchical graph connected by points and lines; An enumeration module is used to determine the layout relationship of each functional unit in the functional hierarchy diagram according to the number of planetary gears, the number of core components and the degree of freedom of the multi-planetary gear transmission system, and to make preliminary connections between each functional unit using the layout relationship, so as to enumerate all possible functional hierarchy diagram schemes of the multi-planetary gear transmission system; A second conversion module is used to represent the connection between different functional units in the functional hierarchy diagram through different element values ​​in the loop matrix, so as to describe all possible functional hierarchy diagram schemes through multiple first loop matrices respectively, and to describe the motion characteristics, connectivity and motion law of the multi-planetary gear transmission system through the second loop matrix; A screening module, used for screening the plurality of first loop matrices according to the second loop matrix to obtain a functional hierarchy diagram scheme that meets the motion characteristics, connectivity and motion law as a standard functional hierarchy diagram; A matrix generation module, for a module, for determining a third loop matrix for describing a motion behavior model group according to a first loop matrix corresponding to a standard function hierarchy diagram and an inversion rule from the standard function hierarchy diagram to a motion behavior model group for describing a motion relationship between multi-stage planetary gears in a multi-planetary gear transmission system; The modeling module is used to model the motion behavior model group according to the third loop matrix, generate a motion behavior model diagram, and map the motion behavior model diagram into a motion diagram to complete the configuration design of the multi-planetary gear transmission system.

9. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the modeling method of the multi-planetary gear transmission system configuration as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the modeling method of the multi-planetary gear transmission system configuration according to any one of claims 1 to 7 is implemented.

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